Precision apparatus for placement into storage and/or removal from storage, precision system for placement into storage and/or removal from storage, and method

Abstract

The invention is based on a precision apparatus for placement into storage and/or removal from storage (54) for an at least semiautomated placement into storage and/or removal from storage of tools (10), in particular tool assemblies (12), and/or of tool chucks (14) into and/or out of a storage lift (16), with at least one holding unit (24) for tools (10), in particular tool assemblies (14), and/or tool chucks (14), which is loadable by a handling robot (18) and forms a plurality of storage bins (20, 22).

It is proposed that the holding unit (24) comprises at least one form-fitting centering element (26), which is configured to interact with a centering bolt (28) and/or a centering recess for a submillimeter-precise horizontal orientation of the holding unit (24).

Claims

1. A precision apparatus for placement into storage and/or removal from storage for an at least semiautomated placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks into and/or out of a storage lift, with at least one holding unit for tools, in particular tool assemblies, and/or tool chucks, which is loadable by a handling robot and forms a plurality of storage bins, wherein the holding unit comprises at least one form-fitting centering element, which is configured to interact with a centering bolt and/or a centering recess for a submillimeter-precise horizontal orientation of the holding unit.

2. The precision apparatus for placement into storage and/or removal from storage according to claim 1, wherein the holding unit comprises at least one further form-fitting centering element, which is configured to interact with a further centering bolt and/or with a further centering recess for a submillimeter-precise horizontal orientation of the holding unit.

3. The precision apparatus for placement into storage and/or removal from storage according to claim 2, wherein the form-fitting centering element and the further form-fitting centering element are arranged in end regions of the holding unit which, in particular viewed along a main extension direction of the holding unit, are situated opposite each other.

4. The precision apparatus for placement into storage and/or removal from storage according to claim 1, wherein at least a portion of the holding unit which forms the storage bins is embodied as a lasered and/or riveted bent sheet metal part.

5. The precision apparatus for placement into storage and/or removal from storage according to claim 1, wherein at least a portion of the holding unit which comprises the form-fitting centering element is implemented as a, preferably solid, metal element, which is in particular different from a sheet metal.

6. The precision apparatus for placement into storage and/or removal from storage according to claim 1, wherein the holding unit forms at least two different kinds of storage bins.

7. The precision apparatus for placement into storage and/or removal from storage according to claim 6, wherein a first kind of storage bin is implemented for a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks from an at least partially vertical placement and/or removal direction.

8. The precision apparatus for placement into storage and/or removal from storage according to claim 7, wherein a second kind of storage bin is implemented for a placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or tool chucks from a horizontal placement and/or removal direction.

9. The precision apparatus for placement into storage and/or removal from storage according to claim 1, wherein at least one of the storage bins comprises a (rotational) position-fixing element for tool chucks.

10. The precision apparatus for placement into storage and/or removal from storage according to claim 1, comprising a planar base plate carrying the holding unit such that it is horizontally displaceable.

11. The precision apparatus for placement into storage and/or removal from storage according to claim 10, wherein the holding unit is supported on the base plate in a floating manner.

12. The precision apparatus for placement into storage and/or removal from storage according to claim 10, wherein the base plate is made of a plastic, in particular of a polyvinyl chloride (PVC).

13. A precision system for placement into storage and/or removal from storage, with a storage lift comprising a plurality of precision apparatuses for placement into storage and/or removal from storage according to claim 1 which in each case have a holding unit, with a handling robot for loading the storage lift with tools, in particular tool assemblies, and/or tool chucks, and with at least one centering device comprising an automatedly movable centering bolt and/or an automatedly movable centering recess for a submillimeter-precise horizontal orientation of holding units by generating a form-fit connection of the centering bolt and/or the centering recess with at least one form-fitting centering element of the holding units.

14. The precision system for placement into storage and/or removal from storage according to claim 13, wherein the centering bolt of the centering device has a conical outer shape and/or the centering recess of the centering device has a conical inner shape.

15. The precision system for placement into storage and/or removal from storage according to claim 13, wherein the centering bolt of the centering device and/or the centering recess of the centering device is automatedly movable along a vertical direction.

16. The precision system for placement into storage and/or removal from storage according to claim 13, comprising a further centering device with a further centering bolt and/or with a further centering recess, which is configured for a form-fitting interaction with a further form-fitting centering element of the same holding unit, said form-fitting interaction being synchronized with the centering bolt of the centering device and/or with the centering recess of the centering device.

17. The precision system for placement into storage and/or removal from storage according to claim 13, wherein the storage lift is configured to optionally provide respectively one of the several precision apparatuses for placement into storage and/or removal from storage/holding units comprised in the storage lift for an access of the handling robot.

18. The precision system for placement into storage and/or removal from storage according to claim 13, wherein the storage lift comprises at least one transfer surface and/or a drawer, which—at least during a placement into storage and/or removal from storage of tools, in particular tool assemblies, or of tool chucks into and/or out of the storage lift—carries the holding unit of one of the several precision apparatuses for placement into storage and/or removal from storage comprised in the storage lift.

19. The precision system for placement into storage and/or removal from storage according to claim 13, wherein at least the storage lift and the centering device, and preferably the handling robot, are—at least in a transfer zone of the precision system for placement into storage and/or removal from storage—firmly fixed on a common base and/or on a ground.

20. The precision system for placement into storage and/or removal from storage according to claim 13, comprising a holding unit identifying device, which is in particular allocated to the centering device, and which is configured for an identification of individual holding units of the storage lift.

21. A method for an at least semiautomated precision placement into storage and/or removal from storage of tools, in particular tool assemblies, and/or of tool chucks into and/or out of a storage lift, in particular by means of a precision system for placement into storage and/or removal from storage according to claim 13.

22. The method according to claim 21, comprising a horizontal detail-positioning step, in which a submillimeter-precise orientation of a holding unit, which was in particular moved out of the storage lift beforehand, relative to a handling robot of the precision system for placement into storage and/or removal from storage is brought about by generating a form-fit connection of a centering bolt, preferably at least two centering bolts, and/or of a centering recess, preferably at least two centering recesses, with a form-fitting centering element, preferably with respectively one form-fitting centering element, of the holding unit that is supported in a horizontally movable manner.

23. The method according to claim 22, wherein an unambiguous automated identification of the respective holding unit is made before, during and/or after the detail-positioning step.

Description

DRAWINGS

[0030] Further advantages will become apparent from the following description of the drawings. In the drawings an exemplary embodiment of the invention is shown.

[0031] The drawings, the description and the claims contain a plurality of features in combination. Someone skilled in the art will purposefully also consider the features separately and will find further expedient combinations.

[0032] It is shown in:

[0033] FIG. 1 a schematic perspective illustration of a precision system for placement into storage and/or removal from storage for tool assemblies, with a precision apparatus for placement into storage and/or removal from storage comprising a holding unit for the tool assemblies, with a storage lift and with a handling robot,

[0034] FIG. 2 a schematic perspective illustration of the holding unit,

[0035] FIG. 3 a schematic perspective illustration of a detail of the holding unit,

[0036] FIG. 4 a schematic perspective illustration of a transfer zone of the precision system for placement into storage and/or removal from storage with the precision apparatus for placement into storage and/or removal from storage on a deployed transfer surface of the storage lift,

[0037] FIG. 5 a schematic perspective illustration of the transfer zone of the precision system for placement into storage and/or removal from storage with a retracted transfer surface of the storage lift, and

[0038] FIG. 6 a schematic flow chart of a method for an at last semiautomated placement into storage and/or removal from storage of tool assemblies.

DESCRIPTION OF THE EXEMPLARY EMBODIMENT

[0039] FIG. 1 shows a precision system for placement into storage and/or removal from storage 52. The precision system for placement into storage and/or removal from storage 52 comprises a storage lift 16. The storage lift 16 is realized as a tool-assembly storage lift. The storage lift 16 is configured for the storage of tools 10, tool assemblies 12 and/or tool chucks 14. The precision system for placement into storage and/or removal from storage 52 comprises a handling robot 18. The handling robot 18 is configured for a loading of the storage lift 16 with tools 10, tool assemblies 12 and/or tool chucks 14. The precision system for placement into storage and/or removal from storage 52 comprises a storage module 74. The storage lift 16 is allocated to the storage module 74 of the precision system for placement into storage and/or removal from storage 52. The precision system for placement into storage and/or removal from storage 52 comprises a robot module 76. The handling robot 18 is allocated to the robot module 76. The storage module 74 and the robot module 76 form sub-units of the precision system for placement into storage and/or removal from storage 52, which are completely separate and/or separable from each other.

[0040] The precision system for placement into storage and/or removal from storage 52 comprises a plurality of precision apparatuses for placement into storage and/or removal from storage 54. The storage lift 16 comprises a plurality of (e. g. ten or more) holding units 24. The precision apparatuses for placement into storage and/or removal from storage 54 are configured for a placement into storage and/or removal from storage of tools 10, tool assemblies 12 and/or tool chucks 14 into and/or out of the storage lift 16. Each precision apparatus for placement into storage and/or removal from storage 54 comprises a holding unit 24. The holding unit 24 is configured for holding and/or receiving the tools 10, tool assemblies 12 and/or tool chucks 14. The holding unit 24 forms a tool rake for receiving and holding the tools 10, tool assemblies 12 and/or tool chucks 14. The holding unit 24 comprises a plurality of storage bins 20, 22 (cf. also FIG. 2). The storage bins 20, 22 can be loaded by the handling robot 18. A part 40 of the holding unit 24 that forms the storage bins 20, 22 is embodied as a lasered and/or riveted bent sheet-metal part. The part 40 of the holding unit 24 that forms the storage bins 20, 22, preferably the entire holding unit 24, is produced free of weldings (welding seams) or the like.

[0041] The holding units 24 in each case form two different kinds of storage bins 20, 22. A first kind of storage bin 20 of the holding unit 24 is implemented for a placement into storage and/or removal from storage of tool assemblies 12 from an at least partially vertical placement and/or removal direction 44. The storage bins 20 of this type have a continuous receiving opening 84 extending over a portion of a front side 80 of the holding unit 24 and at the same time over a portion of an upper side 82 of the holding unit 24. On the upper side 82 the receiving opening 84 is larger than a maximal diameter of the tool chuck 14 of the tool assembly 12 for which the storage bin 20 is provided. This advantageously allows introducing a tool assembly 12 into the holding unit 24, whose tool 10 has a larger maximal diameter than the tool chuck 14 of the tool assembly 12. A second kind of storage bin 22 of the holding unit 24 is implemented fora placement into storage and/or removal from storage from an approximately purely horizontal placement and/or removal direction 46. The storage bins 22 of this type have a receiving opening 88 which is arranged entirely on the front side 80 of the holding unit 24. The holding unit 24 moreover has further recesses which are not configured for a placement into storage and/or removal from storage of tools 10, tool assemblies 12 and/or tool chucks 14 but are intended to serve for a reduction of the total weight of the holding unit 24. Each storage bin 20, 22 further comprises a (rotational) position-fixing element 48 for tool chucks 14 (cf. FIG. 3). In the case illustrated in FIG. 3, the one (rotational) position-fixing element 48 is realized as a projection that is configured to mutually engage with a complementary element (not shown) of the tool chuck 14, thus defining/fixing a rotational position of the tool chuck 14 in the storage bin 20, 22. An opening shape and/or opening size of the receiving openings 84, 88, in particular in a region of the front side 80 of the holding unit 24, is adapted to tool chucks 14 of tool assemblies 12, which are to be placed into storage respectively. In the case illustrated in the figures, the receiving openings 84, 88 are implemented for receiving tool assemblies 12 with HSK-100 tool chucks 14. The holding unit 24 that is shown by way of an example in FIG. 2 has two levels. In a lower level only storage bins 22 of the second kind are comprised whereas an upper level comprises storage bins 20 of the first kind and storage bins 22 of the second kind.

[0042] The storage lift 16 comprises a storage space 78. The storage space 78 is configured at least for receiving holding units 24. The holding unit 24 can be brought into the storage space 78 by the storage lift 16. The storage space 78 of the storage lift 16 comprises several levels (not shown), which are in each case configured for receiving a holding unit 24 or several holding units 24.

[0043] The storage lift 16 is configured to optionally provide respectively one of the several precision apparatuses for placement into storage and/or removal from storage 54/holding units 24, which are comprised in the storage lift 16, for an access by the handling robot 18. The precision system for placement into storage and/or removal from storage 52 forms a transfer zone 66. The storage lift 16 comprises at least one transfer surface 64 and/or a drawer. The transfer surface 64 is arranged in the transfer zone 66 of the precision system for placement into storage and/or removal from storage 52. In the case of an implementation as a drawer, the drawer can be brought into the transfer zone 66 of the precision system for placement into storage and/or removal from storage 52 by deployment. The transfer surface 64 or the drawer carries one of the holding units 24 comprised in the storage lift 16, at least during a placement into storage and/or removal from storage of tools 10, tool assemblies 12 and/or tool chucks 14 into and/or out of the storage lift 16. The storage lift 16 comprises a rail system 92, along which the transfer surface 64 can be deployed and retracted like a drawer.

[0044] The precision system for placement into storage and/or removal from storage 52 comprises a centering device 56 (cf. also FIG. 4). The centering device 56 is configured for a submillimeter-precise horizontal orientation of the holding units 24 relative to the handling robot 18. The centering device 56 is allocated to the robot module 76. The centering device 56 comprises a centering bolt 28. Alternatively, the centering device 56 could have a centering recess (not shown). The centering bolt 28 is automatedly movable. The centering bolt 28 is automatedly movable along a vertical direction 60. The centering device 56 comprises a drive unit 86, which is configured for a hydraulic or pneumatic generation of the movement of the centering bolt 28 along the vertical direction 60. The centering device 56 is mounted to a frame unit 90 of the robot module 76. The frame unit 90 surrounds the handling robot 18 at least partially. The centering bolt 28 of the centering device 56 has a conical outer shape 58. Alternatively, in the case of an implementation as a centering recess, a conical inner shape is conceivable. The centering device 56 is realized separately from the handling robot 18. The centering device 56 is realized separately from the storage lift 16. The holding units 24 each have a form-fitting centering element 26. The form-fitting centering element 26 is implemented complementarily to the centering element (centering bolt 28/centering recess) of the centering device 56. The form-fitting centering element 26 has a conical inner shape (in the case of a sheath-like implementation) or a conical outer shape 58 (in the case of a bolt-shaped implementation). By its conical shape (adapted to the shape of the centering bolt 28 or of the centering recess) the form-fitting centering element 26 enables tolerance-free self-centering of the holding unit 24 relative to the robot module 76. The centering bolt 28 is configured to bring about the submillimeter-precise horizontal orientation of the holding unit 24 by generating a form-fit connection with the form-fitting centering element 26. As a result of the vertical introduction of the centering bolt 28 into the form-fitting centering element 26 that is realized as a recess, the holding unit 24 having the form-fitting centering element 26 is displaced horizontally until the centering bolt 28 fits accurately into the form-fitting centering element 26. Herein the centering bolt 28 remains unmoved horizontally. A portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 is implemented as a solid metal element that is different from a sheet metal. The portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 is thus not part of the lasered and riveted bent sheet metal part. The portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 is connected with the bent sheet metal part. The portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 is mounted in an opening of the bent sheet metal part and is fixed therein. The portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 protrudes on the front side 80 beyond the portion 40 of the holding unit 24 that is realized as a bent sheet metal part. The portion 42 of the holding unit 24 that comprises the form-fitting centering element 26 protrudes beyond the portion 40 of the holding unit 24 that is realized as a bent sheet metal part, toward the robot module 76 and/or the centering device 56.

[0045] The holding unit 24 comprises a further form-fitting centering element 30. The further form-fitting centering element 30 is also configured for a horizontal orientation of the holding unit 24 via an interaction with a further centering bolt 32 (alternatively: centering recess). The submillimeter-precise orientation of the entire holding unit 24 is in particular achievable by the combination of the two form-fitting centering elements 26, 30. The form-fitting centering element 26 and the further form-fitting centering element 30 are arranged in end regions 36, 38 of the holding unit 24 which, viewed along a main extension direction 34 of the holding unit, are situated opposite each other, pointing away from each other. The further form-fitting centering element 30 is arranged in a further solid metal element that is different from the bent sheet metal part. The precision system for placement into storage and/or removal from storage 52 comprises a further centering device 62 with the further centering bolt (32 (alternatively: with a further centering recess). The further centering bolt 32 of the further centering device 62 is configured for a form-fitting interaction with the further form-fitting centering element 30 of the same holding unit 24, the form-fitting interaction being synchronized with the centering bolt 28 of the centering device 56.

[0046] The precision apparatus for placement into storage and/or removal from storage 54 comprises a planar base plate 50. The base plate 50 carries the holding unit 24, which is respectively provided by the storage lift 16 for a placement into storage and/or removal from storage, such that the holding unit 24 is horizontally displaceable. The holding units 24 are supported on a surface of the base plate 50 so as to be horizontally displaceable. The base plate 50 is arranged in the transfer zone 66. The base plate 50 is laid upon the transfer surface 64 or the drawer, and is preferably fixed on the transfer surface 64 or the drawer. It is conceivable that the base plate 50 is divided into several individual sub-plates 94, 96, which respectively form a contact surface for portions of the holding unit 24 to lie thereon. The holding unit 24 is supported in a floating manner on the base plate 50 or on the several sub-plates 94, 96 which together form the base plate 50. The base plate 50 is made of a plastic. The base plate 50 is made of a polyvinyl chloride. In the case shown exemplarily in FIG. 4, the holding unit 24 lies upon a first sub-plate 94 of the base plate 50, whereas the metal elements of the holding unit 24 lie upon a second sub-plate 96 of the base plate 50, which is realized separately from the first sub-plate 94 of the base plate 50.

[0047] FIG. 5 shows a schematic perspective view of the transfer zone 66 of the precision system for placement into storage and/or removal from storage 52, with the transfer surface 64, which is embodied as a drawer, being presently retracted into the storage space 78 of the storage lift 16. The storage lift 16 and the centering device(s) 56, 62 is/are—at least in the transfer zone 66, at least indirectly — fixed firmly to the ground 68. The storage lift 16 and the handling robot 18 are fixed firmly to the ground 68, at least in the transfer zone 66. The storage module 74 and the robot module 76 are fixed firmly to the ground 68, at least in the transfer zone 66. The storage module 74 and the robot module 76 are firmly screwed with the ground 68 via ground anchorings 106, at least in the transfer zone 66. In the case illustrated in FIG. 5, the storage module 74 and the robot module 76 are tightly screwed to the ground 68. Alternatively, a fixing of storage lift 16, centering device(s) 56, 62 and handling robot 18 and/or of storage module 74 and robot module 76 to a common, preferably comparably heavy, basis element, like for example a concrete block or a thick steel plate, is also conceivable.

[0048] The precision system for placement into storage and/or removal from storage 52 comprises a holding unit identifying device 70. The holding unit identifying device 70 is allocated to one of the centering devices 56, 62. The precision system for placement into storage and/or removal from storage 52 comprises identificatory elements (not shown), which are in each case allocated to one of the holding units 24. The identificatory elements are respectively fastened on or in the holding units 24. The holding unit identifying device 70 is configured for an identification of the individual holding units 24 of the storage lift 16. The holding unit identifying device 70 is configured for an identification of the individual holding units 24 of the storage lift 16 during the placement into storage and/or during the removal from storage.

[0049] FIG. 6 shows a schematic flow chart of a method for at least semiautomated placement into storage and/or removal from storage of tools 10, tool assemblies 12 and/or tool chucks 14 into and/or out of the storage lift 16 using the precision system for placement into storage and/or removal from storage 52. In at least one first method step 98, a holding unit 24 is brought into the transfer zone 66 by the storage lift 16. Herein the holding unit 24 is positioned on the base plate 50 that lies on the transfer surface 64 and is deployed by a drawer-like function out of the storage space 78 of the storage lift 16. In at least one directly following horizontal detail-positioning step 72, a submillimeter-precise orientation of the holding unit 24, which was moved out of the storage lift 16 beforehand, is realized relative to the handling robot 18 of the precision system for placement into storage and/or removal from storage 52. For this purpose, in the detail-positioning step 72 a horizontal displacement of the holding unit 24 relative to the handling robot 18 is brought about by generating a form-fit connection of the centering bolt 28, of the two centering bolts 28, 32 (or alternatively: one or several centering recess/es) with the form-fitting centering element 26, preferably with a respective one of the form-fitting centering elements 26, 30. By an insertion of the conically shaped centering bolts 28, 32 into the form-fitting centering elements 26, 30 from above, the holding unit 24 is automatically pulled/pushed into the desired position. The relative position(s) of the handling robot 18 and the centering device(s) 56, 62, in particular the centering bolts 28, 32, are/is fix and are/is preferably known to a robot control of the handling robot 18. In a further method step 100 taking place before, during and/or after the detail-positioning step 72, an unambiguous automated identification of the respective holding unit 24 is carried out by the holding unit identifying device 70. As a result, the storage position of the presently stored tool assembly 12 in the storage lift 16 or the positions, numbers, etc. of free spaces in the storage lift 16 can be registered in a computer system, e. g. a computer system of the storage lift 16, of the robot module 76 or of another part of an industrial installation. In at least one further method step 102 a tool assembly 12 is placed into storage in one of the storage bins 20, 22 of the available holding unit 24 or is removed from storage out of one of the storage bins 20, 22 of the available holding unit 24 by the handling robot 18. In at least one further method step 104 the holding unit 24 is returned into the storage space 78 and, if applicable, a further holding unit (not shown) is brought into the transfer zone 66.

REFERENCE NUMERALS

[0050] 10 tool [0051] 12 tool assembly [0052] 14 tool chuck [0053] 16 storage lift [0054] 18 handling robot [0055] 20 storage bin [0056] 22 storage bin [0057] 24 holding unit [0058] 26 form-fitting centering element [0059] 28 centering bolt [0060] 30 further form-fitting centering element [0061] 32 further centering bolt [0062] 34 main extension direction [0063] 36 end region [0064] 38 end region [0065] 40 portion [0066] 42 portion [0067] 44 vertical placement and/or removal direction [0068] 46 horizontal placement and/or removal direction [0069] 48 (rotational) position-fixing element [0070] 50 base plate [0071] 52 precision system for placement into storage and/or removal from storage [0072] 54 precision apparatus for placement into storage and/or removal from storage [0073] 56 centering device [0074] 58 conical outer shape [0075] 60 vertical direction [0076] 62 further centering device [0077] 64 transfer surface [0078] 66 transfer zone [0079] 68 ground [0080] 70 holding unit identifying device [0081] 72 detail-positioning step [0082] 74 storage module [0083] 76 robot module [0084] 78 storage space [0085] 80 front side [0086] 82 upper side [0087] 84 receiving opening [0088] 86 drive unit [0089] 88 receiving opening [0090] 90 frame unit [0091] 92 rail system [0092] 94 sub-plate [0093] 96 sub-plate [0094] 98 method step [0095] 100 method step [0096] 102 method step [0097] 104 method step [0098] 106 ground anchoring