Device for interlocking and/or frictional connection, and method

Abstract

An apparatus for connecting a workpiece to a connection element in a form-fit and/or force-fit manner includes a robot for positioning the workpiece, a spindle for connecting the connection element to the workpiece, and a first support to stabilize the workpiece as the connection element is connected to the workpiece. The first support has a contact region substantially in alignment with a spindle longitudinal axis and in contact with the workpiece during connection of the connection element to the workpiece. The contact region has a size which is smaller than 0.01 m.sup.2. A second support to stabilize the workpiece as the connection element is connected to the workpiece has a support surface which in a state in which the workpiece is supported in a substantially orthogonal axis relative to the longitudinal axis of the spindle is disposed in a different plane than a support surface of the first support.

Claims

1. An apparatus for connecting a workpiece to a connection element in a form-fit and/or force-fit manner, said apparatus comprising: a robot for positioning the workpiece; a spindle for connecting the connection element to the workpiece; a first support configured to stabilize the workpiece as the connection element is connected to the workpiece, said first support having a contact region substantially in alignment with a longitudinal axis of the spindle and in contact with the workpiece during connection of the connection element to the workpiece, said contact region having a size which is smaller than 0.01 m.sup.2; and a second support configured to stabilize the workpiece as the connection element is connected to the workpiece, said second support having a support surface which in a state in which the workpiece is supported in a substantially orthogonal axis relative to the longitudinal axis of the spindle is disposed in a different plane than a support surface of the first support.

2. The apparatus of claim 1, wherein the size of the contact region is smaller than 0.0001 m.sup.2.

3. The apparatus of claim 1, wherein the first support is configured for movement along a longitudinal axis thereof.

4. The apparatus of claim 1, wherein the first support includes a support element which is configured for movement along a longitudinal axis of the first support.

5. The apparatus of claim 1, further comprising: a first control unit configured to control the robot; and a second control unit configured to control the first support, the spindle and the first control unit.

6. The apparatus of claim 1, wherein the robot is embodied as a lightweight robot.

7. The apparatus of claim 1, wherein the robot has an arm portion length of less than 1 m.

8. The apparatus of claim 1, wherein the robot has an arm portion length of less than 50 cm.

9. The apparatus of claim 1, wherein the robot comprises an arm having a final arm piece to form an effector, and a workpiece receiving unit which is disposed on the effector.

10. The apparatus of claim 9, wherein the workpiece receiving unit comprises a suction cup for receiving the workpiece.

11. The apparatus of claim 9, wherein the workpiece receiving unit comprises a counter-bearing for stabilizing the workpiece.

12. The apparatus of claim 1, wherein the spindle is rigid.

13. The apparatus of claim 1, wherein the spindle includes an end piece which is movable along a spindle longitudinal axis.

14. The apparatus of claim 13, wherein the end piece of the spindle is configured for rotation about the spindle longitudinal axis.

15. The apparatus of claim 1, wherein the spindle comprises a feed unit configured to automatically feed the connection element.

16. The apparatus of claim 1, further comprising a camera and/or a visual sensor.

Description

BRIEF DESCRIPTION OF THE DRAWING

(1) The invention is described and explained in more detail below on the basis of the exemplary embodiments shown in the figures, in which:

(2) FIG. 1 shows a possible embodiment of the apparatus according to the invention for connecting at least one workpiece to at least one connection element in a form-fit and/or force-fit manner,

(3) FIG. 2 shows a possible sequence of the method according to the invention for connecting at least one workpiece to at least one connection element in a form-fit and/or force-fit manner with an apparatus of this kind,

(4) FIG. 3 shows a further possible embodiment of the apparatus according to the invention for connecting at least one workpiece to at least one connection element in a form-fit and/or force-fit manner.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

(5) FIG. 1 shows a possible embodiment of the apparatus V according to the invention for connecting at least one workpiece W to at least one connection element S in a form-fit and/or force-fit manner, having a robot 1 for positioning the workpiece, a spindle 2 for connecting the connection element S to the workpiece W and two different kinds of supports 31, 32, 33 for stabilizing the workpiece W during the connection of the connection element S to the workpiece.

(6) The figure shows a robot 1, in particular a lightweight robot. The robot has five motion axes RA1 . . . 5. These motion axes RA1 . . . 5 are axes of rotation. These motion axes make it possible for a workpiece W, which the robot 1 has received using a workpiece receiving unit 11 on its effector, to be able to reach any spatial point.

(7) In FIG. 3, the workpiece receiving unit 11 has suction cups 12 and counter-bearing 13. The counter-bearing 13 serves to stabilize the received workpiece W.

(8) The figure shows that the robot is fixed on a surface 5, which is preferably aligned parallel to the ground.

(9) The supports 31, 32 and 33 are also fixed on this surface.

(10) The figure shows that the two supports 31 and 32 are rigid supports. They are not movable.

(11) The support 33 is a movable support with a rigid support element 34 and a movable support element 35. The figure shows that the movable support element 35 is narrow and cylindrical. The support element 35 is advantageously moved by means of pneumatics. The mechanical work to move the support element 35 can however also be performed by means of hydraulics or an electrical drive.

(12) The spindle 2 is, as shown in the figure, rigid, in other words it is not movable and is arranged at a fixed point in the space.

(13) The spindle 2 has a feeder for connection elements 21, in particular for screws. The feeder 21 is connected at one end to a storage apparatus 22 for connection means. This is a funnel in the figure. The connection means in the funnel are guided through the feeder 21 to the spindle end piece 23.

(14) The spindle end piece 23 is movable along a spindle longitudinal axis SA1. This is necessary so that the connection means can be introduced into the workpiece W. This is necessary in particular for screws and also for nails, for example. In order to be able to screw a screw through the spindle 2 and the spindle end piece 23 into the workpiece W, the spindle performs a rotation about the spindle longitudinal axis FA1.

(15) As shown in the figure, the spindle end piece 23 lies in a direct extension of the movable part of the movable support element 35, in other words the spindle longitudinal axis corresponds to a longitudinal axis of the support element 35 (also support longitudinal axis). This is advantageous since a stabilization at certain points, which is ensured by the support element 35, is necessary for example when screwing a screw into the workpiece W.

(16) The spindle 2 is fixed on a rail 4 and cannot be moved. The spindle 2 is rigid. Only the spindle end piece 23 is, as already explained, movable along the spindle longitudinal axis and rotatable about the spindle longitudinal axis.

(17) The rail 4 is supported by the two side braces.

(18) The figure also shows a higher-level control unit 100 with an HMI 110. The figure also shows that the robot 1 is actuated via a control unit 101, that the spindle 2 is actuated via a control unit 102 and that the movable support 33 is actuated via a control unit 103.

(19) The arrangement, distribution and display of the control units 101, 102, 103 and the higher-level control unit 100 are optional. It is also possible for a control unit to perform all control functions for robot, spindle and support.

(20) The described apparatus can be arranged in a cabin, for example in a cabin with a glass panel. This serves to protect an operator.

(21) The apparatus can however also be embodied without a cabin, in particular if the technical devices, in particular robot, spindle and movable support, are touch-sensitive and thus do not pose a danger to the operator.

(22) FIG. 2 shows a possible sequence of the method according to the invention for connecting at least one workpiece to at least one connection element in a form-fit and/or force-fit manner with an apparatus of this kind.

(23) In a method step S1, the workpiece is received by the workpiece receiving unit.

(24) The workpiece is preferably received and held by the suction cups.

(25) In a method step S2, the workpiece is positioned by the robot.

(26) The workpiece is preferably positioned such that a longitudinal axis of a connection channel on the workpiece corresponds to the spindle longitudinal axis.

(27) In a method step S3, the support and/or the support element is moved in the direction of the support longitudinal axis until it comes into contact with the workpiece.

(28) In a method step S4, the end piece of the spindle is moved in the direction of the spindle longitudinal axis.

(29) In a method step S5, the connection element is connected to the workpiece by a rotational movement of the spindle.

(30) The method steps S3, S4 and S5 preferably take place at the same time.

(31) Once the connection has been established, the spindle end piece is preferably moved back, preferably into its initial position. The support and/or the support element is also preferably moved back, preferably into its initial position. This preferably takes place in a method step S6.

(32) The workpiece can be repositioned (S2) in order to introduce a further connection means, in particular to screw in a further screw.

(33) FIG. 3 shows a further possible embodiment of the apparatus V according to the invention for connecting at least one workpiece W to at least one connection element S in a form-fit and/or force-fit manner.

(34) The embodiment shown is similar to the embodiment described in FIG. 1. However, it differs with regard to an actuation of the components.

(35) The figure shows a first control unit 121, which controls the robot 1. The first control unit 121 is preferably integrated into the robot.

(36) A second control unit 120 with an HMI 110 is provided to control the support (33), the spindle (2) and the first control unit (121).