Transcript Ingen bildrubrik

ACF
Aligned C-Frame
2020-04-29
Dan Holm
C-Power Technologies AB
Errors in SPR/Clinching
Initial
riveting
position
y
x
d – misalignment
a – angular error
x – position error u
y – position error v
2020-04-29
Dan Holm
C-Power Technologies AB
Development of new C-frame concept
The third generation is also an ACF (Aligned CFrame) but completed with the property of non
moving joining point. That excludes need for
equalisation system which save both weight and
cost. Since there are no movement of the joining
point there will be no load introduced in the work
piece and robot due to the riveting/clinching
process.
2020-04-29
Dan Holm
C-Power Technologies AB
New generation ACF
(Aligned C-Frame)
Errors
0.50
misalignment u[mm]
0.40
angular error[degree]
0.30
misalignment w[mm]
position error u[mm]
0.20
Initial
riveting
position
position error v[mm]
0.10
0.00
-0.10
y
-0.20
-0.30
x
-0.40
-0.50
-0.60
d – misalignment
a – angular error
x – position error u
y – position error v
acf410x400_80
c410x400_140
acf410x400_200
misalignment u[mm]
0.0273
-0.2237
-0.1041
angular error[degree]
0.0857
0.4322
-0.0460
misalignment w[mm]
0.0648
0.0541
0.0696
Position error u[mm]
0.2295
0.4401
-0.2081
Position error v[mm]
0.0593
-0.4586
-0.0422
v
w
u
ACF410x400
die 80 mm
weight 58 kg
unapproved joint
approved joint
C410x400
die 140 mm
weight 117 kg
ACF410x400
die 200 mm
weight 58 kg
2020-04-29
Dan Holm
C-Power Technologies AB
New generation ACF
(Aligned C-Frame)
Test results
Vertical deflection for
die and setter
new generation ACF450x400
5
4
3
setter
v[mm]
2
die
1
0
54
55
56
57
58
59
60
61
62
63
-1
-2
-3
F[kN]
ACF450x400
5
4
3
setter
v[mm]
2
die
1
0
53
54
55
56
57
58
59
60
61
62
63
-1
-2
-3
F[kN]
2020-04-29
Dan Holm
C-Power Technologies AB
New generation ACF
(Aligned C-Frame)
 Optimized for maximal performance
 No movement of die during riveting/clinching/spot
welding
no need for expensive and heavy
equalisation system. No forces introduced in work piece
and robot due to riveting process
 Perfect alignment between die and setter in all
orientations for optimal joining quality
 Allowing a wide span of die heights while maintaining
performance
 Approx. 50%, often more, weight saving compared to
conventional C-frame
 Range from throat deepth of 300 mm and above
2020-04-29
Dan Holm
C-Power Technologies AB