TEPZZ 

8 __59B_T
(19)

(11) EP 2 821 159 B1

(12) EUROPEAN PATENT SPECIFICATION

(45) Date of publication and mention (51) Int Cl.:

of the grant of the patent: B23K 37/02 (2006.01) B25J 13/00 (2006.01)
10.08.2016 Bulletin 2016/32 B25J 13/08 (2006.01) B25J 15/00 (2006.01)
B25J 11/00 (2006.01) B21D 39/02 (2006.01)
(21) Application number: 13174543.2

(22) Date of filing: 01.07.2013

(54) Tool head for performing industrial operations having a wireless monitoring system
Werkzeugkopf zur Durchführung industrieller Vorgänge mit drahtlosem Überwachungssystem
Tête d’outil permettant d’effectuer des opérations industrielles comportant un système de surveillance
sans fil

(84) Designated Contracting States: • Maestri, Mauro

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB 10095 Grugliasco (Torino) (IT)
GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO • Serpi, Valeria
PL PT RO RS SE SI SK SM TR 10095 Grugliasco (Torino) (IT)

(43) Date of publication of application: (74) Representative: Notaro, Giancarlo

07.01.2015 Bulletin 2015/02 Buzzi, Notaro & Antonielli d’Oulx
Via Maria Vittoria 18
(73) Proprietor: Comau S.p.A. 10123 Torino (IT)
10095 Grugliasco (Torino) (IT)
(56) References cited:
(72) Inventors: US-A1- 2012 247 208
• Di Stefano, Giovanni
10095 Grugliasco (Torino) (IT)
EP 2 821 159 B1

Note: Within nine months of the publication of the mention of the grant of the European patent in the European Patent
Bulletin, any person may give notice to the European Patent Office of opposition to that patent, in accordance with the
Implementing Regulations. Notice of opposition shall not be deemed to have been filed until the opposition fee has been
paid. (Art. 99(1) European Patent Convention).

Printed by Jouve, 75001 PARIS (FR)

 1 EP 2 821 159 B1
Description
[0001] The present invention relates to systems for
performing industrial operations, of the type comprising:
- at least one tool head provided with a tool;
- at least one sensor associated to said tool head and
configured for detecting an operating parameter of
the tool head; and
- a control unit for controlling operation of said tool
head.
[0002] In the present description and in the ensuing
claims, the term "tool head" is understood to indicate a
tool head designed for performing any industrial opera-
tion, such as for example a clinching operation or a weld-
ing operation, for example electrical spot welding or laser
welding, or even only an operation of movement of a
piece with the aid of a gripping tool. The term "tool" is
understood to indicate any tool or apparatus used on the
tool head, such as for example a clinching roller or a pair
of electrodes for electrical welding, or an optical device
for focusing a laser beam, or a gripping tool.
[0003] The invention is in general applicable to any
system that envisages the use of a tool head for perform-
ing industrial operations. According to a preferred appli-
cation, the invention regards systems in which the tool
head is carried by a robot, in particular a multi-axis in-
dustrial robot of the type including a base structure, an
articulated robot wrist, to which the tool head is removably
connected, and a chain of mutually articulated robot el-
ements that connect the base structure of the robot to
the robot wrist. In a specific example, the tool head car-
ried by the robot is a clinching head, provided with one
or more clinching rollers pre-arranged for engaging and
rolling along the extension of an edge of a metal sheet
to be bent (for example, along the perimeter of a motor-
vehicle door structure on a line for the production of mo-
tor-vehicle doors). In the case of this specific application,
associated to the clinching head are one or more force
sensors that detect the load on the clinching rollers during
execution of the clinching operation.
[0004] As has been mentioned, the present invention
is in any case of general application and can be envis-
aged also in the case of a tool head manoeuvred man-
ually by an operator, such as for example a manually
controlled electrical-spot-welding head.
[0005] Whatever the type of tool head used and what-
ever the configuration of the system, there exists the
problem of acquiring the data coming from the sensors
associated to the tool head with means that are as far as
possible simple and of contained dimensions.
[0006] It has already been proposed to associate to a
tool head carried by a robot a wireless transmission unit
that will enable control and monitoring of operation of the
tool head in wireless mode (see, for example, the docu-
ments Nos. DE 20 2011 000 315 U1 and US
2006-0122730 A1). However, the known systems have
2
not solved the further problem connected to the need to
guarantee a high operating autonomy of the system, and
to the simultaneous need to avoid use of power-supply
cables, which, above all in the case of a tool head carried
5 by a robot, would entail constructional complications and
would render operations for replacement of the tool head
more laborious.
[0007] It would instead be desirable to reduce or elim-
inate altogether the electrical wiring that connects the
10 tool head to the robot. This wiring is in fact subject to a
considerable wear on account of the repeated cycles of
deformation to which it is subjected during the service
life of the robot and must consequently be replaced pe-
riodically, which determines losses of productivity due to
15 the times for stoppages required for replacement oper-
ations.
[0008] A system according to the preamble of claim 1
is known from US 2012/0247208 A1. In this known sys-
tem, robots are used to perform a quality check on pieces
20 obtained at the end of an industrial line.
[0009] In order to meet in an optimal way all the afore-
said requirements and solve the above problems, the
subject of the present invention is a system as set forth
in claim 1.
25 [0010] Thanks to the aforesaid characteristics, the sys-
tem according to the invention enables provision on the
tool head of a data-acquisition and transmission module
of very small dimensions, capable of handling a large
amount of data and, notwithstanding this, capable of op-
30 erating substantially continuously for long periods of time.
[0011] The system according to the invention solves
at the root the problem of wear of the electrical wiring,
which, in the known solutions, is necessary for electrical
supply of the sensors on board the tool head. According
35 to the invention in fact, the control module mounted on
the tool head also comprises a device for storing electrical
energy that provides autonomously for electrical supply
of all the devices on board the tool head.
[0012] Elimination of the wiring consequently enables
40 a drastic reduction of the need for stoppages for mainte-
nance purposes, with consequent increase in productiv-
ity.
[0013] Elimination of the wiring, in many applications,
likewise enables provision of the tool head as a unit that
45 is completely autonomous with respect to the structure
that supports it (for example, a robot), with consequent
possibility of rapid replacement of the tool head, for ex-
ample when it is necessary to change the type of ma-
chining operation.
50 [0014] At the same time, the system according to the
invention can in any case enable easy and rapid wireless
charging of the energy-storage device. For this reason,
the system according to the invention is substantially dif-
ferent and represents a substantial improvement, as
55 compared to the known systems, in which wireless com-
munication is used simply for exchanging signals be-
tween the sensors on board the tool head and the sta-
tionary control unit.
2
 3 EP 2 821 159 B1
[0015] The sensors provided on board the tool head
may be of any number and of any nature (whether analog
or digital). The system according to the invention is in
particular able to provide simultaneously for supply and
monitoring of a plurality of sensors dedicated to detecting
a plurality of different operating parameters of the tool
head.
[0016] In the invention, an electronic processing unit
is provided, designed to process data coming from the
above wireless receiving unit and from the above control
unit. In practical implementation, however, two or more
of the aforesaid three units (the control unit, the stationary
wireless receiving unit, and the processing unit) may be
associated to or integrated with one another.
[0017] In a preferred embodiment, the second charg-
ing means and/or the data-receiving unit may be station-
ary. It is also possible to envisage second stationary
charging means associated to and/or integrated in a sta-
tionary wireless receiving unit.
[0018] In a variant, the workstation with the second
charging means and/or the data-receiving unit may be
on board the robot, in a part of the robot along the chain
of elements that connects the base of the robot to the
wrist of the robot in such a way that the robot itself is able
to carry the tool head into the vicinity of the part of the
robot on which the second charging means and/or the
data-receiving unit are provided.
[0019] Further characteristics and advantages of the
invention will emerge from the ensuing description with
reference to the annexed drawings, which are provided
purely by way of non-limiting example and in which:
- Figure 1 is a perspective view of a robotized station
provided on a line for the production of motor-vehicle
doors, for performing the operation of clinching of
the two sheet-metal panels constituting the structure
of the door along the perimeter of the door;
- Figure 2 is a block diagram of the system according
to the invention, of which the clinching station of Fig-
ure 1 constitutes an example of application;
- Figure 3 is a perspective view of the tool head carried
by the robot illustrated in Figure 1;
- Figure 4 is a cross-sectional view of the tool head of
Figure 3;
- Figure 5 is a cross-sectional view in a plane orthog-
onal to that of Figure 4;
- Figure 6 is a perspective view that shows the tool
head carried by the robot of Figure 1 (the robot not
being illustrated in Figure 6) in the stand-by position
adjacent to the workstation for charging the energy-
storage device provided on board the tool head; and
- Figure 7 is a perspective view that shows a manual
welding station along a line for production of motor-
vehicle bodies.
[0020] As already mentioned above, the present inven-
tion is of general application. Figure 1 of the annexed
drawings shows, purely by way of example, application
4
of the invention to a clinching station provided along a
line for the production of motor-vehicle doors, for per-
forming the operation of clinching of the two sheet-metal
panels that constitute the structure of the door along the
5 perimeter of the door.
[0021] According to a technique in itself known, the
door structure D is laid in a horizontal position above a
cradle C carried by a base B. The door structure D is
pressed on the cradle C by a pressure member P carried
10 at the bottom end of a vertically mobile column P1. The
clinching operation is performed by means of a clinching
head H, which is removably mounted on the wrist W of
a multi-axis articulated robot R of any known type, com-
prising a base structure R1 and a plurality of mutually
15 articulated robot elements that connect the base struc-
ture R1 to the robot wrist W. Operation of the robot is
controlled, in a way in itself known, by means of a sta-
tionary controller M of any type in itself known. Conse-
quently, in this specific application, the control unit M of
20 the tool head is the control unit of the robot. However, as
already mentioned above, the control unit of the tool head
may be any control unit associated to the workstation in
which the tool head operates.
[0022] With reference also to Figure 2, which relates
25 in general to the structure of the system according to the
invention, also irrespective of the specific application il-
lustrated in Figure 1, the system comprises at least one
sensor S associated to the tool head H and configured
for detecting an operating parameter of the tool head.
30 The sensor S is connected to a control module E mounted
on the tool head and including a data-acquisition unit A,
connected to the sensor S and configured for acquiring
the data coming from the sensor S. The control module
E further comprises a wireless-transmission unit T con-
35 nected to the acquisition unit A for receiving the data
acquired by the sensor and configured for transmitting,
in wireless modem, the aforesaid acquired data to a wire-
less receiving unit U.
[0023] The data-acquisition unit A may be pre-ar-
40 ranged for carrying out, not only mere acquisition of data,
but also an initial processing or treatment of the data prior
to their transmission (for example, an analog-to-digital
conversion of the signal).
[0024] In the preferred embodiment illustrated sche-
45 matically herein, both the wireless receiving unit U and
the control unit M of the robot are connected to an elec-
tronic processing unit F that is consequently able to re-
ceive from the unit U the data coming from the sensors
S and from the unit M the data regarding the operating
50 parameters of the robot, during the operating cycle of the
robot (see also Figure 1).
[0025] As already mentioned above, in the practical
implementation two or more of the aforesaid three units
(the control unit M, the stationary wireless receiving unit
55 U, and the processing unit F) may be associated to or
integrated with one another.
[0026] The control module E mounted on board the
tool head further comprises a device for storing electrical
3
 5 EP 2 821 159 B1
energy EA, for electrical supply of the sensor S, of the
data-acquisition unit A, and of the wireless transmission
unit T. Figure 2 is a schematic representation of a direct
connection between the device EA and the sensor S.
However, in the concrete implementation, the device EA
may be pre-arranged for supplying the sensor S both via
a direct connection and via the data-acquisition unit A,
as well as via interposition of a supply-regulator device
of any known type. The same applies of course for elec-
trical supply of all the other devices included in the control
module E.
[0027] In the system according to the invention, any
wireless transmission protocol suited to guaranteeing
transmissions in an industrial environment may be used,
such as for example the Bluetooth protocol or the Zig-
Bee protocol, or the Wi-Fi protocol, or any of the protocols
derived therefrom.
[0028] Finally, the system comprises wireless charging
means CH for charging the device for storing electrical
energy EA, which comprise first charging means CH1
carried by the tool head and connected to the energy-
storage device EA and second charging means CH2 pro-
vided in a position remote from the tool head, for example
in a stationary position above a column 1 (as in the ex-
ample illustrated in Figure 1). The wireless charging
means CH1, CH2 are designed to operate when they are
in a position where they are set close up, in any known
way, for example by means of an inductive charging sys-
tem, i.e., providing in the charging means CH1 a turn that
concatenates the magnetic flux produced by another turn
contained in the charging means CH2.
[0029] The second charging means CH2 may also be
associated to and/or integrated, for example, in the wire-
less receiving unit U.
[0030] In a variant, the workstation with the second
charging means CH2 may be located on board the robot,
in a part of the robot along the chain of elements that
connects the base of the robot to the wrist of the robot,
in such a way that the robot itself is able to carry the tool
head into the vicinity of the part of the robot on which the
second charging means are provided.
[0031] As may be seen, in the system according to the
invention not only is wireless transmission of the data
coming from the sensors associated to the tool head en-
visaged, but also wireless charging means that enable
charging of the energy-storage device EA, which is to
supply both the unit of the control module E, located on
board the tool head, and also the sensors S associated
to the tool head.
[0032] The processing unit F may use and process the
data received from the unit U, indicating the parameters
detected by the sensors S, associating them to the infor-
mation received from the robot control unit M, regarding
the operating cycle of the robot, so as to obtain precise
and immediate information on the functional parameters
of the system, during execution of the industrial opera-
tion, in modalities correlated to the position of the robot.
In the case, for example, of the clinching station illustrated
6
in Figure 1, the processing unit F will consequently be
able to evaluate and associate the corresponding oper-
ating parameters to each operating position of the robot.
[0033] Represented in the example illustrated in Figure
5 3 is the clinching head H provided with the control module
E, which is represented schematically in Figure 2. The
module E is connected to a box 2 containing the electrical
connectors for connection of the cables 3 (see Figure 5)
that come under the two sensors, which, in the case of
10 the example illustrated, are associated to the clinching
head.
[0034] In the case of the example of application of the
invention to a clinching head, the above tool head may
in general be of any known type. For instance, a clinching
15 head that may be used is the one that has formed the
subject of the international patent application No. WO
2012/160512 filed in the name of the present applicant.
In the preferred embodiment, however, the clinching
head presents the further innovative characteristics that
20 will be described hereinafter.
[0035] With reference to Figures 3-6, the example il-
lustrated of a clinching head H comprises an inner cylin-
drical body 4 provided at the top with a disk-shaped flange
5, which can be screwed to the wrist of the robot R. At
25 its bottom end, the clinching head H carries two clinching
rollers 6, 7, of different diameter, which can be used se-
lectively during clinching operations, according to the
need. As may be seen in Figure 4, the two rollers 6, 7
are carried by one and the same shaft 8, which is rotatably
30 mounted by means of bearings 9 within a roller-carrying
assembly 10. The roller-carrying assembly 10 is screwed
to the bottom end of a cylindrical body 11, which is slidably
mounted on the body 4 of the clinching head H. The wall
of the cylindrical body 11 supports two pins 12 diametrally
35 opposite to one another, which pass through longitudinal
slits 13 and support on opposite sides a resting element
14, which is thus rigidly connected to the outer cylindrical
body 11 of the clinching head H. The resting element 14
has its two opposite faces that function as rests for two
40 respective helical springs 15, the opposite ends of which
rest, respectively, against opposite end walls of the inner
cylindrical body 4 of the tool head H. Consequently, as
may be seen, the opposite ends of the two springs 15
rest against the inner cylindrical body 4, whilst the mutu-
45 ally adjacent ends of the springs 15 rest against the com-
mon resting element 14, rigidly connected to the outer
cylindrical body 11.
[0036] In operation, the robot brings the clinching head
H onto the piece so as to get one of the two rollers 6, 7
50 to roll along the edge of the metal sheet to be bent. This
operation can be performed either by pushing the roller
6 or 7 from above downwards (as viewed in Figure 4)
against the metal sheet to be bent, or by pulling (from
below upwards) the roller 6 or 7 against the metal sheet
55 to be bent. In the former case, the inner cylindrical body
4 tends to drop with respect to the outer cylindrical body
11 (as viewed in Figure 4) so that the top spring 15 is
compressed, whereas in the latter case, the inner cylin-
4
 7 EP 2 821 159 B1
drical body 4 tends to rise with respect to the outer cy-
lindrical body 11 so that it is the bottom spring 15 that is
compressed. The load applied on the clinching head is
monitored in the two aforesaid cases by means of two
respective force sensors (load cells) S that are set be-
tween the more distant ends of the springs 15 and the
respective resting elements 16, 17.
[0037] According to a further important characteristic,
the two springs 15 are guided by means of a spring-guide
stem 18 set axially through the two springs and through
the resting element 14. The bottom end of the spring-
guide stem 18 is connected to a disk 19 on which the
bottom end of the bottom spring 15 rests by means of a
bayonet coupling, including a transverse pin 20 carried
by the stem 18 and a shaped slot 21 made in a cylindrical
skirt projecting from the disk 19.
[0038] The conformation of the slit is such that assem-
bly is obtained according to the conventional modality of
bayonet couplings, i.e., with a first axial movement of the
disk 19, which brings about a compression of the bottom
spring 15, followed by a rotation of the disk 19 and sub-
sequent axial release, under the thrust of the bottom
spring 15, towards a final blocked position. Blocking of
the connection is consequently guaranteed by the bottom
spring 15 itself.
[0039] Thanks to this arrangement, mounting of the
assembly may be carried out in a simple and rapid way.
[0040] The load of the two springs 15 can be regulated
by acting, at each of the two more distant ends of the
springs, on a screw 22 that engages an internally thread-
ed bushing 23, which is prevented from turning with re-
spect to the body 11 by means of a key 24 and that more-
over engages a threaded shank 25 projecting from the
body of the respective sensor S. A rotation of the screw
22 enables modification of the axial position of the thread-
ed bushing 23 with respect to the resting element 16 or
17.
[0041] During the operation of adjustment of the load
of the springs 15, the relative axial position of the outer
cylindrical body 11 and of the inner cylindrical body 4 is
blocked by inserting a blocking pin through aligned holes
(not visible in the drawings) of the aforesaid cylindrical
bodies.
[0042] The system described above for adjustment of
the load of the springs 15 represents a substantial step
forwards with respect to what has been envisaged so far
in systems of the type illustrated in the document No.
WO 2012/160512. In the above known systems for con-
trolling the load of a spring it is necessary to measure
the free length of the spring, to measure the effective
length of the compartment in which it is mounted, and to
insert a series of shims or washers that will guarantee
the desired compression. Once again in these known
systems, if the spring fails prior to its replacement, it is
necessary to measure the new spring, to revise the size
of the mounting compartment, and to provide the shims
necessary for recreating the same value of load.
[0043] With the new adjustment system described
8
above, it is possible to adjust in a fine way the value of
the load, reproducing exactly one and the same value of
load, albeit changing the spring (the tolerance on the
length of the spring is wide) in so far as with the screw
5 22 it is possible to recover any play and to recreate the
desired load. In this way, it is possible to reproduce ex-
actly identical calibrations between different clinching
heads, irrespective of the constructional tolerances of
the systems. Moreover, with the sensor S it is possible
10 to assess the integrity of the spring during use of the tool
head.
[0044] As already mentioned above, Figure 6 shows
the stand-by position of the clinching head H, in which
the control module E, and in particular the charging unit
15 CH1, is located in the proximity of the charging unit CH2
to enable inductive charging of the energy-storage device
EA.
[0045] As already mentioned above, the receiving unit
U, like the second charging means CH2, may be provided
20 on board the robot, in a part of the robot along the chain
of elements that connects the base of the robot to the
wrist of the robot, in such a way that the robot itself is
able to bring the tool head into the vicinity of the part of
the robot on which the charging unit is provided.
25 [0046] Figure 7 shows a different embodiment not
forming part of the invention, in which the tool head is
constituted by an electrical spot-welding yoke W manu-
ally controlled by an operator O for performing electrical
spot-welding on a body B1 in a motor-vehicle body as-
30 sembly line. There may be associated to the welding
head W, in a way in itself known, sensors for detecting
the load applied on the welding electrodes. Also here,
there is in any case provided on board the tool head W
a control module E of the type illustrated in Figure 2,
35 which enables the data detected to be sent to a unit U
so as to enable the processing unit F to process these
data and correlate them to the operating cycle executed.
Also in this case, a stationary workstation 1 is provided
for charging the energy-storage device EA incorporated
40 in the welding head W. In this application, the control unit
M of the tool head (not illustrated in Figure 7) is consti-
tuted by a control unit of the workstation or of the line in
which the welding head W is used.
[0047] Of course, without prejudice to the principle of
45 the invention, the details of construction and the embod-
iments may vary widely with respect to what has been
described and illustrated herein, purely by way of exam-
ple, without thereby departing from the scope of the
present invention.
50
Claims
1. A system for performing industrial operations, com-
55 prising:
- at least one tool head (H) provided with a tool
(6, 7);
5
 9 EP 2 821 159 B1
- at least one sensor (S) associated to said tool
head (H) and configured for detecting an oper-
ating parameter of the tool head (H);
- a control unit (M) for controlling operation of
said tool head (H),
- a control module (E) mounted on said tool head
(H) and including:
- a data-acquisition unit (A) connected to said at
least one sensor (S) and configured for acquiring
data coming from said at least one sensor (S);
and
- a wireless transmission unit (T) connected to
said acquisition unit (A) for receiving the afore-
said acquired data and configured for transmit-
ting said acquired data in a wireless mode to a
receiving unit (U) remote from the tool head (H);
and
- a device (EA) for storing electrical energy for
electrical supply of said acquisition unit (A), of
said wireless transmission unit (T), and of said
at least one sensor (S),
wherein said system further comprises wireless
means (CH) for charging said device (EA) for storing
electrical energy, such as for example inductive
charging means, comprising first charging means
(CH1), carried by said tool head (H) and connected
to said energy-storage device (EA), and second
charging means (CH2), which are associated to a
workstation (1) remote from the tool head and co-
operating in a wireless mode with said first charging
means (CH1) connected to said device (EA) for stor-
ing electrical energy,
wherein said system further comprises a multi-axis
industrial robot (R) of the type including a base struc-
ture (R1), an articulated robot wrist (W), and a chain
of mutually articulated robot elements that connect
said base structure (R1) to said robot wrist (W), said
tool head control unit (M) being constituted by a con-
trol unit (M) of said robot (R), and
wherein said tool head (H) is removably connected
to said robot wrist (W),
said system being characterized in that it further
comprises an electronic processing unit (F) de-
signed to process data coming from said wireless
receiving unit (U) and from said robot control unit (M)
during an operating cycle of said robot in which said
tool head performs an industrial operation,
said electronic processing unit (F) being configured
to process data received from the wireless receiving
unit (U), indicating parameters detected by said at
least one sensor (S) during the operating cycle of
the robot, and
said electronic processing unit (F) being also adapt-
ed to associate said data received from the wireless
receiving unit (U) to information received from said
robot control unit (M) during the robot operating cy-
cle, so that a correlated information is obtained on
10
the functional parameters of the system during exe-
cution of said industrial operation, as a function of
the position of the robot.
5 2. The system according to claim 1, characterized in
that provided on the tool head is a plurality of sensors
(S) dedicated to detecting a plurality of different op-
erating parameters of the tool head.
10 3. The system according to Claim 1, characterized in
that two or more units from among said control unit
(M), said receiving unit (U), and said processing unit
(F) are associated to or integrated with one another.
15 4. The system according to Claim 1 or Claim 3, char-
acterized in that at least one between said work-
station (1) carrying the second charging means and
said receiving unit (U) is stationary.
20 5. The system according to Claim 4, characterized in
that said second charging means are associated to
and/or integrated with said receiving unit (U).
6. The system according to Claim 1 or Claim 3, char-
25 acterized in that at least one between said work-
station (1) carrying the second charging means
(CH2) and said receiving unit is provided on a part
of the robot along the chain of elements that connects
the base of the robot to the wrist of the robot in such
30 a way that the robot itself is able to carry the tool
head (H) into the vicinity of the part of the robot on
which the second charging means (CH2) and/or the
receiving unit (U) are provided.
35 7. The system according to Claim 1, characterized in
that said tool head (H) is a clinching head provided
with at least one force sensor (S) designed to detect
the load applied on a clinching tool (6, 7) carried by
said clinching head (H) during a clinching operation.
40
8. The system according to Claim 7, characterized in
that said clinching head (H) comprises an assembly
(10) carrying one or more clinching rollers (6, 7), said
roller-carrying assembly (10) being mounted at the
45 bottom end of an outer cylindrical body (11) slidably
mounted on an inner cylindrical body (4) having a
top end provided with a flange (5) for connection to
the wrist (W) of the robot,
said clinching head (H) comprising a top helical
50 spring (15) and a bottom helical spring (15) set
aligned coaxially within said inner cylindrical body
(4), the more distant ends of said top and bottom
springs (15) being applied against end elements of
said inner cylindrical body (4), the mutually contigu-
55 ous ends of said top and bottom springs (15) resting
on opposite faces of an intermediate resting element
(14) that is rigidly connected to said outer cylindrical
body (11) via supporting pins (12) diametrally oppo-
6
 11 EP 2 821 159 B1
site to one another rigidly connected to said outer
cylindrical body (11) and set through longitudinal slits
(13) of said inner cylindrical body (4),
said top and bottom springs (15) being provided with
a spring-guide stem (18) set axially through said
springs and through said intermediate resting ele-
ment (14),
the more distant ends of said top and bottom springs
(15) reacting against the respective end elements of
the inner cylindrical body (4) with interposition of two
force sensors (S).
9. The system according to Claim 8, characterized in
that said force sensors (S) are connected by means
of respective cables (3) to the aforesaid acquisition
unit (A) forming part of said control module (E), said
control module (E) being mounted on said inner cy-
lindrical body (4).
10. The system according to Claim 8 or Claim 9, char-
acterized in that it is provided with first screw means
(22) for adjustment of the load of said bottom spring
(15) and with second screw means (22) for adjust-
ment of the load of said top spring (15).
11. The system according to Claim 8 or Claim 9, char-
acterized in that the bottom spring (15) has its bot-
tom end that rests against a resting disk (19) provid-
ed with a cylindrical skirt having a shaped slit (21)
co-operating with a diametral pin (20) projecting from
said spring-guide stem (18) to enable mounting via
bayonet coupling of said resting disk (19) on the bot-
tom end of said spring-guide stem (18).
12. The system according to Claim 10, characterized
in that each of said first and second screw adjust-
ment means comprise a screw (22) rotatably mount-
ed in an axially fixed position on a respective one of
said end elements of said inner cylindrical body (4),
and an internally threaded bushing (23), prevented
from turning with respect to the end element and
engaged by said screw (22), said bushing (23) being
moreover engaged on a threaded shank (25) of the
respective force sensor (S) associated to the respec-
tive spring (15).
Patentansprüche
1. System zur Durchführung industrieller Vorgänge,
umfassend:
- mindestens einen Werkzeugkopf (H), der mit
einem Werkzeug (6, 7) versehen ist;
- mindestens einen Sensor (S), der mit dem
Werkzeugkopf (H) verbunden und gestaltet ist,
einen Betriebsparameter des Werkzeugkopfes
(H) zu detektieren;
12
- eine Steuereinheit (M) zur Steuerung eines Ar-
beitsvorgangs des Werkzeugkopfes (H),
- einen Steuermodul (E), der an dem Werkzeug-
kopf (H) montiert ist und umfasst:
5 - eine Datenerfassungseinheit (A), die mit dem
mindestens einen Sensor (S) verbunden und
gestaltet ist, Daten zu erfassen, die von dem
mindestens einen Sensor (S) herrühren; und
- eine drahtlose Übertragungseinheit (T), die mit
10 der Erfassungseinheit (A) zum Empfang der
oben erwähnten erfassten Daten verbunden
und gestaltet ist, die erfassten Daten in einem
Drahtlosmodus an eine Empfangseinheit (U)
entfernt von dem Werkzeugkopf (H) zu übertra-
15 gen; und
- eine Vorrichtung (EA) zum Speichern von elek-
trischer Energie zur elektrischen Versorgung
der Erfassungseinheit (A), der drahtlosen Über-
tragungseinheit (T) und des mindestens einen
20 Sensors (S),
wobei das System des Weiteren eine drahtlose Ein-
richtung (CH) zum Laden der Vorrichtung (EA) auf-
weist, um elektrische Energie zu speichern, wie zum
25 Beispiel eine induktive Ladeeinrichtung, die eine ers-
te Ladeeinrichtung (CH1) umfasst, die von dem
Werkzeugkopf (H) getragen wird und mit der Ener-
giespeichervorrichtung (EA) verbunden ist, eine
zweite Ladeeinrichtung (CH2), die einer Bearbei-
30 tungsstation (1) entfernt von dem Werkzeugkopf zu-
geordnet ist und in einem Drahtlosmodus mit der ers-
ten Ladeeinrichtung (CH1) zusammenwirkt, die mit
der Vorrichtung (EA) zum Speichern von elektrischer
Energie verbunden ist,
35 wobei das System des Weiteren einen mehrachsi-
gen Industrieroboter (R) des Typs aufweist, der ei-
nen Unterbau (R1), einen Robotergelenkarm (W)
und eine Kette von wechselseitig gelenkig angeord-
neten Roboterelementen, die den Unterbau (R1) mit
40 dem Roboterarm (W) verbinden, umfasst, wobei die
Werkzeugkopfsteuereinheit (M) durch eine Steuer-
einheit (M) des Roboters (R) gebildet wird, und
wobei der Werkzeugkopf (H) auswechselbar mit
dem Roboterarm (W) verbunden ist,
45 das System dadurch gekennzeichnet ist, dass es
ferner eine elektronische Verarbeitungseinheit (F)
aufweist, die gestaltet ist, Daten zu verarbeiten, die
von der drahtlosen Empfangseinheit (U) und von der
Robotersteuereinheit (M) während eines Arbeitszy-
50 klus des Roboters kommen, bei dem der Werkzeug-
kopf einen industriellen Vorgang durchführt,
die elektronische Verarbeitungseinheit (F) gestaltet
ist, Daten zu verarbeiten, die von der drahtlosen
Empfangseinheit (U) empfangen werden und Para-
55 meter anzeigen, die von dem mindestens einen Sen-
sor (S) während des Arbeitszyklus des Roboters de-
tektiert werden, und
die elektronische Verarbeitungseinheit (F) außer-
7
 13 EP 2 821 159 B1
dem angepasst ist, die von der drahtlosen Emp-
fangseinheit (U) empfangenen Daten den Informa-
tionen zuzuordnen, die von der Robotersteuerein-
heit (M) während des Arbeitsvorgangs des Roboters
empfangen werden, so dass korrelierte Informatio-
nen hinsichtlich der Funktionsparameter des Sys-
tems während einer Ausführung des industriellen
Vorgangs, als eine Funktion der Position des Robo-
ters, erhalten werden.
2. System nach Anspruch 1, dadurch gekennzeich-
net, dass an dem Werkzeugkopf eine Vielzahl von
Sensoren (S) vorgesehen ist, die speziell dafür vor-
gesehen sind, eine Vielzahl unterschiedlicher Be-
triebsparameter des Werkzeugkopfes zu detektie-
ren.
3. System nach Anspruch 1, dadurch gekennzeich-
net, dass zwei oder mehrere Einheiten aus der Steu-
ereinheit (M), der Empfangseinheit (U) und der Ver-
arbeitungseinheit (F) heraus miteinander verbunden
oder integriert sind.
4. System nach Anspruch 1 oder Anspruch 3, dadurch
gekennzeichnet, dass zumindest eine zwischen
der die zweite Ladeeinrichtung tragenden Bearbei-
tungsstation (1) und der Empfangseinheit (U) stati-
onär ist.
5. System nach Anspruch 4, dadurch gekennzeich-
net, dass die zweite Ladeeinrichtung mit der Emp-
fangseinheit (U) verbunden und/oder integriert ist.
6. System nach Anspruch 1 oder Anspruch 3, dadurch
gekennzeichnet, dass zumindest eine zwischen
der die Ladeeinrichtung (CH2) tragenden Bearbei-
tungsstation (1) und der Empfangseinheit auf einem
Teil des Roboters längs der Kette von Elementen
vorgesehen ist, die das Unterteil des Roboters mit
dem Gelenk des Roboters verbindet, derart, dass
der Roboter selbst imstande ist, den Werkzeugkopf
(H) in die Nähe des Teils des Roboters zu befördern,
auf dem die zweite Ladeeinrichtung (CH2) und/oder
die Empfangseinheit (U) vorgesehen sind.
7. System nach Anspruch 1, dadurch gekennzeich-
net, dass der Werkzeugkopf (H) ein Festklemmkopf
ist, der mit mindestens einem Kraftsensor (S) verse-
hen ist, ausgelegt, die während eines Festklemm-
vorgangs auf ein vom Festklemmkopf (H) getrage-
nes Festklemmwerkzeug (6, 7) aufgebrachte Belas-
tung zu detektieren.
8. System nach Anspruch 7, dadurch gekennzeich-
net, dass der Festklemmkopf (H) eine Baugruppe
(10) aufweist, die eine oder mehrere Festklemmwal-
zen (6, 7) trägt, wobei die walzentragende Baugrup-
pe (10) am unteren Ende eines äußeren zylindri-
14
schen Körpers (11) mit einem oberen Ende montiert
ist, das mit einem Flansch (5) zur Verbindung an
dem Gelenk (W) des Roboters versehen ist, der
Festklemmkopf (H) eine obere Spiralfeder (15) und
5 eine untere Spiralfeder (15) umfasst, die in dem in-
neren zylindrischen Körper (4) koaxial ausgerichtet
eingesetzt sind, wobei die weiter voneinander ent-
fernten Enden der oberen und der unteren Feder
(15) an Stirnelemente des inneren zylindrischen Kör-
10 pers (4) angelegt sind, wobei die wechselseitig an-
grenzenden Enden der oberen und der unteren Fe-
der (15) auf gegenüberliegenden Stirnflächen eines
dazwischen liegenden Anlageelements (14) anlie-
gen, das starr verbunden ist mit dem äußeren zylin-
15 drischen Körper (11) über diametral entgegenge-
setzt zueinander mit dem äußeren zylindrischen
Körper (11) starr verbundene und durch Längsschlit-
ze (13) des inneren zylindrischen Körpers (4) einge-
setzte Haltestifte (12),
20 wobei die oberen und unteren Federn (15) mit einem
Federführungsschaft (18) versehen ist, der axial
durch die Federn und durch das dazwischen liegen-
de Anlageelement (14) in axialer Richtung einge-
setzt ist,
25 die weiter entfernten Enden der oberen und der un-
teren Feder (15) den jeweiligen Stirnelementen des
inneren zylindrischen Körpers (4) unter Vermittlung
zweier Kraftsensoren (S) entgegenwirken.
30 9. System nach Anspruch 8, dadurch gekennzeich-
net, dass die Kraftsensoren (S) durch jeweilige Ka-
bel (3) an die oben erwähnte Erfassungseinheit (A)
angeschlossen sind, die Teil des Steuermoduls (E)
bildet, wobei das Steuermodul (E) auf dem inneren
35 zylindrischen Körper (4) angebracht ist.
10. System nach Anspruch 8 oder Anspruch 9, dadurch
gekennzeichnet, dass es mit ersten Schraubenein-
richtungen (22) zur Einstellung der Belastung der
40 unteren Feder (15) und mit zweiten Schraubenein-
richtungen (22) zur Einstellung der Belastung der
oberen Feder (15) versehen ist.
11. System nach Anspruch 8 oder Anspruch 9, dadurch
45 gekennzeichnet, dass das untere Ende der unteren
Feder (15) an einer Anlagescheibe (19) anliegt, die
mit einem zylindrischen Rand mit einem geformten
Schlitz (21) versehen ist, der mit einem aus dem Fe-
derführungsschaft (18) hervorstehenden, diametra-
50 len Stift (20) zusammenwirkt, um eine Befestigung
über eine Bajonettkupplung der Anlagescheibe (19)
auf dem unteren Ende des Federführungsschaftes
(18) zu ermöglichen.
55 12. System nach Anspruch 10, dadurch gekennzeich-
net das jede der ersten und zweiten Schraubenein-
stelleinrichtungen eine Schraube (22), die drehbar
in einer axial festgelegten Position auf einem ent-
8
 15 EP 2 821 159 B1
sprechenden der Stirnelemente des inneren zylind-
rischen Körpers (4) angebracht ist, und eine mit In-
nengewinde versehene Buchse (23) umfasst, deren
Drehung bezüglich des Stirnelements verhindert
wird und die durch die Schraube (22) in Eingriff ge-
bracht wird, wobei die Buchse (23) außerdem auf
einem mit Gewinde versehenen Schraubenschaft
(25) des jeweiligen Kraftsensors (S), der mit der je-
weiligen Feder (15) verbunden ist, in Eingriff ge-
bracht wird.
Revendications
1. Système pour effectuer des opérations industrielles,
comprenant :
- au moins une tête porte-outil (H) munie d’un
outil (6, 7) ;
- au moins un capteur (S) associé à ladite tête
porte-outil (H) et configuré pour détecter un pa-
ramètre de fonctionnement de la tête porte-outil
(H) ;
- une unité de commande (M) pour commander
le fonctionnement de ladite tête porte-outil (H),
- un module de commande (E) monté sur ladite
tête porte-outil (H) et comportant :
- une unité d’acquisition de données (A) reliée
audit au moins un capteur (S) et configurée pour
acquérir des données provenant dudit au moins
un capteur (S) ; et
- une unité de transmission sans fil (T) reliée à
ladite unité d’acquisition (A) pour recevoir les
données acquises précitées et configurée pour
transmettre lesdites données acquises dans un
mode sans fil à une unité de réception (U) à dis-
tance de la tête porte-outil (H) ; et
- un dispositif (EA) pour stocker de l’énergie
électrique pour l’alimentation électrique de ladi-
te unité d’acquisition (A), de ladite unité de trans-
mission sans fil (T), et dudit au moins un capteur
(S),
dans lequel ledit système comprend en outre des
moyens sans fil (CH) pour charger ledit dispositif
(EA) pour stocker de l’énergie électrique, comme par
exemple des moyens de charge par induction, com-
prenant des premiers moyens de charge (CH1), por-
tés par ladite tête porte-outil (H) et reliés audit dis-
positif de stockage d’énergie (EA), et des deuxièmes
moyens de charge (CH2), qui sont associés à un
poste de travail (1) à distance de la tête porte-outil
et coopérant dans un mode sans fil avec lesdits pre-
miers moyens de charge (CH1) reliés audit dispositif
(EA) pour stocker de l’énergie électrique,
dans lequel ledit système comprend en outre un ro-
bot industriel à axes multiples (R) du type comportant
une structure de base (R1), un poignet de robot ar-
16
ticulé (W), et une chaîne d’éléments de robot mu-
tuellement articulés qui relient ladite structure de ba-
se (R1) audit poignet de robot (W), ladite unité de
commande de tête porte-outil (M) étant constituée
5 d’une unité de commande (M) dudit robot (R), et
dans lequel ladite tête porte-outil (H) est reliée de
manière amovible audit poignet de robot (W),
ledit système étant caractérisé en ce qu’il com-
prend en outre une unité de traitement électronique
10 (F) conçue pour traiter des données provenant de
ladite unité de réception sans fil (U) et de ladite unité
de commande de robot (M) pendant un cycle de fonc-
tionnement dudit robot dans lequel ladite tête porte-
outil effectue une opération industrielle,
15 ladite unité de traitement électronique (F) étant con-
figurée pour traiter des données reçues de l’unité de
réception sans fil (U), indiquant des paramètres dé-
tectés par ledit au moins un capteur (S) pendant le
cycle de fonctionnement du robot, et
20 ladite unité de traitement électronique (F) étant éga-
lement adaptée pour associer lesdites données re-
çues de l’unité de réception sans fil (U) à des infor-
mations reçues de ladite unité de commande de ro-
bot (M) pendant le cycle de fonctionnement de robot,
25 de sorte que des informations corrélées soient ob-
tenues sur les paramètres fonctionnels du système
pendant l’exécution de ladite opération industrielle,
en fonction de la position du robot.
30 2. Système selon la revendication 1, caractérisé en
ce qu’une pluralité de capteurs (S) dédiés à la dé-
tection d’une pluralité de différents paramètres de
fonctionnement de la tête porte-outil est prévue sur
la tête porte-outil.
35
3. Système selon la revendication 1, caractérisé en
ce que deux unités ou plus parmi ladite unité de
commande (M), ladite unité de réception (U), et ladite
unité de traitement (F) sont associées ou intégrées
40 l’une à l’autre.
4. Système selon la revendication 1 ou 3, caractérisé
en ce qu’au moins l’un(e) entre ledit poste de travail
(1) portant les deuxièmes moyens de charge et ladite
45 unité de réception (U) est fixe.
5. Système selon la revendication 4, caractérisé en
ce que lesdits deuxièmes moyens de charge sont
associés et/ou intégrés à ladite unité de réception
50 (U).
6. Système selon la revendication 1 ou 3, caractérisé
en ce qu’au moins l’un(e) entre ledit poste de travail
(1) portant les deuxièmes moyens de charge (CH2)
55 et ladite unité de réception est prévu(e) sur une partie
du robot le long de la chaîne d’éléments qui relie la
base du robot au poignet du robot de manière à ce
que le robot lui-même soit capable de porter la tête
9
 17 EP 2 821 159 B1 18

porte-outil (H) à proximité de la partie du robot sur glage de la charge dudit ressort supérieur (15).
laquelle les deuxièmes moyens de charge (CH2)
et/ou l’unité de réception (U) est/sont prévue/prévus. 11. Système selon la revendication 8 ou 9, caractérisé
en ce que le ressort inférieur (15) a son extrémité
7. Système selon la revendication 1, caractérisé en 5 inférieure qui s’appuie contre un disque d’appui (19)
ce que ladite tête porte-outil (H) est une tête de ser- muni d’une jupe cylindrique ayant une fente confor-
tissage munie d’au moins un capteur de force (S) mée (21) coopérant avec une broche diamétrale (20)
conçu pour détecter la charge appliquée sur un outil faisant saillie à partir de ladite tige de guidage de
de sertissage (6, 7) porté par ladite tête de sertissage ressort (18) pour permettre le montage par couplage
(H) pendant une opération de sertissage. 10 à baïonnette dudit disque d’appui (19) sur l’extrémité
inférieure de ladite tige de guidage de ressort (18).
8. Système selon la revendication 7, caractérisé en
ce que ladite tête de sertissage (H) comprend un 12. Système selon la revendication 10, caractérisé en
ensemble (10) portant un ou plusieurs rouleau(x) de ce que chacun desdits premier et deuxième moyens
sertissage (6, 7), ledit ensemble porte-rouleaux (10) 15 de réglage à vis comprend une vis (22) montée en
étant monté au niveau de l’extrémité inférieure d’un rotation dans une position axialement fixe sur un élé-
corps cylindrique externe (11) monté en coulisse- ment respectif parmi lesdits éléments d’extrémité
ment sur un corps cylindrique interne (4) ayant une dudit corps cylindrique interne (4), et une douille à
extrémité supérieure munie d’une bride (5) pour le filetage interne (23), empêchée de tourner par rap-
raccordement au poignet (W) du robot, 20 port à l’élément d’extrémité et engagée par ladite vis
ladite tête de sertissage (H) comprenant un ressort (22), ladite douille (23) étant en outre engagée sur
hélicoïdal supérieur (15) et un ressort hélicoïdal in- une queue filetée (25) du capteur de force respectif
férieur (15) installés de manière à être alignés (S) associé au ressort respectif (15).
coaxialement dans ledit corps cylindrique interne (4),
les extrémités les plus éloignées desdits ressorts su- 25
périeur et inférieur (15) étant appliquées contre des
éléments d’extrémité dudit corps cylindrique interne
(4), les extrémités mutuellement contiguës desdits
ressorts supérieur et inférieur (15) s’appuyant sur
des faces opposées d’un élément d’appui intermé- 30
diaire (14) qui est relié de manière rigide audit corps
cylindrique externe (11) par l’intermédiaire de bro-
ches de fixation (12) diamétralement opposées l’une
à l’autre reliées de manière rigide audit corps cylin-
drique externe (11) et installées à travers des fentes 35
longitudinales (13) dudit corps cylindrique interne
(4),
lesdits ressorts supérieur et inférieur (15) étant mu-
nis d’une tige de guidage de ressort (18) installée
axialement à travers lesdits ressorts et à travers ledit 40
élément d’appui intermédiaire (14),
les extrémités les plus éloignées desdits ressorts su-
périeur et inférieur (15) réagissant contre les élé-
ments d’extrémité respectifs du corps cylindrique in-
terne (4) avec interposition de deux capteurs de for- 45
ce (S).

9. Système selon la revendication 8, caractérisé en

ce que lesdits capteurs de force (S) sont reliés au
moyen de câbles respectifs (3) à l’unité d’acquisition 50
précitée (A) faisant partie dudit module de comman-
de (E), ledit module de commande (E) étant monté
sur ledit corps cylindrique interne (4).

10. Système selon la revendication 8 ou 9, caractérisé 55

en ce qu’il est muni d’un premier moyen de vis (22)
pour le réglage de la charge dudit ressort inférieur
(15) et d’un deuxième moyen de vis (22) pour le ré-

10
EP 2 821 159 B1

11
EP 2 821 159 B1

12
EP 2 821 159 B1

13
EP 2 821 159 B1

14
EP 2 821 159 B1

15
EP 2 821 159 B1

16
EP 2 821 159 B1

17
 EP 2 821 159 B1

REFERENCES CITED IN THE DESCRIPTION

This list of references cited by the applicant is for the reader’s convenience only. It does not form part of the European
patent document. Even though great care has been taken in compiling the references, errors or omissions cannot be
excluded and the EPO disclaims all liability in this regard.

Patent documents cited in the description

• DE 202011000315 U1 [0006] • US 20120247208 A1 [0008]

• US 20060122730 A1 [0006] • WO 2012160512 A [0034] [0042]

18