Riveting End Effector With Multi-Axis Rivet Handling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing riveting devices face issues with securely placing rivet elements in structural parts due to canted or misaligned rivets, complex and costly interim magazines with many moving parts, and space inefficiency, leading to interruptions and increased costs.
Innovation Solution
An end effector with a riveting module, a rivet dispenser, and a handling device featuring adjustment kinematics with multiple axes to securely position and deliver rivet elements, allowing for a flexible and compact design with a cost-effective, actuator-free interim magazine for storing rivet elements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional interim magazine with multiple grippers and drive units is used, then rivet elements can be stored and delivered, but the device complexity increases and costs increase
Solution Approach 1:
The patent extracts the complex drive units from each individual gripper in the interim magazine. Instead of having multiple independent drive units, the system uses a single drive unit that can actuate multiple grippers sequentially. This extraction of the drive mechanism simplifies the overall device complexity while maintaining the capability to store and deliver multiple rivet elements.
Solution Approach 2:
The single drive unit serves multiple functions by actuating different grippers at different positions in the interim magazine. This universal drive mechanism can deliver rivet elements to different locations and orientations, providing the adaptability previously requiring multiple specialized drive units.
2Adaptability or versatility
If a turret-shaped interim magazine is used, then rivet elements can be stored and accessed, but the area occupied at the end effector increases
Solution Approach 1:
The patent transitions from a traditional turret-shaped interim magazine that occupies significant radial space to a linear or compact arrangement where the interim magazine is organized along the longitudinal axis. This dimensional reorganization reduces the lateral footprint at the end effector while maintaining access to multiple rivet element positions through the linear sequence of grippers.
3Ease of manufacture
If rivet elements are not guided during delivery, then the handling process is simpler, but the rivet elements may become canted and misaligned
Solution Approach 1:
The patent introduces guide elements as intermediary components between the gripper and the rivet element. These guides gently constrain the rivet element during delivery without requiring complex active control mechanisms. The guides ensure proper alignment and prevent canting while maintaining the simplicity of the overall handling device.
Solution Approach 2:
The rivet element itself is utilized as a self-aligning component through its geometric features. The guide elements exploit the natural geometry of the rivet (such as its cylindrical shaft and head) to automatically orient and align the rivet during delivery, eliminating the need for complex external alignment mechanisms.
Data Source
AI summary
The disclosure relates to an end effector for a riveting device, wherein the end effector includes a riveting module for placing a rivet element in a structural part, a rivet dispenser for dispensing rivet elements from a rivet magazine and a handling device for delivering a rivet element from the rivet dispenser to the riveting module The handling device includes an adjustment kinematics and a gripper arranged thereon for grabbing the rivet element. In some cases the adjustment kinematics has at least two adjustment axes for positioning the gripper.