# US 11,027,326 B2 · End effector for a riveting device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,326 B2 - Document ID: US11027326B2 - Status: Granted - Kind: B2 - Application number: 15/778,338 - Filed: 2016-11-23 - Published: 2018-12-06 - Granted: 2021-06-08 - Earliest claimed: 2015-11-23 - Assignees: Broetje-Automation GmbH - Applicants: Broetje-Automation GmbH - Inventors: Christoph Eusterwiemann - Web page: https://patentgrep.com/patent/US11027326B2 ## CPC - B21J 15/32: Devices for inserting or holding rivets in position with or without feeding arrangements - B21J 15/105: {Portable riveters (pliers for riveting B21J15/386)} - B23P 19/002: {orientating the articles} - B23P 19/006: {Holding or positioning the article in front of the applying tool} - B21J 15/10: Riveting machines (electric heating elements H05B) - B21J 15/142: {Aerospace structures} - B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27) - B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q) ## Abstract 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. ## Claims ### Claim 1 An end effector for a riveting device, the end effector comprising 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, wherein the handling device comprises an adjustment kinematics and a gripper arranged thereon for grabbing the rivet element, and wherein the adjustment kinematics has at least two adjustment axes for positioning the gripper, wherein at least two of the adjustment axes are axes of rotation. ### Claim 2 (depends on 1) The end effector as claimed in claim 1, wherein the adjustment kinematics for the positioning of the gripper comprises at least three adjustment axes. ### Claim 3 (depends on 1) The end effector as claimed in claim 1, wherein the adjustment axes of the adjustment kinematics are arranged kinematically sequentially and/or kinematically parallel. ### Claim 4 (depends on 1) The end effector as claimed in claim 1, wherein the handling device is designed as an industrial robot, in particular as a bending-arm robot. ### Claim 5 (depends on 1) The end effector as claimed in claim 1, wherein the gripper comprises at least two gripping fingers and can grab rivet elements of different type and/or different size. ### Claim 6 (depends on 1) The end effector as claimed in claim 1, wherein the gripper holds the rivet element in a force-fitting and/or form-fitting manner while conveying the rivet element. ### Claim 7 (depends on 1) The end effector as claimed in claim 1, wherein the riveting module comprises a riveting tool and at least one riveting finger, wherein the riveting finger extends along a geometrical longitudinal axis along which the rivet element is inserted into the structural part. ### Claim 8 (depends on 1) The end effector as claimed in claim 1, wherein the rivet dispenser comprises a stopper for stopping and position-defined holding of a rivet element fed from a rivet magazine. ### Claim 9 (depends on 1) The end effector as claimed in claim 1 wherein the end effector comprises an interim magazine for storing of rivet elements. ### Claim 10 (depends on 9) The end effector as claimed in claim 9, wherein the interim magazine comprises spring elements which hold the rivet elements received in the interim magazine in a position-defined manner. ### Claim 11 (depends on 9) The end effector as claimed in claim 9, wherein the interim magazine has no actuator. ### Claim 12 (depends on 1) The end effector as claimed in claim 1, wherein the adjustment kinematics for the positioning of the gripper comprises at least four adjustment axes. ### Claim 13 A riveting device comprising an end effector, wherein the end effector comprises a riveting module for placing a rivet element in a structural part, wherein the riveting device further comprises 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, wherein the handling device comprises an adjustment kinematics and a gripper arranged thereon for grabbing the rivet element, and wherein the adjustment kinematics has at least two adjustment axes for positioning the gripper, wherein at least two of the adjustment axes are axes of rotation. ### Claim 14 (depends on 13) The riveting device as claimed in claim 13, wherein the riveting device comprises a robot which carries the end effector, and wherein the handling device is arranged separately from the end effector on the robot carrying the end effector. ### Claim 15 (depends on 13) The riveting device as claimed in claim 13, wherein the riveting device comprises a control system, wherein the handling device comprises a control system which communicates via an interface with the control system of the riveting device. ### Claim 16 (depends on 13) The riveting device as claimed in claim 13, wherein the gripper of the handling device is configured to grab a rivet element at the rivet dispenser and the handling device is configured to delivers the rivet element to the riveting module via a movement of the adjustment kinematics and pass the rivet element on to the riveting module. ### Claim 17 (depends on 16) The riveting device as claimed in claim 16, wherein the gripper is configured to take up the rivet element at the rivet dispenser and/or an interim magazine in a position-defined manner and/or wherein the gripper is configured to pass on the rivet element in position-defined manner to the riveting module and/or the interim magazine, wherein the gripper is configured to only releases the rivet element during the handover when the rivet element is situated in the longitudinal axis of the riveting finger and/or in a holding position of the interim magazine. ### Claim 18 (depends on 13) The riveting device as claimed in claim 13, wherein the adjustment axes of the adjustment kinematics are arranged kinematically sequentially and/or kinematically parallel. ### Claim 19 (depends on 13) The riveting device as claimed in claim 13, wherein the riveting device comprises an interim magazine for storing of rivet elements. ### Claim 20 (depends on 13) The riveting device as claimed in claim 13, wherein the gripper comprises at least two gripping fingers and can grab rivet elements of different type and/or different size.