Device for applying a counterforce and attaching a connection securing means when connecting two components

Abstract

The invention relates to a device (500) for applying a counterforce and attaching a connection securing means (513) when connecting two components (400A, 400B), the device (500) containing a carrying unit (515), a first arm (522) which is designed to apply the counterforce (528) to one of the two components (400A, 400B), and a second arm (511) which is designed to apply the connection securing means (513) to a connector (215) which connects the two components (400A, 400B). The first arm (522) is pivotally connected to the carrying unit (515) in a first joint (518B). The second arm (511) is pivotally connected to the carrying unit (515) in a second joint (518A). The first arm (522) applies the counterforce (528) in a direction parallel to a processing axis (519) of the two components (400A, 400B). The second arm (511) contains a mounting unit (512) which applies the connection securing means (513) to the connector (215). The second arm (511) pivots the mounting unit (512) such that the connection securing means (513) is axially aligned with the processing axis (519).

Description

[0001] Device for applying a counterforce and attaching a connection lock when joining two components

[0002] Technical field

[0003] This description relates to manufacturing technology, in particular automated machines that can be used in a manufacturing process. Specifically, the description relates to a device for applying a counterforce and securing the connection when joining two components. Such a device can be used in an assembly system together with an assembly tool and a sealant application station.

[0004] Technical background

[0005] Modern assembly processes are characterized by the fact that manual assembly processes are often replaced by automated solutions. These automated solutions typically involve the use of appropriate machines that perform the necessary steps in a predefined sequence.

[0006] Key criteria for evaluating an automated solution in an assembly process include the stability of the automated process, the reproducibility of the individual work steps and the work results, and the verifiability of the quality achieved in the automated processes, for example by means of an integrated quality control.

[0007] Compared to a manually performed assembly process, an automated solution can lead to improved quality, reduced throughput time, and enhanced reproducibility. Nevertheless, even automated assembly processes offer potential for improvement through the optimization of individual work steps and the adaptation of the tools used.

[0008] Description

[0009] It can be viewed as a task to improve the automated execution of a process for joining two components.

[0010] This problem is solved by the subject matter of the independent claims. Further embodiments are described in the dependent claims and in the following description.

[0011] According to one aspect, a device for applying a counterforce and attaching a locking mechanism when joining two components is described. The device comprises a support unit, a first arm, and a second arm. The first arm is configured to apply the counterforce to one of the two components. The second arm is configured to apply the locking mechanism to a connector that joins the two components. The first arm is pivotally connected to the support unit at a first joint. The second arm is pivotally connected to the support unit at a second joint. The first arm is configured to apply the counterforce in a direction parallel to a machining axis of the two components. The second arm comprises an assembly unit configured to apply the locking mechanism to the connector.The second arm is designed to swivel the assembly unit so that the connection lock is axially aligned with the machining axis.

[0012] In other words, the device has two arms that perform different functions. The first arm applies a counterforce or holding force to hold the components to be joined on one side, while from the opposite side, another tool (for example, the assembly tool described below for drilling a hole and inserting a connector into the hole) drills a hole through both components and inserts the connector. The first arm is then moved away from this position, and the second arm is pivoted into position so that the connection locking mechanism is axially aligned with the machining axis. This means, for example, that a central axis of the connection locking mechanism coincides with the machining axis. In this position, the second arm's function is to apply the connection locking mechanism to the connector inserted into the hole.

[0013] The two arms can pivot independently of each other via separate joints. The joint of the first arm is spaced apart from the joint of the second arm. Therefore, the two arms have different centers of rotation for their respective pivoting movements.

[0014] In any case, both arms are moved sequentially into their respective working positions to perform their functions. The first arm, for example, is moved into its working position by moving the entire support unit towards the components to be joined using a kinematic mechanism (described below). When the first arm is moved out of its working position, the kinematic mechanism also moves the entire support unit. The movement of the support unit when the first arm moves towards or away from a component is, for example, a linear movement. After the first arm has been moved away from the component, it performs a pivoting movement to be swiveled laterally out of its working position. Now the second arm can be swiveled into its working position to perform its function.

[0015] This has the advantage that higher positioning accuracy can be achieved for the functions of the first arm and the second arm, because the kinematics that moves the entire device or the support unit only have to perform a linear movement at most during the two work steps of the first arm and the second arm in order to move the first arm towards or away from the components to be connected.

[0016] According to one embodiment, the device has a kinematic mechanism that is coupled to the carrying unit and is designed to bring the carrying unit into a processing position.

[0017] The kinematics are designed so that, once the first arm is pivoted into the machining position, the support unit moves towards or away from the component, with both movements preferably being linear. After the kinematics have moved the support unit with the first arm away from the component, the first arm can be pivoted out of the working position to allow the second arm to pivot into the machining position. Once the second arm has pivoted into the machining position, it can be moved to a desired distance from the component, for example, using hydraulics and a slide. During this step, it is usually not necessary for the kinematics to move the entire support unit.Here, only the second arm is moved (swivel movement into the working position, linear movement relative to the support unit via hydraulics and slides to a predetermined distance to the component, or combined swivel movement and linear movement).

[0018] According to another embodiment, the first arm is designed to allow the first joint to pivot and perform a rotational movement, and to be placed on one of the two components to be joined by means of the rotational movement in order to apply the counterforce.

[0019] The kinematics initially position the support unit so that the first arm, following a pivoting or rotational movement, rests on a surface of one of the components to be connected and thus applies the counterforce.

[0020] The carrying unit performs a translational movement to place the first arm on the surface and thus apply the counterforce.

[0021] The first arm can be pivoted around the first joint using an actuator. An actuator can be any functional unit capable of transmitting movement to an element, such as an electromechanical, hydraulic, or pneumatic drive.

[0022] According to another embodiment, the first joint is arranged off-center with respect to the kinematics.

[0023] This means that the first joint of the first arm is laterally offset and spaced away from the axis of the kinematics where the kinematics attach to the support unit. Due to this design, the counterforce exerted by the support unit via the first arm on the components to be held does not act linearly on the kinematics of the device. Rather, this counterforce is essentially absorbed by the housing of the support unit, allowing the kinematics to be designed with a smaller dimension.

[0024] In this context, the term "off-center" means that an axis of the kinematics is considered the center or central axis, and the first joint is offset relative to this center or central axis of the kinematics, i.e., laterally offset by a certain distance (as a value greater than zero) to the center or central axis.

[0025] According to a further embodiment, the first joint is arranged off-center with respect to the machining axis. In other words, the first joint of the first arm is laterally offset from and spaced away from the machining axis of the components. This allows the first arm to be applied to the surface of a component by a purely rotational movement (without linear or translational movement) in order to apply the desired counterforce.

[0026] Here too, the term "off-center" is to be understood as meaning that the machining axis is considered the central axis and the first joint is offset with respect to the machining axis, i.e., laterally offset by a certain distance (as a value greater than zero) to the machining axis.

[0027] According to another embodiment, the first arm has a distance sensor to detect a distance to a surface of one of the two components.

[0028] The measured distance can be transmitted to the device's control unit. This control unit, in turn, regulates the drive of the first arm to precisely target the component during the pivoting movement to apply the counterforce and to stop the movement when the first arm rests on the component.

[0029] According to another embodiment, the first arm has a nozzle which is designed to remove material removed from a machining zone during a machining step.

[0030] For example, the nozzle is fluidically connected to a turbine. This allows the nozzle to blow away chips or debris from a drilling operation, removing them from the work area and preventing contamination or quality issues with the components being joined. Both the distance sensor and the nozzle are located in the front section of the first arm, which rests on the component when the counterforce is applied.

[0031] The first arm can be modularly designed, allowing it to be operated with different functional attachments via an interchangeable interface. These attachments can differ, for example, in the geometry and size of the contact foot (i.e., the front area that rests on the component when counterforce is applied), the type of distance sensor, and the nozzle. The nozzle, for instance, can be designed for different component materials and for different sized chips that need to be blown away.

[0032] According to another embodiment, the second arm is designed to allow the second joint to pivot and perform a rotational movement, and to align the connection locking mechanism axially with the machining axis through the rotational movement.

[0033] According to another embodiment, the second joint is arranged off-center with respect to the kinematics and / or the machining axis.

[0034] Reference is made here to the explanations regarding the off-center arrangement of the first joint in relation to the kinematics and / or the machining axis. The explanations given there apply analogously to the second joint.

[0035] According to a further embodiment, the second joint is arranged on a slide, the slide being movable in a direction parallel to the machining axis on the support unit. A slide is understood to be a mechanism that allows linear movement. This could, for example, be a rail in which the joint is arranged to move linearly, yet still allows the pivoting movement of the second arm.

[0036] In this way, the second arm can perform a linear or translational movement in addition to the rotational movement around the second joint. This linear movement allows the second arm to be pivoted into the working position, maintaining a certain distance from the component's surface. Furthermore, this linear movement allows the second arm, in the machining position (when the locking device is axially aligned with the machining axis and the connector positioned there), to be moved axially along the machining axis to apply the locking device to the connector.

[0037] According to another embodiment, the assembly unit is a flat drive which is designed to connect the connection lock to the connector by means of a rotary movement.

[0038] The connection locking mechanism can be, for example, a so-called shear nut, also known as a collar. A shear nut has two longitudinal sections connected at a predetermined breaking point or shear edge. The first section is shaped like a nut on its outer surface, while the second section has an internal thread. The shear nut is turned over the outer surface of the first section, and the internal thread of the second section is screwed onto a bolt. If a certain force is exceeded during this process, the predetermined breaking point breaks, and the first section separates from the second. The second section remains in the screwed-on position, and the detached first section can be removed. The flat drive is designed to accept such a shear nut and screw it onto the connector.

[0039] According to another embodiment, the second arm is connected to a suction hose and the suction hose is designed to extract and remove machining residues.

[0040] The suction hose can, for example, be designed to suction off the first section of the shear nut so that it does not fall onto the components to be joined and damage the surface there.

[0041] According to another aspect, an assembly system is described. The assembly system comprises a device as described herein and an assembly tool.

[0042] The assembly tool can be one of the tools described below. However, another assembly tool can also be used in conjunction with the device described here.

[0043] According to one embodiment of the assembly system, the assembly tool is arranged to drill a hole into the two components to be joined on a first side and to insert a connector into the hole, and the device is arranged to apply the counterforce on a second side, which is arranged opposite the first side, while the assembly tool drills the hole, and subsequently to attach the connection lock to the connector inserted into the hole.

[0044] According to a further embodiment, the assembly tool has an end effector. The end effector comprises: a drill spindle with a drill bit, wherein the drill spindle is configured to rotate the drill bit about a machining axis; and a setting finger configured to receive a connector from a feeder and move it into a machining position. The drill spindle is configured to move longitudinally along the machining axis. The setting finger is configured to move a joint and position the connector so that the connector is axially aligned with the drill bit. The drill spindle is configured to insert the connector into the components by moving it along the machining axis, thereby joining them together.

[0045] The following description will detail a sealant application station and the assembly tool mentioned above. The sealant application station and the assembly tool can be used together with the device for applying a counterforce and attaching a locking device.

[0046] The following description details both the sealant application station and the assembly tool because these two units can interact with each other and with the device for applying a counterforce and securing the connection, and because functions of one unit are sometimes described in relation to functions of the other. Therefore, in addition to the description of the device for applying a counterforce and securing the connection above, the sealant application station and the assembly tool are described in the following sections to provide a clearer understanding of the overall context.

[0047] A sealant application station is used to apply sealant to a connector for joining a workpiece. The sealant application station comprises a feeder, a discharger, a holding unit, a gripper, a drive unit, and a sealant application unit. The feeder is designed to supply a connector to the sealant application station. The discharger is designed to discharge the connector from the sealant application station. The holding unit is arranged to hold the connector above the feeder after it has been supplied. The gripper is designed to grasp the connector held by the holding unit. The drive unit is designed to rotate the gripper around a rotary axis. The sealant application unit is designed to apply sealant to the connector while the drive unit rotates the gripper around the rotary axis.The holding unit is movable to release a drain opening after the sealant application unit has applied a sealant to the connector.

[0048] The sealant application station can be used, for example, in the manufacturing of workpieces, particularly for production steps that involve the pre-processing of connectors. This involves applying sealant to a connector, which is then used in a subsequent processing step to join two components into a single part. The connector could be, for example, a drive rivet or a screw rivet, which is coated with sealant before being inserted into an opening in the components to join them and seal the joint.

[0049] The components and parts in question could be, for example, fuselage parts of aircraft that must be joined together in such a way that they are airtight at the connection point. This also applies to the locations where the connectors are positioned. For this reason, the connectors are coated with a sealant before being inserted into the corresponding openings of the components.

[0050] A two-component connector, for example, can be used as a sealant. Despite its high hardness, it possesses high elasticity and maintains its strength properties over a comparatively wide temperature range, such as from -60°C to +100°C. The feed and discharge can be designed as a single hose system, through which a connector can be transported using vacuum or compressed air. Transporting connectors via a hose system is a well-known method. Details of this will not be discussed further here. The connector is transported through the hose system, assuming a specific orientation. A rivet-shaped connector is preferably transported with the rivet head facing forward (in the direction of movement). Thus, the connector strikes the holding unit with its head and is then gripped by the gripper in this orientation.For further transport via the discharge opening, the connector retains this basic orientation.

[0051] The discharge opening is preferably arranged along the feed direction of the connector, so that after the connector has been inserted via the feeder and held and rotated by the gripper, it passes into the discharge opening as soon as the holding unit releases the discharge opening. This has the advantage that the connector is removed from the feeder, coated with sealant, and continues its path towards further processing. No complex transfer mechanisms are required. Instead, the connector is ejected from the feeder, its movement is initially stopped by the holding unit, and then it is gripped by the gripper and set into rotation in front of the sealant application unit. Here, the connector is preferably rotated 360° so that it is coated with sealant along its entire circumference. Only a drive is needed for this process, which rotates the gripper.The gripper does not necessarily have to perform a translational movement.

[0052] The holding unit can assume one of two states: in the first state, the holding unit blocks the discharge opening and holds a connector being dispensed from the feeder. In this position, the connector can be gripped and rotated by the gripper; in the second state, the holding unit releases the discharge opening, for example, by performing a pivoting or linear movement, thereby clearing the discharge opening; the connector can then be placed into the discharge opening and is conveyed further for the next processing steps.

[0053] The sealant application unit applies the sealant to the connector, for example, by dispensing or spraying the sealant from an opening in the unit. For this purpose, the sealant application unit can be moved to a predetermined distance from the surface of the connector. The sealant is preferably applied in a liquid state to a region of the connector's surface, for example, by means of an opening or nozzle arranged on the sealant application unit. By rotating the connector with the gripper, the connector is preferably coated with sealant around its entire circumference and over a specific region in the longitudinal direction.

[0054] For example, the sealant application station also includes a transfer station, which is located at one end of the feeder and mechanically coupled to the gripper. The drive unit is coupled to the transfer station in such a way that a movement of the drive unit is transmitted to the transfer station, thereby rotating the gripper around its axis of rotation.

[0055] For example, the drive unit is coupled to the transfer station via a drive belt. The drive unit can be, for example, an electric motor or another suitable drive. The transfer station is rotatably mounted at one end of the feeder.

[0056] The gripper can, for example, be rotated so that in one processing step (i.e., when applying sealant to a connector) it performs a 360° clockwise rotation, and in a subsequent processing step (i.e., when applying sealant to the next connector) it performs a 360° counterclockwise rotation. This reduces the complexity of the rotation mechanism of the transfer station and the gripper, as it eliminates the need for failure-prone components that would allow unlimited rotation in the same direction.

[0057] For example, the sealant application unit can be moved in the radial direction of the connector in order to maintain a predetermined distance from the connector.

[0058] This allows the sealant application unit to be positioned at a suitable distance from the surface of the connector before the sealant is applied. For example, this distance can be adjusted or varied depending on the sealant used and the size of the surface area being treated.

[0059] For example, the sealant application station has a sensor unit designed to detect the distance between the sealant application unit and the connector or its surface.

[0060] The measured distance can be transmitted to a controller of the sealant application station, enabling the controller to adjust the distance between the sealant application unit and the surface of the connector to a desired value by controlling a drive of the sealant application unit accordingly.

[0061] For example, the gripper has at least two gripping fingers which are adjustable to the size of the connector in order to be able to grip connectors of different dimensions.

[0062] The gripper, consisting of at least two gripping fingers, is designed to perform a gripping movement. An actuator (e.g., an electromechanical, hydraulic, or pneumatic drive) is coupled to the gripper and the gripping fingers to execute this movement. During the gripping movement, the gripping fingers move towards each other. The actuator can be controlled to stop the gripping movement when a predetermined gripping force, applied to the connector, is reached. The gripping fingers can be coated or prepared with a gripping surface to securely hold the connector between them for the duration of the processing steps. Alternatively, the gripping fingers can be moved from an open position into the gripping position using a mechanical spring or clamping element.Thus, an actuator is only needed to open the gripping fingers, whereas the gripping fingers perform the gripping movement through the spring or tensioning element when the actuator no longer holds the gripping fingers in the open state.

[0063] For example, the gripper holds the connector in such a way that a central axis of the connector coincides with the axis of rotation of the gripper.

[0064] Thus, the connector experiences no translational displacement when the gripper rotates around its axis of rotation. Instead, the connector remains in the same position and is rotated only around its central axis, which is aligned with the gripper's axis of rotation. Once the sealant application unit has reached a predetermined distance from the connector's surface, this distance is maintained as the gripper rotates with the connector, which is particularly true for rotationally symmetrical connectors. The sealant is therefore applied from the same distance across the entire circumference of the connector, resulting in a uniform application of sealant along its entire perimeter.

[0065] For example, the holding unit can be moved transversely to a transport direction of the connector or to a longitudinal axis of the connector when it is in the position held by the gripper, in order to release the discharge opening.

[0066] The holding unit can, for example, be moved from a first state, in which it blocks the discharge opening, to a second state, in which it releases the discharge opening. After the connector containing the sealant has been removed, the holding unit is typically moved back from the second state to the first. An electromechanical drive unit, a pneumatic unit, a hydraulic unit, a magnetic unit, or another type of drive can be used for this purpose. The holding unit can perform a linear or a pivoting movement when moving from the first state to the second state.

[0067] In one example, the holding unit has an opening that can be brought into contact with the discharge opening of the sealant application station. In this state, the opening of the holding unit is located below the connector, and the connector is no longer held in position and falls through the opening of the holding unit into the discharge opening. The opening in the holding unit can, in particular, have the same cross-section as the discharge opening.

[0068] The assembly system allows the use of the aforementioned assembly tool to connect two components. This assembly tool is described in more detail below. All of these variants can be used in the assembly system, in conjunction with the device for applying a counterforce and attaching a locking mechanism.

[0069] The assembly tool includes an end effector. The end effector comprises a drill spindle with a drill bit and a setting finger. The drill spindle is designed to rotate the drill bit around a machining axis. The setting finger is designed to pick up a connector from a feeder and move it into a machining position. The drill spindle is designed to move longitudinally along the machining axis. The setting finger is designed to move a joint and position the connector so that it is axially aligned with the drill bit. The drill spindle is designed to insert the connector into the components by moving it along the machining axis, thereby joining them together.

[0070] The assembly tool described here is characterized by its simplicity. For example, the drill spindle is moved linearly along a machining axis. The drill spindle can be moved in both directions along the machining axis, for example by an electromechanical drive such as an electric motor or other drive types described herein (pneumatic, hydraulic, magnetic, etc.).

[0071] The drill spindle can be moved along the machining axis towards or away from the two components to be joined. This allows the drill spindle to be moved so that the drill bit bores a hole into the components. Following the drilling operation, the drill bit is returned to its original position, meaning the drill spindle is moved away from the drilled components. During the drilling operation, the drill bit rotates around its longitudinal axis as usual. The longitudinal axis of the drill bit coincides with the machining axis of the drill spindle, meaning the drill bit rotates around the machining axis during the drilling operation.

[0072] The drill spindle preferably moves in such a way that the drill bit completely penetrates both components to be joined. The drill bit is then withdrawn from the drilled hole by a counter-movement along the machining axis and maintains a predetermined distance from the drilled components.

[0073] The insertion finger, with the connector in place, now pivots into the machining position. The machining position of the connector is characterized by its axial alignment with the drill bit. This means that the central axis of the connector coincides with the central axis of the drill bit. Although the drill bit and the connector are spaced apart along the machining axis, or positioned one behind the other, they are both located on the same axis. Consequently, in this position, the connector is also aligned with the hole drilled by the drill bit.

[0074] The connector is, for example, at least partially (in the longitudinal direction) circular or rotationally symmetrical, and the circular or rotationally symmetrical longitudinal section has the same or a slightly larger diameter than the drill bit. In the machining position, the connector is thus also aligned with the hole drilled by the drill bit in the components. If the drill spindle is now moved again along the machining axis in the direction of the components to be joined, the connector can be inserted into the hole drilled by the drill bit.

[0075] This approach allows a single drill spindle to simultaneously drill a hole into the components to be joined and insert a connector into the hole created by the drill, all with a linear movement along a machining axis in both directions. This significantly reduces the mechanical complexity of the setup and the machining time. When the insertion finger pivots the connector into the machining position, the drill spindle moves to a suitable distance from the components to be joined, allowing the insertion finger with the connector to be positioned between the drill and the components.

[0076] The assembly tool described here can be used in a system together with the sealant application station. The sealant application station supplies a sealant-impregnated connector to the assembly tool, for example, via a feeder designed as a vacuum or compressed air transport hose. The connector is then used in the assembly tool as described to join the components to be joined. However, the assembly tool can also be supplied with a connector by other means; the sealant application station described above is not strictly necessary for this.

[0077] According to another embodiment, the setting finger is connected to the drill spindle via a joint, the joint being designed so that the setting finger can be pivoted into the machining position in front of the drill and pivoted out of the machining position.

[0078] The joint connecting the insertion finger to the drill spindle is, for example, a pivot or rotary joint. This joint is typically located on the drill spindle housing. When the drill bores a hole into the components to be joined, the insertion finger pivots laterally out of the machining position. In this position, the insertion finger can pick up a connector from the guide. After the hole is drilled, the drill spindle moves away from the components to be joined, and the insertion finger, along with the connector it holds, moves in front of the drill.

[0079] The setting finger can be pivoted in the joint by means of an actuator. The actuator can be a drive such as the one described above in relation to the linear movement of the drill spindle along the machining axis.

[0080] According to another embodiment, the joint allows a pivoting movement about a single axis.

[0081] Thus, the setting finger has a simple structural design, because in the

[0082] The pivoting movement into and out of the machining position does not require any complex movement. However, it is of course possible that the setting finger performs a different movement pattern during this movement into or out of the machining position, which is adapted to the respective requirements.

[0083] According to another embodiment, the connector and the drill are located on a common axis in the machining position and are arranged one behind the other on this common axis.

[0084] It is precisely this relative arrangement of the connector and drill that makes it possible for both the drilling and insertion processes to be performed with the same linear movement of the end effector towards (and away from) the workpiece. For example, the drill and the connector are arranged relative to each other such that a perpendicular projection (along the machining axis 319) of the drill and the connector onto the workpiece surface lies on top of each other or at the same location.

[0085] According to another embodiment, the common axis of the connector and the drill runs parallel to the machining axis or coincides with the machining axis.

[0086] According to another embodiment, the assembly tool further comprises a kinematics in the form of a swivel arm, with the drill spindle being arranged on the kinematics.

[0087] The kinematics can, for example, be designed as a so-called six-axis swivel arm. Using the kinematics, the drill spindle can be moved along the surface of the components to be joined, in order to move the drill spindle to a new working position after a connector has been inserted into a borehole, where a hole is to be drilled and a connector inserted.

[0088] Even when the drill spindle is positioned on the kinematics to be moved to a new working position, it only performs a movement along the machining axis at each working position. To drill the hole, the drill spindle is moved along the machining axis towards the components, then away from the components. Next, the insertion finger with the connector is pivoted into the machining position, and the drill spindle is moved again along the machining axis towards the components to insert the connector into the drilled hole. Finally, the drill spindle is moved away from the inserted connector, for example, by first moving it away from the components along the machining axis and then using the kinematics to move it to the next working position.

[0089] According to a further embodiment, the assembly tool comprises a control unit and a sensor unit. The sensor unit is configured to detect the relative position of the drill spindle with respect to the two components to be joined and to transmit this information to the control unit. The control unit is configured to initiate a movement of the drill spindle based on the detected relative position of the drill spindle with respect to the components to be joined.

[0090] The sensor unit can, for example, include one or more optical sensors mounted on the drill spindle. Alternatively, the sensors can be mounted on other elements of the assembly tool. However, if the sensors are mounted on the drill spindle, it may be easier to determine the relative position of the drill spindle to the components to be joined, because the relative position of the sensors to the drill spindle is fixed. The optical sensors are designed to detect their surroundings. The relative position of the drill spindle to the components to be joined can be determined via specific markers on those components.

[0091] This relative position is transmitted to the controller. The controller is designed to control a drive for positioning the drill spindle based on the relative position of the drill spindle and the workpiece (components to be joined). The controller can also be designed to control a drive for rotating the drill, for example, depending on the distance between the drill spindle and the workpiece. The controller can be designed to control both the linear drive of the drill spindle for movement along the machining axis towards or away from the workpiece, and the kinematics for moving the drill spindle to the next working position.

[0092] When the assembly tool and the sealant application station are used together in an assembly system, the functions of controlling the sealant application station and the functions of controlling the assembly tool can be performed by a single controller.

[0093] According to another aspect, an assembly system is specified. The assembly system includes a sealant application station and an assembly tool as described herein. The sealant application station may be the sealant application station described herein.

[0094] The sealant application station and the assembly tool described herein can be used together in an assembly system to join components. In the sealant application station, a sealant is applied to the connector, and the sealant-coated connector is then transferred to the assembly tool for use in a joining or joining process. The assembly system can be used, for example, in the assembly of aircraft parts. For instance, several individual sections of an aircraft's outer skin can be joined together using the assembly tool and sealant-coated connectors from the sealant application station described herein.Thus, not only are the components to be joined mechanically connected, but the joint is also sealed gas-tight and watertight with the sealant.

[0095] It should be noted that the sealant application station can also be used independently of the assembly tool in an assembly system to apply sealant to a connector. Likewise, the assembly tool can also be used independently of the sealant application station in an assembly system to join two or more components together. In this joining process, sealant-applied connectors can be used in the same way as connectors that are not. The connectors can be fed to the assembly tool in any way.

[0096] According to one embodiment, the sealant application station is connected to the assembly tool for feeding a connector via a single feed hose, wherein the single feed hose is designed to feed connectors of different dimensions to the assembly tool.

[0097] Because connectors of varying dimensions can be fed to the assembly tool via a single feed hose, it is sufficient to use only one feed hose to connect the sealant application station to the assembly tool. For example, connectors of different diameters, lengths, and / or shapes (in the case of a connector, the shape refers to the form of the shaft and head) can be fed through the single feed hose. This further reduces the complexity of the assembly system, as a separate feed hose is not required for every connector variant.

[0098] Brief description of the characters

[0099] The following section describes exemplary embodiments with reference to the accompanying drawings. The illustrations are schematic and not to scale. Identical reference numerals refer to identical or similar elements. The drawings show:

[0100] Fig. 1 shows a schematic representation of the construction of a device for applying a counterforce and attaching a connection lock.

[0101] Fig. 2 shows a schematic representation of the functional modules of a device for applying a counterforce and attaching a connection lock.

[0102] Fig. 3 shows a schematic representation of a sealant application station.

[0103] Fig. 4 shows a schematic representation of an assembly tool.

[0104] Fig. 5 shows a schematic representation of an end effector of a

[0105] Assembly tool from Fig. 4 with pressure foot.

[0106] Fig. 6 shows a schematic representation of the functional modules of an assembly system. Fig. 7 shows a schematic representation of an assembly system.

[0107] Fig. 8 shows a schematic representation of the interaction of an assembly tool with a device for applying a counterforce and attaching a connection lock when joining two components.

[0108] Detailed description of implementation examples

[0109] Fig. 1 describes a device 500 for applying a counterforce and attaching a locking device. The device 500 has a kinematic mechanism 530 and an end effector 510 with a support unit 515. The kinematic mechanism 530 has three joints 531, 532, 533, thus allowing the support unit 515 to be moved with multiple degrees of freedom, in particular six degrees of freedom. In this way, the kinematic mechanism 530 can position and orient the support unit 515 with considerable flexibility.

[0110] On the support unit 515, a first arm 522 and a second arm 511 are pivotably mounted via a first joint 518B and a second joint 518A, respectively. The first arm 522 functions as a pressure foot and is shown in the machining position in Fig. 1. The pressure foot exerts a pressure force 528 along the machining axis 519 on the workpiece 400. The machining axis 519 corresponds to axis 319 from Fig. 4, which is described below.

[0111] The first arm 522 has a sensor 526 (for example, an eddy current sensor) and a nozzle 527. The sensor 526 detects the distance to the surface of the workpiece 400 and transmits the detected value to the control unit 525. The control unit 525 controls an actuator, which pivots the first arm 522 around the first joint 518B. To be pivoted into the machining position, the first arm 522 is pivoted clockwise; to be pivoted out of the machining position, it is pivoted counterclockwise.

[0112] The first arm 522 has a receptacle 521. An end section of the first arm 522 can be changed at an interchangeable interface 523. The first joint 518B is arranged off-center with respect to the machining axis 519, i.e., offset to the left in Fig. 1 with respect to the machining axis 519.

[0113] The second arm 511 is shown outside the machining position. Either the first arm 522 or the second arm 511 will be in the machining position, but never both arms at the same time. To pivot the second arm into the machining position, it moves clockwise around the second joint 518A. The second joint 518A is located on the slide 529. The slide 529 can be moved in a direction 520 parallel to the machining axis 519, both upwards and downwards. When the second arm 511 is in the machining position or is moved into it, the distance of the second arm 511 to the workpiece 400 can be varied via the slide 529.

[0114] The second arm 511 has a mounting unit 512, for example a flat drive. The flat drive engages a shear nut 513 with a clamping mechanism 514 and turns this shear nut 513 onto a connector 215, see Fig. 8.

[0115] The shear nut 513 is fed along a feed axis 517 via a feed hose 201 A. A sensor unit 350 monitors the positioning of the shear nut 513 when the second arm 511 is in the machining position. The sensor unit 350 can be connected to an image processing system that monitors the desired positioning relative to the workpiece 400. The sensor unit 350 can, for example, have one or more optical sensors arranged on the first arm and / or the second arm. Alternatively, the sensors can also be arranged on other elements of the device 500. However, if the sensors are arranged on the end effector 510, it may be simpler to detect the relative position of the end effector 510 to the components 400 to be joined, because the relative position of the sensors to the end effector 510 is fixed. The optical sensors are designed to detect their surroundings.The relative position of the end effector 510 to the connector 215 can be determined via certain markers on the components 400 to be connected.

[0116] This relative position is transmitted to the controller 525. The controller 525 is designed to control a drive for positioning the end effector 510 based on the relative position of the end effector 510 and the workpiece 400 (components to be joined). The control unit 525 can also be configured to control a drive for the rotation of the second arm 511 with a flat output 512, for example, depending on the distance between the second arm 511 and the workpiece 400. The control unit 525 can be configured to control both the linear drive 529 of the second arm 511 for movement along the machining axis 519 towards or away from the workpiece 400, and the kinematics 530 for moving the end effector 510 to the next working position, thereby initiating a compensating movement to align the shear nut 513 with the connector 215 without having to move the kinematics 530.

[0117] The second arm also has a discharge hose 201 B. The discharge hose 201 B sucks up the broken-off section of the shear nut 513 and carries it away from the processing position. A transfer unit 505 transfers the shear nut 513 from the feed hose 201A to the assembly unit 512 and carries the broken-off section of the shear nut 513 to the discharge hose 201 B.

[0118] The feed 201 A and the discharge 201 B can be designed as a single hose system through which a shear nut can be transported by means of vacuum or compressed air. The shear nut is transported via the hose system 201 A and assumes a specific orientation. A shear nut in the form of a rivet is preferably transported with the base facing forward (in the direction of movement). Thus, the shear nut strikes the transfer unit 505 with its base facing forward and is then used in this orientation by the flat output unit 512.

[0119] The transfer unit 505 can assume one of two states: in the first state, the transfer unit 505 blocks the discharge opening to the discharge hose 201 B and holds a shear nut that is dispensed from the feeder 201 A. In this position, the shear nut can be gripped and rotated by a gripper of the flat output 512. In the second state, the transfer unit 505 releases the discharge opening, for example, by performing a pivoting or linear movement, thereby opening the discharge opening to the discharge hose 201 B. The detached part of the shear nut can then be placed into the discharge opening.

[0120] The flat drive engages the shear nut 513 and connects it to the connector 215 via a rotary movement, see Fig. 8.

[0121] When the first arm 522 is swung away from the counter-holding position and the second arm 511 swings into the machining position, the end effector 510 no longer needs to be repositioned using the kinematics 530. The machining position of the second arm 511 is characterized by the fact that, in this position, the shear nut 513 is axially aligned with the machining axis 519, but the edge of the shear nut 513 closest to the workpiece is axially spaced from the workpiece surface, e.g., by a few millimeters. This means that the central axis of the shear nut 513 coincides with the machining axis 519. As a result, the shear nut is also aligned with the counter-holding position in this position. This eliminates the need for further repositioning of the kinematics 530, and the second arm 511 can be moved linearly to the machining position with the rotating shear nut 513 via the slide 529 along the direction of movement 520.The second arm 511 can be moved linearly in both directions along the machining axis 519 in the home position or in the machining position with a defined force, for example by an electromechanical drive such as an electric motor or other drive types described herein (pneumatic, hydraulic, magnetic, etc.).

[0122] The shear nut 513, for example, is at least partially (in the longitudinal direction) circular or rotationally symmetrical, and the circular or rotationally symmetrical longitudinal section has the same or a slightly larger diameter than the connector 215. In the machining position, the shear nut 513 is thus also aligned with the already mounted connector 215 in the components 400. If the second arm 511 is now moved again along the machining axis 519 in the direction of the components 400 to be joined, the shear nut can be screwed onto the already mounted connector 215.

[0123] This approach allows the components 400 to be joined to be held in a dimensionally stable position and the screw connection of the shear nut 513 to the connector 215 to be carried out with a single retraction movement of the kinematics and a simple pivoting of the first arm 522 and the second arm 511 with flat drive. This significantly reduces the mechanical complexity of the assembly and the machining time.

[0124] Once the shear nut 513 is fully screwed on and the shear torque is reached, the second arm 511 is pivoted back to its home position and locked in place. The transfer unit 505 with the suction unit 201 B switches from the feeding state to the suction state. The transfer unit 505 with suction unit is then moved linearly until it makes contact with the rear of the flat drive 512. In this position, the clamping mechanism 514 in the flat drive 512 is released, and the shear nut 513 can be extracted in a controlled manner. The transfer unit 505 with suction unit is then moved linearly back, switched to the feeding state, and moved linearly until it makes contact with the rear of the flat drive. The clamping mechanism 514 is thus released again, and a shear nut can be fed into the flat drive 512 via the feed 201 A.The transfer unit 505 with extraction device is then returned to its initial feeding position. The extraction and feeding processes can be monitored and evaluated by various sensors, such as a digital sensor like an inductive ring sensor or other sensor types (optical, mechanical, etc.). The transfer unit 505 with extraction device can be moved linearly in both directions during the operating mode change and feeding process until a contact is reached to release the clamping mechanism 514. This movement can be achieved, for example, by an electromechanical drive such as an electric motor or other drive types (pneumatic, hydraulic, magnetic, etc.).

[0125] This approach allows the flat drive 512 to be designed very narrowly, enabling screw connections even in hard-to-reach positions and those obscured by interference contours. Furthermore, a section of the shear nut is precisely broken off and removed, preventing damage to the components 400 from this broken-off section, as the break-off piece does not fall onto the component 400. The sensor system 350 can now be delivered for quality control to verify the completed connection.

[0126] The end effector 510 is then moved away from the screwed-on shear nut, for example by first moving the end effector away from the components 400 along the machining axis 519 and then by using the kinematics 530 to bring it to the next working position.

[0127] The work steps and functions of the device 500 can be summarized as follows: first, the second arm 522 is pivoted into the desired position by a pivoting movement about the second joint 518B; then, the kinematics 530 moves the support unit 515 along the machining axis 519 (with a linear movement) towards the component 400 in order to achieve a desired distance to the component 400 with the second arm 522 or to exert a desired compressive force 528 on the component 400; in this position, a compressive force is exerted via the second arm 522, while a hole is drilled from the other side of the component 400 and a connector is inserted into the drilled hole; subsequently, the kinematics 530 moves the support unit 515 away from the component 400, preferably with a linear movement along the machining axis 519, to a predetermined distance, for example a few millimeters, such as 10 mm;The second arm 522 is swung away from the counter-holding position; the first arm 511 pivots about the first joint 518A into the working position; the first arm 511 is moved by the slide 529 and a drive, e.g. a hydraulic system, along the direction of movement 520, which runs parallel to the machining axis 519, to a desired distance from the surface of the component 400; in this position, the assembly unit 512 is put into operation and the first arm 511 is synchronously subjected to further pressure in the direction of the component 400 in order to apply the locking device to the connector; after the locking device has been applied to the connector and has broken off at a predetermined breaking point, the first arm 511 is moved away from the component 400 via the slide 519;Finally, the entire carrying unit 515 can be moved away via the kinematics 530, for example to the next working position or to the next position where holding pressure must be applied and a connection lock attached.

[0128] Fig. 2 schematically shows the functional blocks of a device 500, as described with reference to Fig. 1. The device 500 has a supply unit 570 for connection fuses 513 and a suction system 580. Connection fuses 513 are fed from the supply unit 570 to the end effector 510 via a feed hose 201A. The end effector 510 is attached to an assembly table 340 via the kinematics 530. Two components 400A and 400B are located on the assembly table 340. The end effector 510 is constructed as shown and described with reference to Fig. 1.

[0129] The sheared-off material from the shear nut is picked up by the end effector 510 and transported via the suction hose 201 B to the extraction system 580.

[0130] Fig. 3 shows a sealant application station 200. The sealant application station 200 is supplied via a hose system 101 with a connector 215. The connector 215 undergoes the following processing steps in the sealant application station 200 and is then transferred to the hose system 201 for further processing.

[0131] The sealant application station 200 initially includes a transfer station 202. The connector 215 is fed to the sealant application station 200 via the hose system 101 and the transfer station 202. The transfer station 202 inserts the connector 215 into the sealant application station 200. The sealant application station 200 includes a rotary unit 240, which is coupled to a gripper 205. The rotary unit 240 can be set in rotation by a drive unit 204 via a drive belt 203, which also sets the gripper 205 into rotation about the axis of rotation 217. The rotation can occur in both directions 207 about the axis of rotation 217. The gripper 205 has several gripping fingers 206, which grasp the connector 215.

[0132] A connector 215 is fed via the hose system 101 and the transfer station 202 and comes into contact with the holding unit 210. The holding unit 210 can, for example, be designed as a stop plate. In this position, the connector 215 is axially aligned with the axis of rotation 217, i.e., a central or longitudinal axis of the connector 215 coincides with the axis of rotation 217, and the connector is gripped by the gripping fingers 206 of the gripper 205. The drive unit 204 sets the rotary unit 240 and the gripper 205 into rotation via the drive belt 203, which also rotates the connector 215 about the axis of rotation 217.

[0133] The functions of the sealant application station 200, for example the drive unit 204 and the gripper 205, are controlled by a controller 230. The controller 230 is also designed to control the movement of the holding unit 210 and the sealant application unit 208.

[0134] The connector 215 is rotated about the axis of rotation 217. During the rotation of the connector 215 about the axis of rotation 217, a sealant is applied to a region of the connector's surface by the sealant application unit 208. For this purpose, the sealant application unit 208 can be moved radially towards the connector 215 and assume a predetermined distance from it. The sealant is applied to the connector 215 via an opening or nozzle 218. The sealant is dispensed with a displacement-controlled dispensing force 209. While the sealant is being applied to the connector 215, the connector 215 preferably rotates 360°, thereby applying the sealant over its entire circumference.

[0135] A sensor unit 250 is arranged to detect the distance between the sealant application unit 208 and the connector 215. The sensor unit 250 can also be configured to detect the position and orientation of the connector 215 to enable the gripper 205 to grasp the connector 215.

[0136] Once the sealant has been applied to the connector 215, this step is complete and the connector 215 can be transported further. For this purpose, the holding unit 210 is moved to align the discharge opening.

[0137] 214 in the mounting block 213. In the example of Fig. 3, the holding unit 210 can be moved to the right to move the opening 219 in the holding unit so that the opening 219 is above the discharge opening 214 and the connector 215 is in the transfer unit 211 field, where the connector

[0138] The 215 is fed into the hose system 201. However, the holding unit 210 can also be moved to the left to release the discharge opening 214.

[0139] The sealant application station 200 is preferably arranged such that gravity brings the connector 215 from the transfer station 202 into the intended position on the holding unit 210 and brings the connector 215 to the transfer unit 211 as soon as the discharge opening 214 is released from the holding unit 210.

[0140] In summary, the function of the sealant application station can be described as follows: the connectors 215 are removed from a hose system 101, 201, transferred to a sealant application unit 208 to be coated with sealant 220, and then returned to the hose system for further transport. Within the hose system 101, 201, the connector 215 is transported to the sealant application station 200, for example, by means of compressed air, and axially fixed in a fixed position by a horizontally movable slide (i.e., by the holding unit 210). The connector 215 is then gripped by a radially gripping gripper 205 with its gripping fingers 206 (e.g., in the form of a parallel jaw gripper). The gripper 205 is attached to a rotating unit 240, which then begins to rotate 360°, along with the connector 215 and the gripper.A sealant application unit 208 is positioned at the corresponding connector 215 by means of a sensor 250 and either maintains a predetermined distance from the connector 215 or rests on its surface. The sealant application unit 208 includes, for example, a sealant cartridge which is dispensed by a motor. The sealant is conveyed from the cartridge to the connector 215 via a cannula. Preferably, the sealant is applied to the connector at the transition between the cylindrical shaft and the connector head. This protects the sealant from abrasion at this point during further transport through the hose system 201. The application of the sealant begins when the rotation 207 starts around the axis of rotation 217 and ends after the rotation is complete.The gripper 205 now releases the connector 215 by releasing its gripping fingers, allowing the connector 215 to remain freely on the horizontally movable slide 210. The slide 210 is then moved horizontally, and the connector 215 falls axially back into the hose system 201. During this initial vertical movement, the gripper 205 with its mounted gripping fingers 206 guides the connector 215 axially through the opening 219 and the discharge opening 214.

[0141] Since the sealant is applied to the connector and not to the workpiece being processed, it can be applied precisely and sparingly, ensuring that the sealant is also present at the point where the surface of the connector 215 is in contact with the workpiece. The sealant application station 200 described here is therefore positioned in a compressed air hose system 101, 201, and a connector 215 is coated with sealant while being transported to a device for further processing.

[0142] Fig. 4 shows an end effector 310 of an assembly tool. The end effector 310 has a drill spindle 311 which can be moved in a direction of movement 320 along a machining axis 319 towards or away from a workpiece 400 to be machined. The drill spindle 311 is used to drill a hole in the workpiece 400 to be machined and to insert the connector 215 into the drilled hole. In these two steps, only a linear movement in both directions 320 along the machining axis 319 is performed, and the drill spindle does not need to be repositioned laterally along the surface of the workpiece 400.

[0143] The end effector 310 can, for example, be used together with the sealant application station 200 from Fig. 4. The connector 215 is transported from the sealant application station 200 to the end effector 310 via the hose system 201. The end of the hose system 201 leads to a transfer station 305. Here, the connector 215 is delivered to a vacuum setting finger 317. The setting finger 317 holds the connector 215 in position by means of negative pressure / vacuum. The setting finger 317 can accommodate different connectors and can be moved into a working position by means of a swivel unit or a joint 318.

[0144] The drilling spindle 311 has a control unit 325 and a sensor unit 350. The drilling spindle 311 is coupled to a guide element or guide rails 312 via a slide 313. By means of a drive unit (not shown), which can be designed as a spindle drive, the drilling spindle 311 can be moved in both directions 320 along the machining axis 319. During this movement, the drilling spindle moves towards or away from the workpiece 400. The drive unit is controlled by the control unit 325.

[0145] The drill spindle has a drill chuck 314 and a drill bit 315. The drill bit 315 is positioned so that its longitudinal or central axis coincides with the machining axis 319. Any drill bit 315 designed to drill a hole in the workpiece 400 can be used. To drill a hole in the workpiece 400, the drill spindle 311 is moved towards the workpiece 400 until the drill bit reaches the desired depth. The drill spindle 311 is then moved linearly away from the workpiece 400 along the machining axis 319 so that the drill bit is positioned at the appropriate distance from the surface of the workpiece 400. The setting finger 317, together with the attached connector 215, can then be pivoted into the machining position.In the machining position, the connector 215 is axially aligned with the drill 315, and the central axis of the connector 215 coincides with the central axis of the drill, with the connector 215 positioned along the machining axis 319 between the drill and the workpiece. The drill spindle 311, with the connector 215 thus positioned, can again be moved toward the workpiece 400 to insert the connector 215 into the hole drilled by the drill. Finally, the connector is released by the insertion finger, and the drill spindle is moved to a new working position.

[0146] The drill spindle 311 is connected to a kinematic mechanism 330. The kinematic mechanism 330 is designed to move the drill spindle 311 from its current working position to a new working position after the steps described above have been executed. During this process, the sensor unit 350 can detect the position of the drill spindle 311 relative to the workpiece 400 and transmit the corresponding position information to the controller 325. The controller 325 can then actuate the kinematic mechanism 330 accordingly to move the drill spindle to the desired working position, in order to drill another hole and insert a connector.

[0147] The kinematic assembly 330, for example, is a construction with several joints, each of which is movable about at least one axis. The kinematic assembly 330 has, for example, three joints 331, 332, 333, each of which can pivot or rotate about an axis. The kinematic assembly 330 can, of course, have further joints (not shown) to position the drill spindle 311 as desired.

[0148] It is specifically noted that the kinematics 330 is used solely for approaching a new working position of the drill spindle 311. The working position is understood here to be the position of the drill spindle along the surface of the workpiece 400, whereby this working position is primarily achieved by a lateral movement of the drill spindle, although this does not preclude other movement patterns of the kinematics 330. Once the drill spindle 311 has reached this new working position, the movement of the drill spindle 311 for drilling the hole in the workpiece 400 and inserting the connector 215 into the bore occurs solely along the machining axis 319, which, for example, runs orthogonally with respect to a surface of the workpiece 400.

[0149] The operation of the end effector 310 can be summarized as follows: a vacuum-operated insertion unit 317 picks up the connector 215 from the hose system 201. During this step, the insertion unit 317 is pivoted into a position such that it projects laterally from the drill spindle 311, or at least is not located between the drill and the workpiece. From this position, in which the insertion unit 317 picks up the connector 215, the insertion unit can be pivoted between the drill and the workpiece after the drill has bored a hole into the workpiece. The hose system 201 guides the sealant-coated connector 215 head-first to the transfer station 305. At this point, the setting unit 317 takes over the connector 215. The connector, for example a rivet, is placed head-first onto the setting unit 317 and is drawn to and held in place by means of negative pressure or vacuum.Once the insertion unit 317 has suctioned the connector, the transfer station 305 is moved away from the insertion unit 317 so that the insertion unit, together with the connector, can perform a pivoting movement to position the connector between the drill and the workpiece. From this position, the connector can be inserted orthogonally into the borehole in the workpiece by moving the drill spindle 311 towards the workpiece along the machining axis 319. The vacuum in the insertion unit 317 is then released, thus freeing the connector 215, and the drill spindle 311 is moved away from the workpiece and moves to the new working position.

[0150] Following these work steps, measured values ​​and machine data acquired by the sensor unit 350 can be transmitted to the control unit 325 to evaluate and display the drilling and insertion quality of a connection. For this purpose, the sensor unit can, for example, record the movement of the drill spindle along the machining axis 319, along with the drive power required to move the drill spindle along the machining axis 319. This allows the force with which the hole was drilled and the force with which the connector was inserted into the hole to be displayed. From this data, conclusions can be drawn about the quality and strength of the resulting connection.

[0151] The sensor unit 350 can also be used to correct the working position of the drill spindle after it has been moved to a new position. When the kinematics 330 moves the drill spindle 311 to a new working position, the sensor unit 350 can detect the relative position between the drill spindle and the workpiece surface and correct this position if necessary. For example, the sensor unit 350 can detect a marker / pre-drill hole / tack rivet on the surface of the workpiece 400 and thereby infer the relative position between the drill spindle and the workpiece.

[0152] The drill spindle can have one or more compressed air outlets through which compressed air is released as the drill spindle approaches the workpiece surface to remove contaminants. The contaminants can also be vacuumed from the workpiece surface. This process can be carried out particularly after drilling a hole in the workpiece and before inserting the connector into the drilled hole.

[0153] The drill spindle can have a foot which rests on the workpiece surface during drilling a hole and inserting a connector. The foot can be positioned on the workpiece surface, for example, using pneumatic cylinders and / or the kinematic mechanism 330, and exert a process force or holding force on the workpiece 400 to fix it in place during the drilling and connector insertion steps 215.

[0154] The drill spindle can be moved relative to the base along the machining axis 319 to drill the hole and insert the connector. The compressed air outlets can also be positioned to clean the base's contact surface before it rests on the workpiece.

[0155] When the drill spindle 311 is moved by the spindle drive towards the workpiece 400 to drill the hole, the drill drive is activated. After the hole has been drilled in the workpiece 400 and the connector has been inserted into the hole, the drill spindle is deactivated. Fig. 5 shows a schematic representation of an end effector 310 with a pressure foot 321. The perspective of Fig. 5 is chosen such that the insertion finger 317 is at the front in the viewing direction, which is why the insertion finger 317 is shown with a dashed line. For a description of the drill spindle 311, the joint 318 including the insertion finger 317, the drill chuck 314, and the drill 315, as well as the function of the insertion finger 317 for placing the connector 215, reference is made to the previous description, in particular to Fig. 4.

[0156] The pressure foot 321 is arranged in axial extension of the drill spindle 311 in the direction of the workpiece 400. The pressure foot 321 is coupled to a piston rod 323 via a cylinder 322. By means of the piston rod 323, the pressure foot 321 can be moved along the machining axis 319 and along the direction of movement 324 in order to position the end effector 310 on the workpiece 400 and to perform the work steps described above (drilling, inserting connectors). The pressure foot 321 rests on the workpiece 400 with an outer lower surface. The drill spindle 311 is movable relative to the piston rod 323, the cylinder 322, and the pressure foot 321 along the machining axis 319 in both directions, as indicated by the arrow 324. After the pressure foot 321 has been placed on the workpiece, the drill spindle 311 moves to the workpiece, drills the hole and places the connector in it, as described above.The pressure foot 321 is designed on its lower surface so that the drill and the setting finger with the connector have access to the surface of the workpiece 400 in order to drill the hole in the intended position and to set the connector.

[0157] Fig. 6 is a schematic representation of the functional blocks of an assembly system 1 comprising a sealant application station 200 as shown in Fig. 3, an assembly tool 300 as shown in Fig. 4, and a device 500 as shown in Figs. 1 and 2. The assembly system 1 initially comprises a singulation unit 100 for providing connectors. The connectors 215 are fed to the sealant application station 200 via a hose system 101. At the sealant application station 200, the connector 215 first arrives at the transfer station 202 and is made available for the subsequent work steps. In particular, sealant 220 is applied to the connector 215 at the sealant application station 201.

[0158] The kinematics 330 moves the drilling spindle of the assembly tool 300 to a desired working position relative to the workpiece 400. At this working position, the sensor unit 350 is used to adjust the working position relative to the workpiece 400 as needed. Subsequently, at 351, the multifunctional pressure foot 321 (see Fig. 5) is activated to prepare the drilling spindle relative to the workpiece 400 for drilling the workpiece 400 and inserting the connector 215. At 352, the insertion finger 317 is activated to pick up a connector 215 from the transfer station 305. At 353, the drilling spindle 311 is moved along the machining axis 319 to drill a hole in the workpiece 400 and insert the connector into the hole.It should be noted that the connector 215 can be picked up at the transfer station 305 with the insertion unit 317 before or after the drilling spindle 311 drills the hole in the workpiece 400 with the drill bit 315. The drilling spindle is controlled at 354 according to the specifications of a process to drill the hole and insert the connector into the drilled hole. Finally, at 355, the process data acquired by the sensor unit are transmitted to the control unit and evaluated.

[0159] The functions described here with reference to functional blocks 350 to 355 are executed in particular as methods by the control unit 325. With further reference to Fig. 6, the interaction between the assembly tool 300, the sealant application station 200, and the singulation unit 100 is described. A compressed air hose system 101 is used to supply the connectors 215 and transports them from the singulation unit 100 to the sealant application station 200. The singulation unit 100 can be configured to provide connectors 215 of various shapes and dimensions. The assembly tool 300 requests a specific connector 215 from the singulation unit 100. The singulation unit 100 feeds the requested connector into the hose system 101 via a turret. The requested and provided connector is fed into the hose system 101 with its head oriented in the conveying direction.The connector 215 is transported within the hose system 101 using compressed air. The connector 215 then travels through the sealant application station 200 and via the hose system 201 to the assembly tool 300, where the work steps described in relation to Fig. 3 and Fig. 4 are carried out.

[0160] The device 500 is supplied with connection fuses 513. This can happen via the same singulation unit 100 or via a separate supply unit 570.

[0161] The device 500 interacts with the connector 215, which the assembly tool inserts into the components 400A, 400B, in the manner described with reference to Fig. 1.

[0162] Fig. 7 describes an assembly system 1 comprising the sealant application station 200 as shown in Fig. 3, the end effector 310 as shown in Fig. 4, and a device as shown in Figs. 4 and 5. Fig. 7 shows the structural design of the assembly system 1, showing the elements that correspond to the functional blocks shown in Fig. 6. The singulation unit 100 provides several different connectors, which are transferred to the sealant application station 200 via the hose system 101. At the sealant application station 200, sealant is applied to a connector. The connector coated with sealant is transported from the sealant application station 200 to the end effector 310 via a single hose 201. The hose 201 is designed to transport connectors of different shapes and dimensions, so that only a single hose 201 is used for different connectors.The end effector 310 drills a hole into components 400A and 400B and connects these components by inserting a connector into the drilled hole.

[0163] Components 400A and 400B represent the workpiece that is processed by the assembly system. The two components overlap at least partially. A pressure foot exerts a process force on at least one of the two components, and the end effector is then moved linearly along the machining axis 319, as described with reference to Fig. 4, to both drill a hole in the two components and insert the connector into the drilled hole. During these operations, components 400A and 400B rest on an assembly table 340 or a corresponding counter-holder, which in turn is guided and fed by a second kinematic mechanism.For example, the counterholder can be configured to screw a nut onto the connector using a rotary device, which can also be referred to as an automatic drilling unit (ADU). This allows the counterholder to apply a process force for clamping components 400A and 400B, as well as to fit a connector with a nut. The end effector 310 is then moved to a new working position by means of the kinematics 330 once a connection has been established between the two components. Although Fig. 7 shows the kinematics 330 attached to the assembly table 340, it can also be attached elsewhere. The device 500 can be attached to the same assembly table 340 via the kinematics 530.

[0164] Fig. 8 shows a simplified schematic representation of the interaction between assembly tool 300 and device 500. The two components 400A and 400B to be joined are positioned between the assembly tool 300 and the device 500. The assembly tool 300 drills a hole through the two components, while the device 500 applies a counterforce with its first arm 522. The assembly tool 300 then inserts the connector 215 into the hole. Finally, the device places a shear nut 513 onto the connector 215 on the opposite side. The section of the shear nut 513 furthest from component 400A breaks off at the shear edge 513A and is removed by the device 500 as described above.

[0165] It should also be noted that "comprehensive" or "comprising" does not exclude other elements or steps, and "a" or "an" does not exclude a plurality. Furthermore, it should be noted that features or steps described with reference to one of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference numerals in the claims are not to be considered as limitations.

[0166] Reference symbol list

[0167] 1 Mounting system

[0168] 100 singulation system

[0169] 101 Hose system

[0170] 200 sealant application station

[0171] 201 Hose system

[0172] 201 A Feed, first hose system, pneumatic unit hose

[0173] 201 B Discharge, second hose system, vacuum suction unit hose

[0174] 202 Transfer station

[0175] 203 Drive belts

[0176] 204 Drive unit

[0177] 205 grippers, e.g. parallel jaw grippers

[0178] 206 gripping fingers, e.g. rake grippers, adjustable to connector diameter

[0179] 207 Direction of rotation

[0180] 208 Sealant application unit, cartridge with cannula

[0181] 209 Direction of the extrusion force, radial direction

[0182] 210 movable holding unit

[0183] 211 Transfer unit

[0184] 213 Mounting block

[0185] 214 Drainage opening

[0186] 215 connectors

[0187] 216 Direction of movement

[0188] 217 Axis of rotation

[0189] 218 nozzle

[0190] 219 Opening

[0191] 220 sealant

[0192] 230 control

[0193] 240 rotation unit 250 sensor unit

[0194] 300 assembly tools

[0195] 305 Transfer station

[0196] 310 End effector

[0197] 311 Drill spindle

[0198] 312 Guide element, guide rails

[0199] 313 sleds

[0200] 314 Drill chuck

[0201] 315 drill bits

[0202] 317 Setting fingers

[0203] 318 Joint (swivel or rotation joint)

[0204] 319 Machining axis

[0205] 320 Direction of movement along machining axis

[0206] 321 Pressure foot

[0207] 322 cylinders

[0208] 323 Piston rod

[0209] 324 Direction of movement

[0210] 325 Control

[0211] 330 Kinematics

[0212] 331 first joint with axle

[0213] 332 second joint with axle

[0214] 333 third joint with axle

[0215] 340 assembly table

[0216] 350 sensor unit with positioning

[0217] 351 Control of the multifunctional pressure foot

[0218] 352 Setting unit incl. rotation unit

[0219] 353 Linear drive with spindle drive for feeding the drill spindle and

[0220] Setting unit

[0221] 354 Drilling spindle unit

[0222] 355 Process data evaluation 400 Workpiece

[0223] 500 Device for applying a counterforce and attaching a connection lock

[0224] 505 Transfer unit

[0225] 510 End effector

[0226] 511 second arm, screw spindle

[0227] 512 Mounting unit, flat drive

[0228] 513 Connection lock (breakaway nut, collar)

[0229] 513A Breakaway point, tear-off edge

[0230] 514 Clamping mechanism

[0231] 515 Carrying unit

[0232] 517 Feed axis

[0233] 518A Second joint (swivel or rotation joint)

[0234] 518B first joint (swivel or rotation joint)

[0235] 519 Machining axis relative to the workpiece

[0236] 520 Direction of movement along machining axis

[0237] 521 Tool holder

[0238] 522 first arm, counterholding tool

[0239] 523 Interchangeable interface

[0240] 524 Direction of movement

[0241] 525 Control

[0242] 526 Sensors

[0243] 527 Nozzle

[0244] 528 Compressive force, counterforce

[0245] 529 sleds

[0246] 530 Kinematics

[0247] 531 first joint with axle

[0248] 532 second joint with axle

[0249] 533 third joint with axle

[0250] 550 Sensor unit with positioning 570 Provisioning unit for connection safeguards

[0251] 580 extraction system

Claims

Patent claims 1. Device (500) for applying a counterforce and attaching a connection lock (513) when connecting two components (400A, 400B), the device (500) comprising: a support unit (515); a first arm (522) configured to apply the counterforce (528) to one of the two components (400A, 400B); a second arm (511) configured to apply the connection lock (513) to a connector (215) connecting the two components (400A, 400B); wherein the first arm (522) is pivotably connected to the support unit (515) in a first joint (518B); wherein the second arm (511) is pivotably connected to the support unit (515) in a second joint (518A); wherein the first arm (522) is designed to apply the counterforce (528) in a direction parallel to a machining axis (519) of the two components (400A, 400B);wherein the second arm (511) has a mounting unit (512) which is configured to apply the connection locking device (513) to the connector (215); wherein the second arm (511) is configured to pivot the mounting unit (512) such that the connection locking device (513) is axially aligned with the machining axis (519).

2. Device (500) according to claim 1, further comprising: a kinematics (530) which is coupled to the carrying unit (515) and is configured to bring the carrying unit (515) into a processing position.

3. Device (500) according to claim 1 or 2, wherein the first arm (522) is designed to pivot the first joint (518B) and perform a rotational movement, and by the rotational movement to be placed on one of the two components to be joined (400A, 400B) in order to apply the counterforce (528).

4. Device (500) according to claim 2, wherein the first joint (518B) is arranged off-center with respect to the kinematics (530).

5. Device (500) according to one of the preceding claims, wherein the first joint (518B) is arranged off-center with respect to the machining axis (519).

6. Device (500) according to one of the preceding claims, wherein the first arm (522) has a distance sensor (526) to detect a distance to a surface of one of the two components (400A, 400B).

7. Device (500) according to one of the preceding claims, wherein the first arm (522) has a nozzle (527) which is designed to blow away material and debris removed during a processing step.

8. Device (500) according to one of the preceding claims, wherein the second arm (511) is configured to pivot the second joint (518A) and perform a rotational movement, and to align the connection locking device (513) axially with the machining axis (519) by means of the rotational movement.

9. Device (500) according to claim 8, wherein the second joint (518A) is arranged off-center with respect to the kinematics (530) and / or with respect to the machining axis (519).

10. Device (500) according to claim 8 or 9, wherein the second joint (518A) is arranged on a slide (529); wherein the slide (529) is arranged on the support unit (515) so as to be movable in a direction (520) parallel to the machining axis (519).

11. Device (500) according to one of claims 8 to 10, wherein the assembly unit (512) is a flat drive which is designed to connect the connection lock (513) to the connector by a rotary movement.

12. Device (500) according to claim 11, wherein the second arm (511) is connected to a suction hose (201 B) and the suction hose is designed to extract and remove machining residues.

13. Assembly system (1) comprising: a device (500) according to any one of claims 1 to 12; and an assembly tool (300).

14. Assembly system (1) according to claim 13, wherein the assembly tool (300) is arranged to drill a hole in the two components (400A, 400B) to be joined on a first side and to insert a connector (215) into the hole; wherein the device (500) is arranged to apply the counterforce on a second side, which is arranged opposite the first side, while the assembly tool (300) drills the hole and subsequently attaches the connection lock (513) to the connector (215) inserted into the hole.

15. Mounting system (1) according to claim 13 or 14, wherein the assembly tool (300) has an end effector (310); wherein the end effector (310) has: a drill spindle (311) with a drill (315), wherein the drill spindle is configured to rotate the drill (315) about a machining axis (319); a setting finger (317) which is configured to receive a connector (215) from a feeder (201 A) and to bring it into a machining position; wherein the drill spindle (311) is configured to be moved longitudinally along the machining axis (319); wherein the setting finger (317) is configured to be moved via a joint (318) and to position the connector (215) such that the connector (215) is axially aligned with the drill (315); wherein the drill spindle (311) is designed to insert the connector (215) into the components (400A, 400B) by moving along the machining axis (319) and thereby connecting them together.

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