DEVICE FOR PROCESSING A WORKPIECE

Abstract

A device is proposed for machining a workpiece using a robot which holds and moves the workpiece, in which the robot has a drive unit which is suitable for fixing the workpiece in a clamping device. According to the method the workpiece is placed in a clamping device by a robot and then machined after the workpiece has been fixed in the clamping device by means of the robot.

Claims

1-13. (canceled)

14. A device (1) for machining a workpiece (2, 13) comprising a robot (3), which has an arm (4); wherein the robot holds and moves the workpiece (2, 13); wherein the robot (3) has a drive unit (7, 19) which is suitable for fastening the workpiece (2) in a clamping device (12); wherein the drive unit (7, 19) and at least one gripper (5, 6) are arranged simultaneously on the arm (4) of the robot (3) in order to use these one after the other; wherein at least one gripper (5, 6) is arranged laterally to the drive unit (7, 19); and wherein the at least one gripper (5, 6) and drive unit (7, 19) are arranged orthogonally to one another; wherein the drive unit has pins (20, 21) in each case on one side of a screwdriver (9) which are configured so that they can be aligned flush with bores (22, 23) on the clamping device (12) or bores are provided in the drive unit (7, 19) which cooperate with pins in the clamping device (12) so that the pins (20, 21) slide into the bores (22, 23) and hold the drive unit (19) firmly relative to the clamping device (12) in order to relieve the stress on the robot arm.

15. The device according to claim 14, wherein the drive unit (7, 19) has a screwdriver (8) with an adapter (9) having an adapter profile (24, 25, 26) and a spring (27) is provided between adapter (9) and drive unit (7) which enables the adapter (9) to enter into engagement with the profile on the clamping device with a small movement of the adapter (9) relative to a corresponding profile on the clamping device, wherein the tension on the spring (27) which presses the adapter (9) towards the profile of the clamping device is released.

16. An arrangement of the device according to claim 14; and a clamping device; wherein the clamping device (12) is configured mechanically without a drive and the clamping device (12) and a stationary part (20, 21) of the drive unit (7, 19) are connected positively to one another.

17. The device according to claim 16, wherein the clamping device (12) receives a plurality of workpieces (2, 13) which are braced together.

18. The device according to claim 16, wherein the clamping device (12) and a moving part (9) of the drive unit (7, 19) are connected positively to one another.

19. A method for machining a workpiece using the arrangement according to claim 16 in which the workpiece is placed by the robot (3) in the clamping device (12) and is then machined, wherein the workpiece (2, 13) is fixed in the clamping device (12) using the robot (3).

20. The method according to claim 19, wherein the workpiece (2, 13) is released from the clamping device (12) by means of the robot (13).

Description

[0021] Exemplary embodiments according to the invention are show in the drawings by means of schematic views and are described in detail hereinafter.

[0022] In the figures

[0023] FIG. 1 shows a robot arm with two grippers and a drive unit arranged offset thereto and a clamping device with a workpiece,

[0024] FIG. 2 shows a robot arm with two grippers and a drive unit arranged in between and a clamping unit with two clamped workpieces,

[0025] FIG. 3 shows a robot arm with laterally arranged drive unit and laterally arranged gripper and a clamping device with a clamped workpiece,

[0026] FIG. 4 shows a robot arm with a gripper and a drive unit arranged opposite and a clamping device with clamping claws,

[0027] FIG. 5 shows a robot arm with a clamping device having two retaining pins and a clamping device with two bores for supporting torque,

[0028] FIG. 6 shows a robot arm with a drive unit and various exchangeable adapters,

[0029] FIG. 7 shows a robot arm with a drive unit and adapter depressed against spring force and a clamping device with a workpiece,

[0030] FIG. 8 shows a robot arm with an adapter engaging on the clamping device and released spring,

[0031] FIG. 9 shows a clamping device with a drive unit screwed onto the clamping device and

[0032] FIG. 10 shows a clamping device according to FIG. 9 but with rechargeable battery as power supply.

[0033] The device 1 shown in FIG. 1 is used for machining a workpiece 2 using a robot 3 of which only the robot arm 4 with two grippers 5 and 6 and a drive unit 7 is shown. The drive unit 7 has a screwdriver 8 which is connected positively to an adapter 9.

[0034] The adapter 9 as moving part of the drive unit is configured to be connected positively to a square 10 in order to exert a torque on the clamping mechanism 11 of the clamping device 12. A rotational movement of the square 10 in one direction results in a clamping of the workpiece 2 whereas a movement in the opposite direction releases the workpiece 2 from the clamping device 12.

[0035] In this case, in addition to the oppositely arranged arms 5 and 6, the robot arm 4 can also have the drive unit 7 on the front side and the clamping device 12 can also clamp several workpiece 2, 13 together (cf. FIG. 2).

[0036] Depending on the embodiment, the drive unit 5 can also be arranged laterally on the robot arm 4 as shown in FIG. 3.

[0037] FIG. 4 shows how a gripper 5 and a drive unit 7 can be arranged oppositely on a robot arm 4. Here the workpieces 2 and 13 are each held with clamping jaws 14, 15, 16, 17 on a clamping plate 18.

[0038] The drive unit 19 shown in FIG. 5 has pins 20 or 21 in each case on one side of the screwdriver 8 which are configured so that they can be arranged in alignment with the bores 22, 23 on the clamping device 12 so that the pins 20, 21 slide in the bores 22, 23 and hold the drive unit 19 fixed relative to the clamping device 12 in order to relieve the pressure on the robot arm. It is shown in FIG. 5 that the pins are provided in the drive unit and the bores in the clamping device. In a corresponding design bores can also be provided in the drive device which cooperate with pins in the clamping device. It is thereby avoided that when the adapter 9 engages on the square 10, a torque is applied to the drive unit 19. The adapter 9 only turns the square 10 in order to clamp the workpiece 2 in the clamping device 12.

[0039] For this purpose, as shown in FIG. 6, the adapter can be configured as a square adapter 9 or with different adapter profiles 24, 25, 26. These profiles are only examples which can be provided for the respectively corresponding profiles on the clamping device.

[0040] It is not ensured that when the adapter 9 is inserted on the square 10, this adapter fits precisely onto the square (cf. FIG. 7). Thus, a spring is provided between adapter 9 and drive unit 7 which enables the adapter 9 to engage with the square 10, as shown in FIG. 8, during a slight movement of the adapter 9 relative to the square 10. In this case, the tension on the spring 27 which presses the adapter 9 to the square 10 is released.

[0041] The clamping device 12 shown in FIG. 9 has a drive unit 28 fastened detachably to the clamping device 12 which is supplied with power via a cable 29 in order to turn the square 10 with the adapter 9 in order to clamp the workpiece 2 in the clamping device 12. A pneumatic or a hydraulic drive can also be provided as an alternative to an electrical drive.

[0042] FIG. 10 shows that instead of the cable 29 shown in FIG. 9 a rechargeable battery 30 can also be used to supply the drive unit 28 with power. In this case, the drive unit 28 is remote-controlled and in particular radio remote-controlled.

[0043] The drive unit 28 can, as shown in FIGS. 9 and 10, be connected via a plate to the clamping mechanism 11 or it can be arranged directly on the clamping mechanism 11.