DEVICE FOR THE AUTOMATED COUPLING AND DECOUPLING OF A TOOL ATTACHMENT, AS WELL AS METHOD FOR THE AUTOMATED CONNECTION OF AT LEAST TWO WORKPIECES

Abstract

The present invention relates to a device for the automated coupling and decoupling of a tool attachment from a tool drive means. The tool attachment and the tool drive means are configured to actuate a connection means for the connection of at least two workpieces. The connection means can be a screw or a bolt. The tool attachment can be coupled with and released from the tool drive means, in that the tool attachment is placed on the tool drive means. According to the invention, a magazine is present, having at least one tool attachment receiving space as well as holding means for the tool attachment in the tool attachment receiving space. The tool drive means is moveable in the axial direction with respect to the tool attachment for coupling as well as releasing the tool attachment with respect to the tool drive means. The tool attachment is held on the tool drive means in a form-fit manner. Coupling and decoupling occurs in an automated manner.

Claims

1. A device for the automated coupling and decoupling of a tool attachment (207) to or from a tool drive means (212), wherein the tool attachment (207) and the tool drive means (212) are configured to actuate a connection means for the connection of at least two workpieces by means of a movement of the connection means in the axial direction thereof, wherein the tool attachment (207) can be coupled with and also decoupled from the tool drive means (212) in that the tool drive means (212) and the tool attachment (207) are moved relative to one another in the axial direction, characterized in that the tool drive means (212) comprises a fixing element (601) acting in a form-fit manner, as well as a locking element (602), wherein the fixing element (601), depending on the position of the locking element (602), is locked in a fixed position in a form-fit manner or is in a released position, wherein the tool attachment (207) is couplable and releasable, when the fixing element (601) is released, and wherein a tool attachment (207) placed on the tool drive means (212) is held by the fixing element (601) in a form-fit manner when the fixing element (601) is locked in the fixed position, wherein the locking element (602) forms (603) a spring-mounted (605) unit with an actuating element (213), wherein the locking element (602) is held by the spring force (605) in the position where the fixing element (601) is locked in the fixed position in a form-fit manner, wherein the locking element (602) transitions to the position where the fixing element (601) is released when the actuating element (213) is moved or held against the spring force (605), a magazine (201) is present, having at least one tool attachment receiving space (206) as well as releasable and blockable holding means (208) assigned to the at least one tool attachment receiving space (206), by means of which holding means, if the holding means (208) are blocked, the tool attachment (207) is held in a form-fit and/or force-fit manner at least with respect to a movement in the axial direction relative to the holding means (208), in that the tool drive means (212) is moveable in the axial direction with respect to the tool attachment (207) held by the blocked holding means (208) for coupling or decoupling the tool attachment (207) with or from the tool drive means (212), the tool attachment receiving space (206) is assigned a clamping element (210) for the actuating element (213) in such a way that the actuating element (213) is moved against the spring force (605) with respect to the tool drive means (212) if the tool drive means (212) is moved in the axial direction relative to the tool attachment (207) held by the blocked holding means (208), so that the locking element (602) transitions to the position where the fixing element (601) is released, and when the tool drive means (212) is not coupled with a tool attachment (207), the magazine (201) and the tool drive means (212) are moveable to one another in such a way that one of the at least one tool attachment receiving spaces (206) can be positioned with respect to the tool drive means (212) such that the tool drive means (212), with a movement in the axial direction with respect to the tool attachment (207) held by the blocked holding means (208), can be coupled with the tool attachment (207).

2. The device according to claim 1, characterized in that the magazine (201) further comprises at least one connection means receiving space for receiving a connection means, wherein at least two workpieces can be connected with one another by means of the connection means, in that the connection means is moved, in the axial direction thereof, out of the magazine (201) for establishing a connection of the at least two workpieces by an actuation with the tool attachment (207), which is driven by the tool drive means (212), wherein the tool attachment (207) picks the respective connection means at a tool engagement region, wherein an opening for passing through at least the tool attachment (207) and, if appropriate, also the tool drive means (212) is present in the connection means receiving space below the tool engagement region of the connection means.

3. The device according to claim 1 or 2, characterized in that the magazine (201) is divided in two parts in such a way (202, 203) that the clamping element (210) can be moved with respect to the holding means (208) in the axial direction in such a way that the clamping element (210) and the holding element (208), in a first position, have a distance such that a tool drive means (212) inserted in the magazine (201), the actuation element (213) of which means is held in the position by the clamping element (210) where the fixing element (601) is released, and a tool attachment (207) held in the tool attachment receiving space (206) by the holding means (208) are spaced from one another, and that the clamping element (210) and the holding means (208) can be moved towards one another from said first position into a second position, where the tool attachment (207) is plugged onto the tool drive means (212) or plugged into the tool drive means (212), wherein the tool attachment (207) is held by the holding means (208) even in the transition from the first position to this second position, wherein the actuating element (213) is held by the clamping element (210) against the spring force (605) in the transition from this first position to the second position, so that the locking element (602) is in the position where the fixing element (601) is released, and that the tool drive means (212) can be moved from this second position to a third position with respect to the clamping element (210) in such a way that the tool attachment (207) is plugged onto the tool drive means (212) or plugged into the tool drive means, respectively and is held in this position by the fixing element (601), wherein, in the transition from the second to the third position, the holding means (208) of the tool attachment receiving space (206) are released and wherein the clamping element (210) is released.

4. The device according to one of claims 2 or 3, characterized in that the at least one tool attachment receiving space (206) and the at least one connection means receiving space are arranged in one level next to one another in the magazine (201).

5. The device according to one of claims 2 or 3, characterized in that the magazine (201) comprises multiple tool attachment receiving spaces (206), which are arranged in a first level, as well as multiple connection means receiving spaces, which are arranged in a second level, wherein the tool attachment receiving spaces (206) are positioned in the first level with respect to the connection means receiving spaces in the second level in such a way that a connection means in a connection means receiving space is positioned with respect to a tool attachment (207) in a tool attachment receiving space (206) in such a way that the tool attachment (207), in a movement of the tool attachment (207) in the axial direction of the connection means, picks the connection means at the tool engagement region of the connection means.

6. The device according to one of claims 2 or 3, characterized in that the magazine (201) comprises one or multiple tool attachment receiving spaces (206), which are arranged in a first level, as well as multiple connection means receiving spaces, which are arranged in a second level, wherein the magazine (201) is formed at least in two parts in such a way that the first part with the tool attachment receiving spaces (206) of the first level can be positioned with respect to the second part with the connection means receiving spaces of the second level in such a way that a connection means in a connection means receiving space is positioned with respect to a tool attachment (207) in a tool attachment receiving space (206) in such a way that the tool attachment (207), in a movement of the tool attachment (207) in the axial direction of the connection means, picks the connection means at the tool engagement region of the connection means.

7. The device according to one of claims 1 to 6, characterized in that the tool drive means (212) comprises a rotatable element (214) and in that the at least one connection means comprises a threaded portion, wherein the movement of the tool drive means (212) in the axial direction for coupling or decoupling of the tool attachment (207) from the tool drive means (212) is effected without a rotation of the rotatable element (214).

8. A method for the automated connection of at least two workpieces by means of a device according to one of the preceding claims, characterized in that in a first step, the holding means (208), in the blocked position, block the tool attachment (207) in a form-fit and/or force-fit manner at least with respect to a movement in the axial direction relative to the holding means (208), that in this first step, furthermore the actuating element (213) is moved or held by the clamping element (210) against the spring-elastic force (605) in such a way that the locking element (602) is in the position where the fixing element (601) is released, that in this first step the tool drive means (212) is moved in the axial direction relative to the tool attachment (207) held by the blocked holding means (208) for coupling the tool attachment (207) with the tool drive means (212), in a second step, after the coupling of the tool attachment (207) with the tool drive means (212), the holding means (208) are released as well as the clamping element (210) releases the actuating element (213), so that the locking element (602) transitions to the position where the fixing element (601) is locked, in a third step, at least one connection means is actuated by means of the tool attachment (207) with the coupled tool drive means (212), in a subsequent fourth step, the tool attachment (207), in turn is positioned in a tool attachment receiving space (206) of the magazine, in a fifth step, the holding means (208) of this tool attachment receiving space (206) are brought into the blocked position, wherein in the fourth and/or in the fifth step, the actuating element (213) is held by the clamping element (210), so that the actuating element (213) is moved or held against the spring force (605), so that the locking element (602) transitions to the position where the fixing element (601) is released, in a sixth step, the tool drive means (212) is moved in the axial direction relative to the tool attachment (207) held by the blocked holding means (208) for decoupling the tool attachment (207) from the tool drive means (212), in a seventh step, the clamping element (210) is opened, so that due to the spring force (605), the actuating element (213) transitions to the position where the locking element (602) has the position where the fixing element (601) is locked.

9. The method according to claim 8, characterized in that multiple tool attachment receiving spaces (206) are present in the magazine (201), wherein, prior to the first step, the tool drive means (212) and one of the tool attachment receiving spaces (206) are oriented to one another in such a way that in the subsequent relative movement of the tool drive means (212) relative to the tool attachment (207) of this tool attachment receiving space (206) held by the blocked holding means (208), the tool attachment (207) is coupled with the tool drive means (212).

10. The method according to one of claims 8 or 9, characterized in that the tool drive means (212) comprises a rotatable element (214) and that the at least one connection means comprises a threaded portion, wherein the movement of the tool drive means (212) in the axial direction relative to the tool attachment (207) held by the blocked holding means (208) occurs in the coupling or decoupling of the tool attachment (207) to or from the tool drive means (212) without a rotation of the rotatable element (214).

Description

[0065] An exemplary embodiment of the invention is represented in the drawing. The Figures show in:

[0066] FIG. 1: an exemplary embodiment for the tool drive means,

[0067] FIG. 2 to FIG. 5: a sectional view through a magazine in different positions with a tool drive means, and

[0068] FIG. 6: a description of the basic principle of the coupling of a tool attachment to a tool drive means with a fixing element, a locking element and an actuating element.

[0069] FIG. 1 shows an exemplary embodiment for the tool drive means 1, which consists of the drive motor 5 and the spindle 6.

[0070] Furthermore, a threaded spindle 2 can be discerned, which is driven by a servo motor 3.

[0071] A guide sled 4 having a female thread is mounted on the threaded spindle 2 in a rotationally-fixed manner.

[0072] Thus, if the threaded spindle 2 is moved, the guide sled 4 is moved upward or downward.

[0073] A drive motor 5 for the spindle is mounted on the guide sled 4. The spindle 6 can be induced to rotate around its longitudinal axis by the drive motor 5.

[0074] At its upper end, the spindle 6 comprises a fitting region, onto which a tool attachment can be fitted. It can be discerned that a ball 7 partially protrudes in this fitting region.

[0075] This ball 7 can be pushed into the spindle 6, when a fixing element (not shown here) is in the released position.

[0076] A locking element is assigned to the fixing element, which can be switched back and forth between two positions.

[0077] This occurs in that an actuation element is held against a spring force in a position where the locking element is in the position where the fixing element is released.

[0078] If the actuating element is not held in this position, the actuating element transitions to a position, due to the spring force, where the locking element is in the position in which the fixing element is fixed.

[0079] The ball 7 is held thereby in a form-fit manner, so that this spindle 6 is pushed out. If this ball 7 engages in a recess of a tool attachment, an undercut is thereby formed, by means of which the tool attachment is held in a form-fit manner on the tool drive means.

[0080] The tool attachments are fitted-on over this ball 7, if the fixing element is in the released position. In the region of the ball 7, the tool attachments comprise recesses. If the fixing element is in the fixed position, the ball 7 engages in this recess of the tool attachment. Through the engagement with the recess of the tool attachment, a form-fittingly acting holding force is present for the tool attachment on the spindle 6.

[0081] If only the servomotor 3 is driven and the drive motor 5 is not driven, the tool drive means 1 (i.e. the drive motor 5 and the spindle 6) are moved upward or downward without that the spindle 6 rotates. If the drive motor 5 operates, the spindle 6 rotates.

[0082] In this embodiment, the rotational speed of the servomotor 3 is advantageously synchronized with the rotational speed of the drive motor 5 corresponding to the thread pitch of the screw, which is to be rotated as a connection means by the tool drive means 1, as well as the pitch of the threaded spindle 2. As a result, the speed of the tool drive means in the vertical direction is synchronized with the corresponding speed of the connection means.

[0083] FIG. 2 shows a section through a magazine 201. This magazine consists of two parts 202 and 203, which, corresponding to the arrows 204 and 205 from the illustrated position, in which these two parts 202 and 203 are spaced, can be moved to a position in which these parts rest one on top of the other.

[0084] In the first part 202 of the magazine 201, a tool attachment receiving space 206 is present, in which a tool attachment 207, which is formed as a wrench here, is held by means of holding means 208. The holding means 208 are moveable in accordance with the arrows 209, so that the tool attachment 207 is held in the blocked position (as represented in FIG. 2) with the holding means 208.

[0085] In the second part 203 of the magazine 201, a clamping element 210 is formed in the insertion opening 211 for a tool drive means 212.

[0086] This clamping element 210 consists of elements that are moveable corresponding to the arrows 216 in such a way that these release the insertion opening 211 or are engaged with a recess 217 on the actuating element 213 of the tool drive means 212.

[0087] Merely the shaft 214 is drawn of the tool drive means 212, into which the tool attachment 207 is inserted.

[0088] If the tool drive means 212 is inserted into the insertion opening 211 of the second part 203 of the magazine 201, here, the actuating element 213 is held in the position, corresponding to the dashed illustration in FIG. 2, in that the elements of the clamping element 210 are inserted into to recess 217 of the actuating element 213. The actuating element 213 is thereby held fixed against the spring force when the tool drive means 212 is inserted into the insertion opening 211 of the second part 203 of the magazine 201.

[0089] FIG. 3 shows the parts of FIG. 2, wherein the first part 202 of the magazine 201 as well as the second part 203 of the magazine 201 have been moved toward one another corresponding to the direction of the arrows 204 and 205 of FIG. 2 so that these two parts 202 and 203 of the magazine 201 rest one on top of the other.

[0090] The tool attachment 207 is held with respect to the first part 202 of the magazine 201 by the blocked holding means 208. The tool drive means 212 is fixedly positioned with respect to the second part 203 of the magazine 201. As a result of the movement of the two parts 202 and 203 to one another, the tool drive means 212 is moved in the axial direction relative to the tool attachment 207.

[0091] The holding means 208 of the tool attachment 207 continue to hold the tool attachment 207.

[0092] The actuating element 213 of the tool drive means 212 is held against the spring force by the clamping element 210, which is inserted into the recess 217 of the actuating element 213.

[0093] As a result, the locking element is in the position where the fixing element is released. As a result, the tool attachment 207 can be inserted into the shaft 214 of the tool drive means 212.

[0094] FIG. 4 shows how the holding means 208 of the tool attachment 207 are released in the next step before pulling-out the tool drive means 212 from the magazine 201. As a result, the tool attachment 207 remains in the shaft 214 when the tool drive means 212 is subsequently pulled out from the magazine 201. In this position of FIG. 4, the clamping element 210 still engages into the recess 217 of the actuating element 213 and holds it against the spring force.

[0095] FIG. 5 shows how the tool drive means 212 is pulled out of the magazine 201 corresponding to the direction of the arrow 501.

[0096] Here, the tool attachment 207 is located on the tool drive means 212.

[0097] The holding means 208 of the tool attachment 207 are released. The clamping element 210 is likewise released. This occurs in that the elements of the clamping element 210 are pulled out of the recess 217 of the actuating element 213 corresponding to the arrows 216. As a result, the actuating element 213 is released and moves to the position, due to the acting spring force, where the locking element is in the position in which the fixing element is fixed in a form-fitting manner.

[0098] The tool attachment 207 is thereby held on the tool drive means 212 in a form-fitting manner and is available for further mounting works.

[0099] In the case that the tool attachment is to be removed from the tool drive means after performing the mounting work, and be stored in the tool receiving space 206 of the magazine 201, this occurs in the order of the FIGS. 5, 4, 3, and 2.

[0100] In the first step, corresponding to the illustration of FIG. 5, the tool drive means 212 is inserted into the magazine in the tool receiving space 206 with opened holding means 208. This occurs against the direction of the arrow 501.

[0101] Here, the elements of the clamping element 210 are inserted into the recess 217 of the actuating element 213. If the tool drive means 12 is further inserted into the magazine 201, the actuating element 213 is thereby moved to the position, and held there, where the locking element is in the position in which the fixing element is released.

[0102] The tool attachment 207 is still located in the shaft 214. The holding means 208 of the tool attachment receiving space 206 are still open. This corresponds to the illustration of FIG. 4.

[0103] Subsequently, corresponding to the representation of FIG. 3, the holding means 208 are brought into the position where the tool attachment 207 is blocked.

[0104] In the next step, corresponding to the representation of FIG. 2 (dashed illustration of the tool drive means 212), the two parts 202 and 203 of the magazine 201 are moved away from one another against the direction of the arrows 204 and 205. In particular, the tool attachment 206, which is held by the blocked holding means 208 with respect to the part 202 of the magazine 201, is lifted off from the tool drive means 212 as well. Here, the fixing element is still released.

[0105] As a result, when the two parts 202 and 203 of the magazine 201 are moved away from each other, the tool attachment 207 is pulled out from the shaft 214 of the tool drive means 212.

[0106] Subsequently, the tool drive means 212 is pulled out from the magazine 201 against the direction of the arrow 215, with a released clamping element 210, and can be re-equipped with another tool attachment.

[0107] The exemplary embodiment in the Figures merely shows the coupling to and decoupling of a tool attachment 207 from the tool drive means 212. If the magazine is constructed in such a way that the tool attachment receiving space(s) 206 are arranged in a first level and the connection means receiving spaces are arranged directly above it, it can be seen that the insertion opening 211 and also the tool attachment receiving space must be dimensioned in terms of the clear width in such a way that at least the shaft 214 with the actuating element 213 of the tool drive means 212 can be guided through the insertion opening 211 as well as possibly also the tool attachment receiving space 206 in order to move the connection means out from the connection means receiving space arranged there-above to its mounting position.

[0108] FIG. 6 shows a description of the basic principle of the coupling of a tool attachment (not shown here) to a tool drive means 212 with a fixing element 601, a locking element 602 and a actuating element 213.

[0109] A section through the tool drive means 212 is represented.

[0110] The actuating element 213 can be discerned, which is connected to a locking element 602 via a connection element 603. Said connection element 603 is supported in an axial longitudinal slot 604 extending inside the shaft 214 of the tool drive means 212. Thereby, a unit formed by the actuating element 213 via the connection element 603 with the locking element 602 is movable in axial direction relative to the shaft 214 of the tool drive means 212. The locking element 602 extends in a bore inside the shaft 214 of the tool drive means 212.

[0111] It can be seen that the unit composed of the actuating element 213, the connection element 603 and the locking element 602 is spring-elastically mounted (605) and held in the position, due to the spring force, which is shown in FIG. 6.

[0112] The actuating element 213 is displaceable in the axial direction in relation to the shaft 214 of the tool drive means against the spring force (605) in the direction of the arrow 606. Due to the fact that the locking element 602 is coupled with the actuating element 213 via the connection element 603, the locking element 602 is moved along in the direction of the arrow 607 when the actuating element 213 is moved in the direction of the arrow 606.

[0113] As a result, the space that lies behind the fixing element 601 in the bore hole in the shaft 214 in the direction of the arrow 608 is made accessible. Upon an application of force in the direction of the arrow 608, the fixing element 601 moves into the shaft 214 flush with the outer surface of the shaft 214.

[0114] In the situation illustrated in FIG. 6, the locking element 602 fills the space, so that the fixing element 601 is prevented, in a form-fitting manner, from moving into the shaft 214, when a force acts on the fixing element 601 from outside.

[0115] The contact surfaces of the fixing element 601 as well as of the locking element 602 to one another are designed in such a way that this surface, in the bottom part of the fixing element 601, extends perpendicular, i.e. in the axial direction of the shaft 214. In the upper part, these contact surfaces extend in a manner as to have an inclination. When the locking element 602 has been moved downward against the spring force 605 and the fixing element 601 is moved in the shaft 214, the inclined course of the contact surfaces in the upper region achieves that the fixing element 601 is pressed outward again, and thus avoids the locking element, when it transitions to the position, along with the spring force 605, which is shown in FIG. 6. It is achieved through the vertical portion of the contact surfaces that the fixing element 601 is held and fixed in a form-fit manner when the locking element is in the position shown in FIG. 6. An application of force in the direction of the arrow 608 to the fixing element 601, because of the vertical portion of the contact surface, does not result in the locking element 602 being pressed downward.

[0116] In the actuating element 213, the recess 217, into which the clamping element 210 engages, can be seen again.

[0117] It proves to be advantageous when the locking element 602 and the fixing element 601 fill the respective bore hole in the shaft 214 completely, as possible. This means that the locking element 602 and the fixing element 601 but, with their surfaces, against the respective wall of the bore holes. As a result, movability of the locking element 601 as well as of the fixing element 601 is ensured. Moreover, this achieves that the shaft, as a whole, remains dimensionally stable to the greatest possible extent and has a good mechanical strength, in particular with regards to torsional stress and bending stress.