Assembly tool, assembly device and assembly method
AssigneeKUKA Systems GmbH
InventorsJörg Häntzschel, Norbert Strobl
Life of this patent
Estimating the term…
Abstract
A joining tool (7), a joining device (2) equipped therewith and a joining method for joining stringers (9) to flexible workpieces (8) are provided. A plurality of industrial robots (3 to 6) are equipped with the joining tools (7) and handle and join the stringer (9) jointly. The joining tools (7) are heated and grip the stringer (9) via a gripper tool (25) on the upper face (30) of the structural unit, using a controlled suction gripper (26), a heated counter-holder (29), which is arranged next to the gripper tool, likewise acting upon the upper face (30) of the structural unit.
Claims20
A joining tool for joining oblong components on flexible workpieces with a correct fit, wherein the joining tool is heatable, the joining tool comprising:
- a connection for an industrial robot;
- and
- a gripping tool for gripping a component with a controllable lifting gripper acting on an upper face of the component, and a heated counterholder arranged next to the controllable lifting gripper, which likewise acts on the upper face of the component, wherein the controllable lifting gripper is a suction gripper and is configured to hold the component from above the component and to act on a component upper face and to pull the component against the counterholder and to bring the component into stationary surface contact with the counterholder.
A joining device for joining oblong components on flexible workpieces with a correct fit during a joining process, wherein the joining device comprises a plurality of industrial robots with joining tools for handling and joining the component together, wherein at least one of the joining tools comprises:
- a connection for one of the industrial robots;
- and
- a gripping tool for gripping a component with a controllable lifting gripper acting on an upper face of the component, and a heated counterholder arranged next to the controllable lifting gripper, which likewise acts on the upper face of the component, wherein the controllable lifting gripper is a suction gripper and is configured to hold the component from above the component and to act on a component upper face and to pull the component against the counterholder and to bring the component into stationary surface contact with the counterholder.
A method for joining oblong components on flexible workpieces with a correct fit, the method comprising the steps of:
- providing a joining device, which has a plurality of industrial robots with joining tools for handling and joining, wherein at least one of the joining tools comprises:
- a connection for one of the industrial robots;
- a gripping tool for gripping a component with a controllable lifting gripper acting on an upper face of the component;
- and a heated counterholder arranged next to the controllable lifting gripper, which likewise acts on the upper face of the component;
- heating, with the at least one of the joining tools, and griping the component with a gripping tool, wherein the gripping tool acts on the component on an upper face of the component with a controllable lifting gripper, and acts on the upper face of the component with a heated counterholder arranged next to the controllable lifting gripper, wherein the controllable lifting gripper is a suction gripper and is configured to hold the component from above the component and to act on a component upper face and to pull the component against the counterholder and to bring the component into stationary surface contact with the counterholder.
Dependencies are inferred from the claim text.