Apparatus and method for introducing a penetration element

Abstract

The application relates to an apparatus for introducing a penetration element, in particular a screw, boss or drill, into a component, comprising a feed drive in order to apply an axial drive force to the penetration element and / or the component, a mechanical interface for fastening the apparatus to a robot arm of an industrial robot, and a data transmission interface for transmitting data to the industrial robot, wherein the apparatus comprises an axial force determination device, wherein the axial force determination device is designed to determine a reaction force on the apparatus that is proportional to the axial drive force, and wherein the data transmission interface is configured to transmit data relating to the determined reaction force to the industrial robot, in particular while the penetration element is introduced. The application also relates to a corresponding method for introducing a penetration element into a component.

Description

[0001] Device and method for introducing a penetration element

[0002] The invention relates to a device for inserting a penetration element, in particular a screw, a mandrel, or a drill, into a component. The invention also relates to a method for inserting a penetration element, in particular a screw, a mandrel, or a drill, into a component.

[0003] For example, the invention relates to a device and a method for placing a connecting element, in particular a screw or a dome, into a component.

[0004] A trend in the field of joining flow-hole forming screws is the increasing use of high-strength M4 screws instead of the M5 screws commonly used in the past. Among other things, such M4 screws are lighter, so the use of high-strength M4 screws enables weight savings.

[0005] However, it has been found that high-strength M4 screws are more frequently damaged during installation than the established M5 screws.

[0006] The applicant was able to analyse that the damage to the M4 screws was caused by bending and shearing forces acting on the screws, with the bending and shearing forces being caused by so-called “robot pushing”.

[0007] "Robot pushing" refers to the yielding of a robot arm holding the screwing device during the screwing process. The yielding of the robot arm causes the screwing device to pivot and consequently an undesirable inclination of the screw relative to the component surface into which the screw is being screwed.

[0008] EP 4 052 868 A1 discloses a solution for preventing screw misalignment due to robot pushing. However, the solution proposed in EP 4 052 868 A1 is relatively complex in design and thus relatively expensive to manufacture.

[0009] Similar problems can arise, for example, when inserting plastic domes into sandwich structures or during flow drilling. This can result in plastic domes being inserted at an angle into the sandwich structure, or in non-circular holes being created during flow drilling.

[0010] It is an object of the present invention to provide a device for introducing a penetration element by means of which "robot pushing" can be compensated in a simple and cost-effective manner.

[0011] It is also an object of the present invention to provide a method for introducing a penetration element by means of which “robot pushing” can be compensated in a simple and cost-effective manner.

[0012] The object is achieved by a device for introducing a penetration element having the features of claim 1. The object is also achieved by a method according to the independent method claim. Preferred embodiments are evident from the dependent claims, the description, and the drawings.

[0013] The device for inserting a penetrating element comprises a feed drive in order to apply an axial drive force to the penetrating element and / or the component. In a device for inserting or setting a connecting element, e.g. a screw or a mandrel, the axial direction corresponds to the direction of extension of the respective axis of the connecting element, e.g. the screw axis or the mandrel axis. In a device for inserting a drill, the axial direction corresponds to the direction of extension of the respective drill axis. The device additionally comprises a mechanical interface for fastening the device to a robot arm of an industrial robot. The device also comprises a data transmission interface for transmitting data, e.g. electrical signals, to the industrial robot.The device further comprises an axial force determination device, wherein the axial force determination device is configured to determine a reaction force on the device that is proportional to the axial drive force. The data transmission interface is configured to send data relating to the determined reaction force to the industrial robot. The data relating to the determined reaction force is preferably sent to the industrial robot during the insertion of the penetration element.

[0014] The invention is based on the general idea that a necessary compensating movement to compensate for the "robot pushing" depends on a reaction force on the device for inserting a penetration element. Another general idea of ​​the invention is to carry out the compensating movement by means of an industrial robot holding the device. For this purpose, a data transmission interface is provided for transmitting data to the industrial robot, via which data on the determined reaction force is sent to the industrial robot so that the industrial robot can carry out the compensating movement depending on the transmitted data. By compensating for the "robot pushing" in this way, an inclined position of the penetration element during the insertion process can be avoided without great design effort. Advantageous embodiments of the invention can be found in the dependent claims, the description, and the drawings.

[0015] According to one embodiment, the device for introducing a penetration element is a device for setting a connecting element. The connecting element can be designed, for example, as a screw or as a dome, in particular a plastic dome. Alternatively, the device can be designed to create a hole.

[0016] According to one embodiment, the axial force determination device is designed to determine the reaction force on the device continuously and / or in real time. Continuously means that the axial force determination device is designed to measure the reaction force on the device in regular repetitions over at least a partial period of the insertion or setting process. In real time preferably means that the determination of the reaction force can be carried out in a time period of less than or equal to 10 milliseconds. According to this disclosure, "being designed to" means that the corresponding part performs the defined activity in the defined manner during operation.

[0017] According to one embodiment, the data transmission interface is designed to send the data on the determined reaction force to the industrial robot continuously and / or in real time. "Continuously" means that the data transmission interface is designed to send the data on the determined reaction force to the industrial robot in regular repetitions, at least over a partial period of the insertion or setting process. "In real time" preferably means that the time interval between two sent values ​​is a maximum of 10 milliseconds. This enables a particularly precise, case-specific compensating movement of the industrial robot, so that the penetration element can be inserted into the component particularly reliably.

[0018] Alternatively, a sample curve, i.e. a pre-determined reaction force curve, could be generated and saved in advance for at least one required application, preferably for each required application. For example, this pre-stored reaction force curve could be sent to the industrial robot via the data transmission interface when a penetrating element is to be inserted according to the respective application. Preferably, a user interface is provided which allows an application, e.g. M4 screw of type XY is screwed into 2 mm aluminum sheet, to be selected and / or entered. Depending on the application, the industrial robot then uses the corresponding pre-stored reaction force curve to carry out a corresponding compensating movement when inserting the penetrating element.

[0019] According to one embodiment, the mechanical interface enables a defined positioning of the device on the industrial robot. In other words, the mechanical interface is preferably designed such that the device can be attached to the industrial robot in a single position without play. Preferably, the mechanical interface does not permit any axial relative movement, so that an axial movement of the industrial robot directly causes an axial movement of the device. By ensuring that a movement of the industrial robot always causes a movement of the device, it can be ensured that the compensating movement of the industrial robot is precisely transmitted to the device.

[0020] The mechanical interface can, for example, comprise several screw receptacles for attaching the device to the industrial robot. Alternatively, the mechanical interface can be designed to allow tool-free assembly and / or disassembly of the device. For example, the mechanical interface can comprise a detachable snap-in connection.

[0021] According to one embodiment, the axial force determination device is designed to measure or calculate a reaction force on the device that is proportional to the axial drive force.

[0022] According to one embodiment, the axial force determination device is designed to measure a pressure in at least one actuating cylinder and to calculate the reaction force therefrom. The at least one actuating cylinder is preferably an actuating cylinder of the feed drive. According to one embodiment, the axial force determination device can be designed to measure a pressure in an actuating cylinder of the feed drive for the penetration element and a pressure in an actuating cylinder of a feed drive for a hold-down device, and to calculate the reaction force from the sum of the pressures. Alternatively, the axial force determination device can be designed to measure only the pressure in the actuating cylinder of the feed drive for the penetration element and to calculate the reaction force based on this pressure.

[0023] According to another embodiment, for example, in the case of an electric feed drive, the axial force determination device can be configured to measure a motor current of at least one electric servomotor and calculate the reaction force therefrom. Preferably, the axial force determination device is configured to measure a motor current of the feed drive for the penetration element and a motor current of the feed drive for the hold-down device, and to calculate the reaction force from the sum of the motor currents. Alternatively, the axial force determination device can be configured to measure only the motor current of the feed drive for the penetration element and to calculate the reaction force based on this motor current.

[0024] Regardless of the selected feed drive concept, it would also be conceivable for the axial force determination device to be designed to measure an axial force-dependent deformation of an element and calculate the reaction force from it. For example, the deformation of the element can include a deformation of an element of a load cell.

[0025] According to one embodiment, the data transmission interface is configured to send data relating to the determined reaction force to the industrial robot only if the determined reaction force exceeds a predefined threshold. In other words, data relating to the determined reaction force is preferably only sent to the industrial robot if it exceeds a predefined threshold. For example, this threshold can be 0 N. In this case, data is only sent to the industrial robot via the data transmission interface if a reaction force greater than 0 N is determined. However, the threshold can also be set to a value greater than 0 N.

[0026] According to one embodiment, a control unit is provided. The control unit can comprise a contact detection system for detecting contact of the penetration element on the component. The control unit can be designed to send a signal, in particular to the data transmission interface, when contact of the penetration element is detected. In particular, the control unit can be designed to send a signal to the industrial robot via the data transmission interface. The signal can serve as a start signal for processing the transmitted reaction forces by the industrial robot. In other words, the signal can serve as a correction algorithm start signal. Alternatively or additionally, the control unit can comprise a position detection system for detecting an axial position, in particular of an end of the penetration element close to the component.The axial position of the penetration element, in particular the end near the component, can be detected directly or indirectly. The axial position of the end of the penetration element near the component can be detected or determined indirectly, for example, by the system knowing the length of the penetration element and determining the axial position of a tool, for example a bit, or a penetration element holder, e.g. a drill chuck. The control unit can be configured to send a signal, in particular to the data transmission interface, when the penetration element, in particular the end of the penetration element near the component, has assumed or exceeded a predefined position. This signal can also serve as a start signal for processing the transmitted reaction forces by the industrial robot.

[0027] According to one embodiment, the contact detection device is designed to detect the contact of the contact element on the component based on a change in a speed, in particular an axial or rotational speed, of the contact element relative to the component. This allows the contact of the contact element on the component to be detected particularly precisely.

[0028] Alternatively or additionally, the contact detection can be designed to detect the contact of the penetration element on the component on the basis of a change in the determined reaction force.

[0029] According to one embodiment, the control unit can be configured to send a correction algorithm shutdown signal. For example, the control unit can be configured to determine a change in the reaction force on the device and send a signal, in particular a correction algorithm shutdown signal, when the reaction force falls below a threshold value and / or the decrease in the reaction force is above a threshold value. The control unit can send the signal, for example, to the data transmission interface, in particular via the data transmission interface to the industrial robot.

[0030] Alternatively or additionally, the control unit can be designed to determine a change in the speed of the penetrating element relative to the component and to send a signal, in particular a correction algorithm shutdown signal, in particular to the data transmission interface, when an increase in the speed, i.e. an acceleration, of the penetrating element exceeds a threshold value. For example, such an increase in speed occurs with flow-hole forming screws when the flow-hole forming screw has sufficiently plasticized, i.e. softened, the component and then penetrates into the component. If the device detects penetration by the flow-hole forming screw, it is advantageous to terminate the correction algorithm, since no further correction is then necessary.

[0031] According to one embodiment, the device comprises a rotary drive for rotationally driving the penetration element. The rotary drive is preferably designed as an electric motor.

[0032] The device described above and below is particularly suitable for setting high-strength M4 flow-hole-forming screws. However, the device described above and below can also be used for setting domes, e.g., plastic domes, in structures, e.g., sandwich structures, or for inserting drills, in particular flow drills, into the component to create a hole in the component. The invention also relates to a method for inserting a penetrating element, e.g., a screw, a dome, or a drill, into a component. The method comprises the following steps:

[0033] 1 ) Providing a device attached to an industrial robot for introducing a penetrating element, in particular a screw, a dome or a drill,

[0034] 2) Generating an axial driving force on the penetration element and / or on the component by means of a feed drive of the device,

[0035] 3) Determining a reaction force on the device proportional to the axial driving force,

[0036] 4) Transmission of data on the determined reaction force, in particular during insertion, to the industrial robot via a data transmission interface,

[0037] 5) Processing the data on the determined reaction force in a correction algorithm, and

[0038] 6) Controlling at least one drive of the industrial robot using the correction algorithm in order to at least partially compensate for a deformation of the industrial robot and / or the device due to the reaction force.

[0039] By means of the above-mentioned method, the “robot pushing” mentioned at the beginning can be compensated without major design effort.

[0040] According to one embodiment, the device for introducing a penetration element is a device for setting a connecting element. The connecting element can be designed, for example, as a screw or as a dome, in particular a plastic dome. Alternatively, the device can be designed to create a hole. According to one embodiment, the device comprises a housing. The housing is preferably fixedly, i.e., immovably, attached to a suspension on the industrial robot.

[0041] According to one embodiment, the determination of the reaction force on the device proportional to the axial drive force is carried out continuously and / or in real time.

[0042] Alternatively or additionally, data on the determined reaction force during insertion can be transmitted continuously and / or in real time to the industrial robot via a data transmission interface. This allows for precise control of the industrial robot's compensatory movement, effectively counteracting robot shifting.

[0043] Alternatively, in a further method step, a sample curve, i.e. a pre-determined reaction force curve, could be generated and saved in advance for at least one required application, preferably for each required application. For example, this pre-stored reaction force curve could be sent to the industrial robot via the data transmission interface when a penetration element is to be inserted according to the respective application. Preferably, an application (e.g. an M4 screw of type XY is screwed into a 2 mm aluminum sheet) can be selected and / or entered using a user interface. Depending on the application, the industrial robot then uses the corresponding pre-stored reaction force curve to carry out a corresponding compensating movement when inserting the penetration element.

[0044] According to one embodiment, determining the reaction force on the device comprises measuring or calculating the reaction force. According to an alternative, the reaction force on the device can be determined based on a measured pressure in an actuating cylinder. Preferably, the actuating cylinder is an actuating cylinder of the feed drive. According to one embodiment, a pressure in an actuating cylinder of the feed drive for the penetration element and a pressure in an actuating cylinder of a feed drive for a hold-down device can be measured, and the reaction force can be calculated from the sum of the pressures. Alternatively, only the pressure in the actuating cylinder of the feed drive for the penetration element can be measured, and the reaction force can be calculated based on this pressure.

[0045] Alternatively, for example, in the case of an electric feed drive, a motor current can be measured for at least one electric actuator, and the reaction force can be calculated from this. Preferably, a motor current of the feed drive for the penetration element and a motor current of the feed drive for the hold-down device are measured, and the reaction force is calculated from the sum of the motor currents. Alternatively, only the motor current of the feed drive for the penetration element can be measured, and the reaction force can be calculated based on this motor current.

[0046] Regardless of the chosen feed drive concept, it would also be conceivable to measure the axial force-dependent deformation of an element and use this to calculate the reaction force. For example, the deformation of the element could include the deformation of an element of a load cell.

[0047] According to one embodiment, the transmission of data relating to the determined reaction force, particularly during insertion, to the industrial robot via a data transmission interface only begins when a determined reaction force exceeds a defined threshold. Preferably, the threshold is adjustable. Alternatively or additionally, the processing of the data relating to the determined reaction force in the correction algorithm can only begin when a determined reaction force exceeds a defined threshold. Preferably, the threshold is adjustable.

[0048] Alternatively or additionally, the control of the at least one drive of the industrial robot based on the correction algorithm, in order to at least partially compensate for a deformation of the industrial robot and / or the device due to the reaction force, can only begin when a determined reaction force exceeds a defined threshold value. The threshold value is preferably adjustable.

[0049] This makes it possible to filter out interference signals during a feed, e.g. a movement of the blank holder and / or the tool in the direction of the component or a movement of the drill in the direction of the component, and thus to obtain a more precise compensation of the "robot pushing".

[0050] According to one embodiment, contact of the penetration element on the component is detected. For example, a characteristic increase in the determined reaction force can be used to detect contact of the penetration element on the component. Once contact of the penetration element has been detected, a signal can be sent, in particular to the data transmission interface. This signal can serve as a start signal for performing the compensation for the "robot pushing."More specifically, the signal can serve as a start signal for transmitting data on the determined reaction force to the industrial robot via a data transmission interface, as a start signal for processing the data on the determined reaction force in the correction algorithm, and / or as a start signal for controlling at least one drive of the industrial robot using the correction algorithm in order to at least partially compensate for a deformation of the industrial robot and / or the device due to the reaction force.

[0051] According to one embodiment, an axial position of the penetration element is determined. Preferably, an axial position of an end of the penetration element near the component is determined. The axial position of the end of the penetration element, in particular the end near the component, can be determined directly or indirectly. When the penetration element, for example the end of the penetration element near the component, has reached or exceeded a predefined position, a signal can be sent, in particular to the data transmission interface. In other words, the signal can be generated purely from a depth value. This represents a simple and cost-effective way to initiate various process steps.

[0052] The signal can serve as a starting signal for performing the "robot pushing" compensation. In other words, only after the signal has been received can the industrial robot process the transmitted reaction forces using the correction algorithm.

[0053] According to one embodiment, detecting the contact of the penetration element on the component comprises analyzing a change in the speed of the penetration element relative to the component. By analyzing the change in the speed of the penetration element relative to the component, which is also referred to as depth gradient analysis, the contact of the penetration element on the component can be detected in a precise manner.

[0054] Alternatively or additionally, detecting the contact of the penetration element with the component can comprise an analysis of a change in the determined reaction force. According to one embodiment, a change in the reaction force on the device is determined, and a signal, in particular a correction algorithm shutdown signal, is sent, in particular to the data transmission interface, if a reduction in the reaction force exceeds a threshold value. The threshold value can be adjustable. In the case of flow-hole forming screws, the reduction in the reaction force can occur when the material of the component is sufficiently plasticized, allowing the screw to penetrate or sink into the component.

[0055] The applicant has found that from this point onwards, compensation for the ‘robot pushing’ is no longer necessary and that even better results are achieved if the correction algorithm is switched off at this point.

[0056] Alternatively or additionally, a change in the speed of the penetration element relative to the component can be determined, and a signal, in particular a correction algorithm shutdown signal, can be sent, in particular to the data transmission interface, if an increase in the speed of the penetration element exceeds a threshold value. The threshold value can be adjustable. A characteristic increase in speed occurs with flow-hole forming screws when the material of the component is sufficiently plasticized, i.e., softened, and the screw can thus penetrate or sink into the component.

[0057] According to a further embodiment, an axial position of the penetration element, preferably an axial position of an end of the penetration element near the component, is determined, and a signal, in particular a correction algorithm shutdown signal, is sent, in particular to the data transmission interface, when the penetration element, for example the end of the penetration element near the component, has assumed or exceeded a predefined position. According to one embodiment, the penetration element is set in rotation by means of a rotary drive. The rotary drive can be designed as an electric motor.

[0058] The method described above and below is preferably used to insert flow-hole forming screws, in particular flow-hole forming high-strength M4 screws. The method described above and below can also be used to insert domes, e.g., plastic domes, into a structure, in particular a sandwich structure. The method described above and below can also be used to insert a drill, in particular a flow drill, into the component to create a hole in the component.

[0059] The invention will now be described by way of example only, with reference to the accompanying drawings. In the drawings:

[0060] Fig. 1 A is a sketch of an unloaded industrial robot arm;

[0061] Fig. 1 B is a sketch of an industrial robot arm subjected to bending load;

[0062] Fig. 1 C is a sketch of an industrial robot arm compensating for bending loads;

[0063] Fig. 2 is a schematic side view of a device for setting a connecting element;

[0064] Fig. 3A is a schematic side view of the device of Fig. 2 in a basic position;

[0065] Fig. 3B is a schematic side view of the device of Fig. 2 with the hold-down device in place;

[0066] Fig. 4A is a schematic side view of the device of Fig. 2 with the connecting element in place; Fig. 4B is a schematic side view of the device of Fig. 2 with the connecting element inserted;

[0067] Fig. 5 is a perspective view of an industrial robot and the device of Fig. 2; and

[0068] Fig. 6 is a flowchart of a method for placing a connecting element in a component.

[0069] Figures 1 A to 1 C show a sketch of a device 10 for placing a connecting element 12 into a component 14. The device 10 is attached to a free end of a robot arm 15 of an industrial robot 16 in order to be moved by the industrial robot 16 to the respective location of use.

[0070] In Fig. 1A, the device 10 is shown in a basic position. In this basic position, the device 10 exerts no force on the component 14. Conversely, no corresponding reaction force, i.e., counterforce, acts on the device 10 and the industrial robot 16. The industrial robot 16 is thus loaded only by the weight of the device 10, so that an axis of the connecting element 12 is oriented substantially perpendicular to a component surface 14a.

[0071] In Fig. 1 B, the device 10 is shown in a working position. In the working position, the connecting element 12 rests on the component 14, whereby an axial force is transmitted from the device 10 via the connecting element 12 to the component 14. In return, a reaction force acts on the device 10 and the industrial robot 16, as a result of which the industrial robot 16 yields, i.e. deforms, which is shown by the curved representation of the robot arm 15. This has the result that the axis of the connecting element 12 is aligned at an angle to the component surface 14a. The oblique alignment of the connecting element 12 leads to undesired shear and bending forces acting on the connecting element 12, which can damage the connecting element 12. In addition, the connecting element 12 can slip on the component surface 14a. This effect is referred to, among other things, as “robot pushing”.

[0072] Fig. 1C schematically shows a solution to this problem. The industrial robot 16 performs a compensating movement so that the axis of the connecting element 12 is arranged substantially perpendicular to the component surface 14a while the reaction force acts on the device 10 and the industrial robot 16. As a result, no or only minimal shear and bending forces act on the connecting element 12. This prevents damage to the connecting element 12 in an efficient and cost-effective manner.

[0073] Fig. 2 shows a more detailed sketch of the device 10. The device 10 comprises a feed drive 18 for a tool or bit 19 in order to apply an axial drive force to the tool 19 and the connecting element 12 coupled to the tool 19. By means of the feed drive 18, the tool 19 and thus the connecting element 12 can be moved in the axial direction. The device 10 further comprises a feed drive 20 for a hold-down device 21 in order to apply an axial drive force to the hold-down device 21 and to the component 14 to be brought into contact with the hold-down device 21. By means of the feed drive 20, the hold-down device 21 can be moved in the axial direction towards the component 14. In the present example, both feed drives 18, 20 are designed as pneumatic cylinders. However, the feed drives could alternatively also be designed, for example, as electric motors.

[0074] The device 10 comprises a mechanical interface 22 for attaching a housing 42 of the device 10 to the industrial robot 16. In the present example, the mechanical interface 22 comprises a plurality of receptacles for screws 24a, 24b in the housing 42 for attaching the device 10 to the industrial robot 16 using the screws 24a, 24b. The device 10 further comprises a data transmission interface 26 for transmitting data from the device 10 to the industrial robot 16. In the present example, the data transmission interface 26 is formed by a cable. Alternatively, however, it would also be conceivable to transmit the data wirelessly to the industrial robot 16 using a transmitter and a receiver. Preferably, the data transmission interface 26 comprises a plug connection for connecting a cable of the device 10 to a cable of the industrial robot 16.

[0075] In order to compensate for the “robot pushing,” the device 10 comprises an axial force determination device 28. The axial force determination device 28 serves to determine a reaction force on the device 10 that is proportional to the axial drive force generated by the feed drives 18, 20.

[0076] For this purpose, the axial force determination device 28 in the present example comprises pressure sensors 28a, 28b, which are designed to measure a pressure in the pneumatic cylinders 18, 20. More specifically, a first pressure sensor 28a is designed to measure the pressure in the pneumatic cylinder of the feed drive 18 of the connecting element 12, and a second pressure sensor 28b is designed to measure the pressure in the pneumatic cylinder of the feed drive 20 of the hold-down device 21.

[0077] The device 10 comprises a control unit 30 which is designed to forward or evaluate the data received from the pressure sensors 28a, 28b to the data transmission interface 26.

[0078] In the present example, the device 10 also comprises a position detection means 34 for detecting an actual position of the tool 19. The position detection means 34 can, for example, comprise a contactless sensor such as an inductive sensor. In order to be able to detect when the connecting element 12 has been placed on the component 14, the device 10 comprises a placement detection means 32. The placement detection means 32 can, for example, comprise the pressure sensor 28a, which measures a pressure increase in the pneumatic cylinder 18 specific for the placement and sends it to the control unit 30. The placement detection means 32 can also comprise the position detection means 34, for example if it is known at which position value of the tool 19 the connecting element 12 will touch down on the component 14. The placement detection means 34 can additionally or alternatively also detect when the connecting element 12 has been placed on the component 14 by means of an analysis of the speed of the connecting element 12.

[0079] The device 10 further comprises a rotary drive 36 for rotating the tool 19 and thus the connecting element 12, for example, a flow-hole-forming screw or a plastic dome. To automatically feed the connecting elements 12 to the device 10, the device 10 comprises a feeder 37, for example, in the form of a feed hose. The feeder 37 comprises a brake 38 for decelerating the connecting elements 12.

[0080] The device 10 can, as shown in the present example, comprise a stroke limiter 39 which, in an active state, directly or indirectly limits a relative movement between the tool 19 and the hold-down device 21.

[0081] A possible sequence of the setting process using the device 10 is described below with reference to Figures 3A to 4B. In Figure 3A, the device 10 is shown in a basic position. The hold-down device 21 and the connecting element 12 are spaced apart from the component 14. An input pressure is applied to the pneumatic cylinders 18, 20, which does not cause any movement of the connecting element 12 or the hold-down device 21. Thus, no reaction force proportional to an axial drive force acts on the device 10.

[0082] Subsequently, the pressure P1, P2 in the pneumatic cylinders 18, 20 is increased so that the tool 19 and the hold-down device 21 are moved synchronously toward the component 14. The stroke limiter 39 is active, limiting any relative movement between the tool 19 and the hold-down device 21.

[0083] Fig. 3B shows a process stage in which the hold-down device 21 is placed on the component 14. For example, a sensor 44 can be provided which detects the placement of the hold-down device 21 and transmits it to the control unit 30. Once the hold-down device 21 has been placed or a certain time has elapsed, the stroke limiter 39 is retracted, i.e., deactivated, so that the tool 19 can be moved further toward the component 14. This results in a measurable relative movement between the tool 19 and the hold-down device 21.

[0084] Fig. 4A shows a process stage in which the connecting element 12 is placed on the component 14. The placement of the connecting element 12 is detected by the placement detection device 32. For example, the placement of the connecting element 12 can be detected by the pressure sensor 28a due to a characteristic increase in the pressure in the pneumatic cylinder 18. Alternatively or additionally, the placement of the connecting element 12 can be detected by a characteristic decrease in the speed of the tool 19.

[0085] When the placement of the connecting element 12 is detected, a signal, which can be referred to as a start signal or trigger signal, is sent to the industrial robot 16 via the data transmission interface 26. In addition, data measured by the pressure sensor 28a is sent to the industrial robot 16 via the data transmission interface 26. From the moment the start signal is received, the industrial robot 16 executes a compensating movement, i.e., a compensation movement. In the present example, this compensation movement is a pivoting movement, which is effected by a drive 40 of the industrial robot 16. The compensation movement can - depending on the respective correction algorithm - also comprise a combination of a pivoting movement and a translational movement. The compensation movement is carried out depending on the data measured by the pressure sensor 28a.The higher the pressure P1 measured by the pressure sensor 28a in the pneumatic cylinder 18, the greater the compensation movement of the industrial robot 16 should be.

[0086] Due to the compensating movement of the industrial robot 16, the axis of the connecting element 12 remains substantially perpendicular to the component surface 14a. This avoids or at least reduces shear and bending forces acting on the connecting element 12, so that the overall setting process can be carried out more reliably.

[0087] When the connecting element 12 is rotated in contact with the component 14 by means of the rotary drive 36, the component 14 heats up. When the component 14 is sufficiently heated, it softens, allowing the connecting element 12 to penetrate the component 14. This moment, at which the connecting element 12 penetrates the component 14, is also detected by the device 10. For example, this moment can be detected by the pressure P1 in the pneumatic cylinder 18, measured by the pressure sensor 28a, dropping or by the speed of the tool 19 increasing. When the penetration of the connecting element 12 into the component 14 is detected, a signal in the form of a correction algorithm shutdown signal is sent to the industrial robot 16 via the data transmission interface 26. When the correction algorithm shutdown signal reaches the industrial robot 16, the industrial robot 16 stops the compensation movement.The connecting element 12 is then inserted into the component 14 without any compensating movement being carried out.

[0088] Fig. 5 shows an example of a complete industrial robot 16 with a robot arm 15, to whose free end the device 10 is attached.

[0089] Fig. 6 shows a schematic flow diagram of a method for placing a connecting element 12 into a component 14.

[0090] In a first step 50, the device 10 attached to the industrial robot 16 is prepared for setting the connecting element 12. Subsequently, in a second step 52, an axial drive force is generated on the connecting element 12 by means of the feed drive 18 and, via the hold-down device 21, on the component 14 by means of the feed drive 20 of the device 10.

[0091] In a third step 54, a reaction force on the device 10 that is proportional to the axial drive force is determined. The determination of the reaction force is preferably carried out continuously and in real time.

[0092] In a fourth step 56, the data relating to the determined reaction force during setting are transmitted to the industrial robot 16 via the data transmission interface 26. The transmission of the data is preferably also carried out continuously and in real time.

[0093] If, in a further step 57, the placement of the connecting element 12 on the component 14 is detected, a signal is sent to the industrial robot 16 via the data transmission interface 26 in a step 58. When the industrial robot receives the signal, the industrial robot 16 processes the data relating to the determined reaction force in a correction algorithm in a further step 60. In a further step 62, the industrial robot 16 controls at least one of its drives 40 based on the correction algorithm in order to at least partially compensate for a deformation of the industrial robot 16 and / or the device 10 due to the reaction force.In principle, it would also be conceivable for the industrial robot 16 to process the data relating to the determined reaction force in a correction algorithm even before receiving the signal, but to use these data only after receiving the signal to control the at least one drive 40 of the industrial robot 16.

[0094] In a further step 63, a change in a process parameter is determined. For example, a change in the reaction force on the device 10 can be determined, or a change in the speed of the connecting element 12 relative to the component 14 can be determined. If this change is characteristic of penetration of the connecting element 12 into the component 14, in a further step 65 a signal, namely a correction algorithm shutdown signal, is sent to the industrial robot 16 via the data transmission interface 26. When the industrial robot 16 receives the correction algorithm shutdown signal, the compensation movement of the industrial robot 16 is stopped. The connecting element 12 is then fully inserted into the component 14 without the industrial robot 16 performing a compensation movement.

[0095] List of reference symbols

[0096] 10 Device

[0097] 12 connecting element

[0098] 14 component

[0099] 14a Component surface

[0100] 15 Robot arm

[0101] 16 industrial robots

[0102] 18 Feed drive (bit)

[0103] 19 tools

[0104] 20 Feed drive (downholder)

[0105] 21 hold-down clamps

[0106] 22 mechanical interface

[0107] 24a screw

[0108] 24b screw

[0109] 26 Data transmission interface

[0110] 28 Axial force determination device

[0111] 28a Pressure sensor

[0112] 28b Pressure sensor

[0113] 30 Control unit

[0114] 32 Touchdown detection

[0115] 34 Position detection

[0116] 36 rotary drive

[0117] 37 Feed

[0118] 38 Brake

[0119] 39 Stroke limitation

[0120] 40 Drive (industrial robot)

[0121] 42 housings

[0122] 44 Sensor

[0123] 50 Provision of the device

[0124] 52 Generating an axial driving force

[0125] 54 Determining the reaction force

[0126] 56 Transmission of data

[0127] 57 Detecting the touchdown

[0128] 58 Sending start signal

[0129] 60 Processing of data

[0130] 62 Controlling the industrial robot

[0131] 63 Detecting a change

[0132] 64 Sending the correction algorithm shutdown signal

Claims

Claims 1. A device (10) for introducing a penetration element (12), in particular a screw, a mandrel, or a drill, into a component (14), having a feed drive (18, 20) for applying an axial driving force to the penetration element (12) and / or the component (14), a mechanical interface (22) for fastening the device (10) to a robot arm (15) of an industrial robot (16), and a data transmission interface (26) for transmitting data to the industrial robot (16), wherein the device (10) comprises an axial force determination device (28), wherein the axial force determination device (28) is designed to determine a reaction force on the device (10) that is proportional to the axial driving force, and wherein the data transmission interface (26) is designed to send data on the determined reaction force, in particular during the introduction of the penetration element (12), to the industrial robot (16).

2. Device (10) according to claim 1, characterized in that the axial force determination device (28) is designed to determine the reaction force on the device (10) continuously and / or in real time and / or that the data transmission interface (26) is designed to send the data on the determined reaction force continuously and / or in real time to the industrial robot (16).

3. Device (10) according to claim 1 or 2, characterized in that the mechanical interface (22) enables a defined positioning of the device (10) on the industrial robot (16).

4. Device (10) according to one of the preceding claims, characterized in that the axial force determination device (28) is designed to measure or calculate a reaction force on the device that is proportional to the axial drive force.

5. Device (10) according to one of the preceding claims, characterized in that the axial force determination device (28) is designed to: - a pressure (P1, P2) in an actuating cylinder (18, 20) or - a motor current for an electric servo motor or - to measure the deformation of an element and calculate the reaction force from it.

6. Device (10) according to one of the preceding claims, characterized in that the data transmission interface (26) is configured to send data on the determined reaction force to the industrial robot (16) only if the determined reaction force exceeds a predefined threshold value.

7. Device (10) according to one of the preceding claims, characterized in that a control unit (30) is provided, and that the control unit (30) comprises a placement detection (32) for detecting a placement of the penetrating element (12) on the component (14), and is designed to send a signal, in particular to the data transmission interface (26), when a placement of the penetrating element (12) is detected, and / or that the control unit (30) comprises a position detection (34) for detecting an axial position, in particular of an end near the component, of the penetrating element (12), and is designed to send a signal, in particular to the data transmission interface (26), when the penetrating element (12), in particular the end of the penetrating element (12) near the component, has assumed or exceeded a predefined position.

8. Device (10) according to claim 7, characterized in that the signal serves as a start signal for processing the transmitted reaction forces by the industrial robot (16) and / or as a start signal for carrying out a compensating movement by the industrial robot (16).

9. Device (10) according to one of the preceding claims 7 or 8, characterized in that the contact detection (32) is designed to detect the contact of the contact element (12) on the component (14) on the basis of a change in a speed of the penetration element (12) relative to the component (14) and / or that the contact detection (32) is designed to detect the contact of the penetration element (12) on the component (14) on the basis of a change in the determined reaction force.

10. Device (10) according to one of the preceding claims, characterized in that a control unit (30) is provided, and in that the control unit (30) is designed to determine a change in the reaction force on the device (10) and to send a signal, in particular a correction algorithm shutdown signal, in particular to the data transmission interface, if a reduction in the reaction force exceeds a threshold value and / or in that the control unit (30) is designed to determine a change in a speed of the penetrating element (12) relative to the component (10) and to send a signal, in particular a correction algorithm shutdown signal, in particular to the data transmission interface (26), if an increase in the speed of the penetrating element (12) exceeds a threshold value. 1 1. Use of the device (10) for setting flow-hole forming screws, in particular flow-hole forming high-strength M4 screws, for setting plastic domes, in particular in sandwich structures, or for inserting drills, in particular flow drills, in order to create a hole in the component.

12. Method for introducing a penetration element (12), in particular a screw, a mandrel or a drill, into a component (14) comprising the steps: Providing (50) a device (10) attached to an industrial robot (16) for introducing a penetration element (12), in particular a screw or a drill, generating (52) an axial driving force on the penetration element (12) and / or on the component (14) by means of a feed drive (18, 20) of the device (10), Determining (54) a reaction force on the device (10) proportional to the axial drive force, Transmitting (56) data relating to the determined reaction force, in particular during insertion, to the industrial robot (16) via a data transmission interface (26), Processing (60) the data on the determined reaction force in a correction algorithm, Controlling (62) at least one drive (40) of the industrial robot (16) using the correction algorithm in order to at least partially compensate for a deformation of the industrial robot (16) and / or the device (10) due to the reaction force.

13. The method according to claim 12, characterized in that the determination (54) of the reaction force proportional to the axial drive force on the device (10) and / or the transmission (56) of the data relating to the determined reaction force during the introduction via the data transmission interface (26) to the industrial robot (16) is carried out continuously and / or in real time.

14. Method according to claim 12 or 13, characterized in that that determining (54) the reaction force on the device (10) comprises measuring or calculating the reaction force.

15. Method according to at least one of claims 12 to 14, characterized in that the reaction force on the device (10) is calculated on the basis of a measured pressure (P1, P2) in an actuating cylinder (18, 20), a measured motor current in an electric motor, or a measured deformation of an element.

16. Method according to at least one of claims 12 to 15, characterized in that - transmitting (56) the data relating to the determined reaction force, in particular during the introduction, to the industrial robot (16) via a data transmission interface (26), - processing (60) the data relating to the determined reaction force in the correction algorithm, and / or - the control (62) of the at least one drive (40) of the industrial robot (16) using the correction algorithm, in order to at least partially compensate for a deformation of the industrial robot (16) and / or the device (10) due to the reaction force, is only started when a determined reaction force exceeds a defined threshold value.

17. Method according to at least one of claims 12 to 16, characterized in that a placement of the penetration element (12) on the component (14) is detected (57) and a signal, in particular to the data transmission interface point (26), is sent (58) when the insertion of the penetration element (12) has been detected and / or that an axial position, in particular of an end of the penetration element (12) close to the component, is determined and a signal is sent (58), in particular to the data transmission interface (26), when the penetration element (12), in particular the end of the penetration element (12) close to the component, has assumed or exceeded a predefined position.

18. The method according to claim 17, characterized in that the processing (60) of the transmitted reaction forces by the industrial robot (16) by means of the correction algorithm is only carried out upon receipt of the signal.

19. The method according to claim 17 or 18, characterized in that the detection (57) of the placement of the penetration element (12) on the component (14) comprises an analysis of a change in a speed of the penetration element (12) relative to the component (14), and / or that the detection (57) of the placement of the penetration element (12) on the component (14) comprises an analysis of a change in the determined reaction force.

20. Method according to at least one of claims 13 to 19, characterized in that a change in the reaction force on the device (10) is determined (63) and a signal, in particular a correction algorithm shutdown signal, is sent, in particular to the data transmission interface (26). is (64) when a reduction in the reaction force exceeds a threshold value and / or that a change in a speed of the penetrating element (12) relative to the component (14) is determined and a signal, in particular a correction algorithm shutdown signal, is sent in particular to the data transmission interface (26) when an increase in the speed of the penetrating element (12) exceeds a threshold value. 21 . Method according to at least one of claims 13 to 20, characterized in that flow-hole forming screws, in particular flow-hole forming high-strength M4 screws, are inserted, that plastic domes, in particular in sandwich structures, are inserted, or that a drill, in particular a flow drill, is introduced into the component in order to drill a hole in the component.

Images