Adapter Device for a Joining Arrangement, Joining Arrangement, and Joining Method

A joining arrangement comprising a tool and an adapter device, wherein the adapter device is suitable for attaching the tool to a robot, wherein the adapter device comprises:

• a first part fixedly attached to the tool which defines a joining axis;
• and
• a second part fixedly attached to a robot arm,
• wherein the first part and the second part are connected to each other by a linear guide so that the first and second parts can be moved relative to each other in a displacement direction which is parallel to the joining axis,
• wherein the first part and the second part are elastically pre-stressed into a zero-displacement position, and
• wherein the second part, when being moved in the displacement direction, is elastically displaced against the first part when the first part is held against movements in the displacement direction.

A method for performing a joining operation at a joining location on a component, the method comprising the steps of:

• providing a robot, a joining head, and an adapter device connecting the joining head to the robot;
• performing, by the robot, a first relative movement between the joining head and the component to a starting position in which a reference member associated with the joining head contacts a surface of the component;
• performing a second movement of the robot to a fixation position, wherein the second movement involves a relative elastic displacement in the adapter device so that the component is fixed by the reference member for a subsequent joining operation;
• and
• performing the joining operation.