EP2837471B1 - Method for moving to an operating position of a manually moveable tool - Google Patents

Method for moving to an operating position of a manually moveable tool Download PDF

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Publication number
EP2837471B1
EP2837471B1 EP13180662.2A EP13180662A EP2837471B1 EP 2837471 B1 EP2837471 B1 EP 2837471B1 EP 13180662 A EP13180662 A EP 13180662A EP 2837471 B1 EP2837471 B1 EP 2837471B1
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EP
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Prior art keywords
tool
intermediate position
plane
operating position
carriage
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German (de)
French (fr)
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EP2837471A1 (en
Inventor
Jürgen Fehlings
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Fehlings Margot
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Fehlings Margot
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25HWORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0078Guiding devices for hand tools

Definitions

  • the invention relates to a method for starting at least one predetermined working position of a manually movable tool.
  • Such a tool which is for example a screwing tool with automatic screw feed, is for example stored in a stand.
  • the tool is guided in a plane, from a starting position, by means of guide means. It can thus be moved manually from the starting position to an intermediate position, in which it is arranged substantially with a screwing position of a part assembly to be screwed. From this intermediate position, the tool is manually delivered in the direction of the screwing position, using counterbalance means are used, so that the operator of the tool this, without having to apply substantial forces, can also move from the intermediate position to the working position and out of it.
  • the stands are equipped with a position measuring system or several position measuring systems in order to additionally detect the screwing position and to give the screwing tool a start signal when the position is correct.
  • the screwing of the correct screwing sequence is controlled here or is only in the correct order possible. In such stands, the worker must position the screw very accurately.
  • the stands always have two monitored linear movements, in the X and Y coordinate directions or a linear movement and a rotational movement.
  • a mask is positioned above the component, in addition to the stand, in which only the screw positions are free.
  • This mask is complex to create and also costs cycle time when screwing.
  • Another disadvantage of the mask is that it is only useful for one component and must be recreated when changing part or change. For components with variants even multiple masks are needed at the same time. This entails a very complicated handling.
  • Object of the present invention is to provide a working method for a basically manually movable tool that ensures a precise approach at least one predetermined working position of the tool.
  • the tool is moved in a plane from an initial position, guided by means of guide means in an intermediate position, said intermediate position is aligned with the working position. From the intermediate position, guided by means of further guide means, the tool is delivered to the working position. In this case, the position of the tool is measured during the process from the starting position to the intermediate position.
  • a non-manual actuator is activated and it moves this adjusting the tool in the intermediate position.
  • a displacement measuring system determines the position of the tool between the starting position and the intermediate position. About the displacement measuring system is thus always known the position of the tool in the process from the starting position to the intermediate position. If the displacement measuring system determines that the tool, based on the axial direction of the plane associated with the tool, approaches the intermediate position in this axial direction by a defined amount, the actuating means, which has the function, activates the tool in the intermediate position, relative to the assigned axial direction of the plane to move.
  • an approximate starting of the intermediate position of the tool takes place manually, while the exact starting of the intermediate position, after reaching the approximate starting position, is effected by means of the adjusting means. Due to the adjusting means, the tool is in the exact intermediate position and it is then only necessary to deliver the tool manually in the working position. Due to this exact positioning of the tool in the intermediate position, no damage of workpieces or components by means of the tool can be carried out when transferring the tool from the intermediate position to the working position, wherein this movement is carried out by means of the further guide means. Also, the tool requires little space laterally when delivering, because the feed movement takes place laterally tolerance-free.
  • the plane is a plane which is spanned by X-Y coordinates of a spatial coordinate system and the feed movement takes place from the intermediate position into the working position in the Z direction of the coordinate system.
  • the movement of the tool in said plane can be done in different ways.
  • the tool can be guided in the plane by means of first guide means in a straight axial direction and by means of second guide means in a direction perpendicular to this axial direction arranged straight axial direction.
  • the tool is moved in particular in the direction of the X-Y coordinates of the spatial coordinate system.
  • the XYZ coordinate system can be arranged arbitrarily in space.
  • XY coordinates are arranged in a conventional manner in a horizontal plane, so that the feed movement from the intermediate position into the working position in the Z direction takes place vertically, in particular directed downward. It is also conceivable to arrange the XY plane vertically. In this case, the feed movement takes place from the intermediate position to the working position in the horizontal.
  • the measurement of the position of the tool in the process of starting position in the intermediate position is preferably carried out electrically.
  • this measurement is electromagnetic.
  • a stator can be provided with a displacement measuring system in the direction of the respective travel axis or a rotational angle measuring system when pivoted about the axis.
  • the movement by means of the non-manual actuating means is preferably carried out electrically.
  • this movement is electromagnetic.
  • the deceleration force for decelerating the tool increases with the reduction of the distance of the tool in the axial directions of the plane to the intermediate position.
  • This braking of the tool is of particular advantage when the operator approaches the tool in such a way the intermediate position that the intermediate position would be run over. In this case, the braking force virtually causes the tool to be caught in the intermediate position.
  • the adjusting means move the tool via a pulling movement into the intermediate position, which also the tool is captured in the intermediate position.
  • the inventive method finds particular use in a tool that is designed as a screwing tool. In principle, the method is also applicable to any other manually movable tool.
  • the tool is transferred to the intermediate position and then the tool is moved to the next intermediate position and from there to the next working position.
  • the intermediate position achieved, this represents a starting position in the sense of the method for starting the next working position, so that the next intermediate position is approached by this intermediate position / starting position and from there the next working position.
  • Fig. 1 is a coordinate system in three-dimensional space by the respective perpendicular axes X, Y and Z illustrated.
  • a carriage system 1 is used for the guided procedure of a tool 2, which is, for example, a screwing tool.
  • This tool 2 is pneumatically driven, for example.
  • the carriage system 1 consists of three carriage assemblies 3, 4 and 5.
  • the carriage assembly 3 is oriented here in the X direction, the carriage assembly 4 in the Y direction and the carriage assembly 5 in the Z direction.
  • the carriage arrangement 3 has a stationary running rail 6, which is arranged in the X-direction, and a carriage 7, which is mounted in the same in the X-direction. Bearing means, which serve to support the carriage 7 in the running rail 6, are not illustrated.
  • the running rail 6 has a projection 8, with which a rod 9 is fixedly connected, whose longitudinal axis is arranged in the X-axis direction.
  • the rod 9 extends substantially over the entire length of the running rail 6.
  • the rod 9 is a stator with position measuring system in the X-axis direction. The measurement of the displacement measuring system is electromagnetically. With the carriage 7 an electromagnetically effective positioning brake 10 is connected.
  • the rod 9 or the stator passes through a through opening of the positioning brake 10 which extends in the X direction.
  • a running rail 11 extending in the Z direction is fixedly connected to the carriage 7 of the carriage arrangement 3. Based on the horizontal orientation of the X-axis, this running rail 11 extends from the carriage 7, starting vertically upwards.
  • the running rail 11 receives a movable carriage 12 in the Z direction. Bearing means, which serve to support the carriage 12 in the running rail 11, are not illustrated. In the region of an upper end of the running rail 11, this receives a weight compensator 13, which has a pull cable 14 which engages the carriage 12.
  • a boom 15 is fixedly connected, which extends in the direction of the Y-axis.
  • the boom 15 takes in the region of the carriage 12 facing away from the carriage assembly 4.
  • a carriage 16 of the carriage assembly 4 is fixedly connected to the free end of the boom 15 and it is guided in this carriage 16, the running rail 17 of the carriage assembly 4 in the direction of the Y-axis.
  • Bearing means which serve to store the running rail 17 in the carriage 16 are not illustrated.
  • In the region of one of the running rail 11 of the carriage assembly 5 facing away from the running rail 17 has a projection 18, with which a rod 19 is fixedly connected, whose longitudinal axis is arranged in the Y-axis direction.
  • the rod 19 extends substantially over the entire length of the track rail 17.
  • the rod 19 is a stator with path measuring system in the Y-axis direction.
  • the measurement by the displacement measuring system is electromagnetically.
  • an electromagnetically effective positioning brake 20 is connected.
  • the rod 19 or the stator passes through a through opening of the positioning brake 20 extending in the Y direction.
  • the displacement of the carriage 12 with respect to the running rail 11 is limited in the carriage assembly 5 below by the carriage 7 and in the region of weight compensation 13 by a stop 21. Accordingly, in the slide assembly 4, the displacement of the carriage 16 with respect to the running rail 17 in the region of one end by the projection 18 and in the region of this projection 18 opposite end by a stop 22 limited. Accordingly, in the carriage assembly 3, the displacement of the carriage 7 with respect to the running rail 6 through the projection 8 and in the region of the projection 8 facing away from the end of the running rail 6 by a due to the illustration in accordance with Fig. 1 limited view not visible.
  • the projection 18 forms part of a receiving plate 23 connected to the running rail 17. With this not only the rod 19 is connected, but it serves the receiving plate 23 and the storage of a receptacle 24 for the tool 2. In this receptacle 24, the tool 2 is fixed stored.
  • the weight compensator 13 is designed such that via the pull cable 14, a force directed upward in the Z direction is exerted on the carriage 12, which substantially corresponds to the weight force of the components which are mounted in the carriage 12, thus the weight of the boom 15 , Slide assembly 4, rod 19, positioning brake 20, receiving plate 23, receptacle 24 and Tool 2. Accordingly, the person working on the tool 2, this move largely without force in the Z direction up and down.
  • the tool 2 can be moved manually also in the X and Y directions.
  • the movement of the tool 2 in the X and Y directions is continuously detected electromagnetically by means of the path measuring system assigned to the respective XY axis direction.
  • a detection and evaluation unit it is thus always known in which X and Y positions the tool 2 is located.
  • Fig. 1 are illustrated to the respective rails 6, 11 and 17 double arrows representing the degree of freedom of movement, thus relative to the running rail 6 in the X direction, relative to the running rail 11 in the Z direction and relative to the running rail 17 in the Y direction.
  • respective double arrow 25 and to the running rail 17 respective double arrow 26 are also three transverse to the arrow of the double arrow extending transverse lines indicated, concretely outer lines 27 and a symmetrically arranged to this middle bar 28.
  • This real non-existent arrows / dashes serve to illustrate the function of the described carriage system 1 with respect to the movement of the carriage assemblies 3 and 4 in the X and Y axis direction.
  • This braking movement by means of the positioning brake 10 or 20, thus by means of a non-manual actuating means is such that the braking force for braking the tool 2 with the reduction of the distance of the tool 2 to this position, which corresponds to the middle bar 28, increases.
  • the interaction of the two carriage assemblies 3 and 4 is thus a unique positioning of the tool 2 in X- and Y-axis direction ensured by inevitably taking the positioning of the middle line 28 according to the two carriage assemblies 3 and 4.
  • the tool 2 by means of the carriage assembly 5 in the Z direction, in the present case the tool 2 down to the working position, in particular to move screwing.
  • the tool 2 is moved up again from this working position in the Z direction and can be moved into the next intermediate position related to the XY axis direction, by approaching new approach positions according to the outer lines 27 and then approaching the position of the middle bar 28 by means of the non-manual actuating means.
  • the inventive method for starting at least one predetermined working position of the manually movable tool 2 is thus represented.
  • the tool 2 is in a plane from a starting position, for example, in Fig. 1 shown position, by means of guide means, in this case the slide assemblies 3 and 4 guided in an intermediate position according to the coordinates 28 of the two carriage assemblies 3 and 4 method, which is aligned with the working position of the tool 2.
  • the tool 2 is guided by means of further guide means - in this case the carriage assembly 5 - guided in the working position.
  • the position of the tool 2 in the process of the starting position is measured in the intermediate position, in this case by means of the rod 9 of the stator with position measuring system and upon detection of a predetermined distance of the tool 2 in the axial direction of the plane, in this case the axial directions X and Y, to the intermediate position 28 non-manual actuating means, in this case the positioning brakes 10 and 20th be activated and the adjusting means move the tool in the intermediate position according to the positions 28.
  • This predetermined distance corresponds to the distance of the middle bar 28 from the outer bar 27. If the position measuring system of the respective axis X or Y thus detects the position 27, the positioning brakes 10 and 20 are activated and brake the manually guided tool 24 in the intermediate position according to each position 28 from.
  • FIG Fig. 2 For three working positions to be approached one after the other, specifically three intermediate positions to be approached one after the other in relation to the X and Y axes, the procedure in FIG Fig. 2 illustrates:
  • These values thus correspond to the two middle lines 28 according to FIG Fig. 1 .
  • the respective positioning brake 10 and 20 is activated.
  • Fig. 2 Illustrated in the Fig. 2 a second screwing position.
  • the tool 2 is exclusively moved manually in the direction of the X-axis and the Y-axis before it enters the next area, which is virtually a capture area, in which again the positioning brakes 10 and 20 are activated to move the tool to the second screwing position.
  • the Fig. 2 illustrated third screwing position In order to avoid repetition, reference is made in particular to the detailed description of the starting of the first screwing position and the explanations in Fig. 2 directed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Anfahren mindestens einer vorgegebenen Arbeitsstellung eines manuell verfahrbaren Werkzeugs.The invention relates to a method for starting at least one predetermined working position of a manually movable tool.

Ein derartiges Werkzeug, bei dem es sich beispielsweise um ein Schraubwerkzeug mit automatischer Schraubenzuführung handelt, wird beispielsweise in einem Stativ gelagert. Hierbei wird das Werkzeug in einer Ebene, aus einer Ausgangsstellung, mittels Führungsmitteln geführt. Es kann so manuell aus der Ausgangsstellung in eine Zwischenstellung verfahren werden, in der es im Wesentlichen mit einer Schraubposition einer zu verschraubenden Teileanordnung angeordnet ist. Aus dieser Zwischenposition wird das Werkzeug manuell in Richtung der Schraubposition zugestellt, wobei durchaus Gewichtsausgleichmittel Verwendung finden, sodass der Bediener des Werkzeugs dieses, ohne wesentliche Kräfte aufbringen zu müssen, auch von der Zwischenstellung in die Arbeitsstellung und aus dieser heraus bewegen kann.Such a tool, which is for example a screwing tool with automatic screw feed, is for example stored in a stand. Here, the tool is guided in a plane, from a starting position, by means of guide means. It can thus be moved manually from the starting position to an intermediate position, in which it is arranged substantially with a screwing position of a part assembly to be screwed. From this intermediate position, the tool is manually delivered in the direction of the screwing position, using counterbalance means are used, so that the operator of the tool this, without having to apply substantial forces, can also move from the intermediate position to the working position and out of it.

Nachteilig ist bei derartigen, manuell verfahrbaren Werkzeugen, dass, da die vorgegebene Arbeitsstellung ausschließlich manuell angefahren wird, diese Arbeitsstellung nicht immer eindeutig erreicht wird, dies vielmehr von der Fähigkeit des Arbeitenden abhängt. Hinzu kommt, dass Schraubpositionen in aller Regel nur über einen Zugang erreicht werden können, der nur unwesentlich größer ist als die Abmessung der Schraube senkrecht zur Zuführrichtung. Bei unpräzisem Ansetzen des Werkzeugs ist die Folge eine Beschädigung der zu verschraubenden Teile aufgrund Einwirkung des Werkzeugs im zu verschraubenden Bereich.A disadvantage of such, manually movable tools that, since the default working position is approached only manually, this working position is not always clearly achieved, but rather depends on the ability of the worker. In addition, screwing can usually only be achieved via an access that is only slightly larger than the dimension of the screw perpendicular to the feed direction. In case of imprecise application of the tool, the result is damage to the parts to be screwed due to the action of the tool in the area to be screwed.

Es sind zum Anfahren einer Arbeitsstellung eines manuell verfahrbaren Werkzeuges, insbesondere Schraubwerkzeuges Ständer bekannt, die die Funktion haben, das Schraubwerkzeug gerade in vertikaler Richtung von Hand führen zu können und gleichzeitig das bei Kopfauflage der Schraube entstehende Rückdrehmoment aufzunehmen. Die Ständer sind mit einem Wegmesssystem oder mehreren Wegmesssystemen ausgerüstet, um zusätzlich die Schraubposition zu erfassen und bei richtiger Position dem Schraubwerkzeug ein Startsignal zu erteilen. Das Verschrauben der richtigen Schraubreihenfolge wird hierbei kontrolliert bzw. ist nur in richtiger Reihenfolge möglich. Bei derartigen Ständern muss der Werker das Schraubwerkzeug sehr genau positionieren. Die Ständer haben immer zwei überwachte Linearbewegungen, in X- und Y-Koordinatenrichtung oder eine Linearbewegung und eine Rotationsbewegung. Um die Bauteile bei falscher Positionierung nicht zu beschädigen, wird, zusätzlich zum Ständer, eine Maske über dem Bauteil positioniert, bei der nur die Schraubpositionen frei sind. Diese Maske ist aufwendig zu erstellen und kostet zusätzlich Taktzeit beim Verschrauben. Weiterer Nachteil der Maske ist, dass sie nur für ein Bauteil brauchbar ist und bei Teilwechsel oder Änderung neu erstellt werden muss. Bei Bauteilen mit Varianten sind sogar mehrere Masken gleichzeitig vonnöten. Dies zieht eine sehr umständliche Handhabung nach sich.There are known for starting a working position of a manually movable tool, in particular Schraubwerkzeuges stand, which have the function to be able to perform the screwing straight in the vertical direction by hand and at the same time record the resulting in headrest screw back torque. The stands are equipped with a position measuring system or several position measuring systems in order to additionally detect the screwing position and to give the screwing tool a start signal when the position is correct. The screwing of the correct screwing sequence is controlled here or is only in the correct order possible. In such stands, the worker must position the screw very accurately. The stands always have two monitored linear movements, in the X and Y coordinate directions or a linear movement and a rotational movement. In order not to damage the components in the case of incorrect positioning, a mask is positioned above the component, in addition to the stand, in which only the screw positions are free. This mask is complex to create and also costs cycle time when screwing. Another disadvantage of the mask is that it is only useful for one component and must be recreated when changing part or change. For components with variants even multiple masks are needed at the same time. This entails a very complicated handling.

Eine änhliche Vorrichtung ist auch aus DE 196 09 511 A1 bekannt.A similar device is also off DE 196 09 511 A1 known.

Um diese Nachteile auszuschließen, sind Werkzeugautomaten bekannt, bei denen vorgegebene Arbeitsstellungen eines Werkzeugs ausschließlich automatisch und programmiert angefahren werden. Allerdings ist diese Verfahrensweise mit hohen Anlagekosten verbunden.To eliminate these disadvantages, machine tools are known in which predetermined working positions of a tool are approached automatically and programmed exclusively. However, this procedure is associated with high investment costs.

Aufgabe der vorliegenden Erfindung ist es, ein Arbeitsverfahren für ein grundsätzlich manuell verfahrbares Werkzeug anzugeben, das ein exaktes Anfahren mindestens einer vorgegebenen Arbeitsstellung des Werkzeugs gewährleistet.Object of the present invention is to provide a working method for a basically manually movable tool that ensures a precise approach at least one predetermined working position of the tool.

Gelöst wird die Aufgabe durch ein Verfahren, das die Merkmale des Patentanspruchs 1 aufweist.The object is achieved by a method having the features of claim 1.

Nach dem erfindungsgemäßen Verfahren ist somit vorgesehen, dass das Werkzeug in einer Ebene aus einer Ausgangsstellung, mittels Führungsmitteln geführt, in eine Zwischenstellung verfahren wird, wobei diese Zwischenstellung mit der Arbeitsstellung fluchtet. Aus der Zwischenstellung wird, mittels weitere Führungsmittel geführt, das Werkzeug in die Arbeitsstellung zugestellt. Hierbei wird die Position des Werkzeugs beim Verfahren von der Ausgangsstellung in die Zwischenstellung gemessen. Beim Erfassen eines vorgegebenen Abstands des Werkzeugs in Achsrichtungen der Ebene zur Zwischenstellung wird ein nichtmanuelles Stellglied aktiviert und es bewegt dieses Stellmittel das Werkzeug in die Zwischenstellung.According to the inventive method is thus provided that the tool is moved in a plane from an initial position, guided by means of guide means in an intermediate position, said intermediate position is aligned with the working position. From the intermediate position, guided by means of further guide means, the tool is delivered to the working position. In this case, the position of the tool is measured during the process from the starting position to the intermediate position. When detecting a predetermined distance the tool in the axial direction of the plane to the intermediate position, a non-manual actuator is activated and it moves this adjusting the tool in the intermediate position.

Vorzugsweise ermittelt ein Wegmesssystem die Position des Werkzeugs zwischen der Ausgangsstellung und der Zwischenstellung. Über das Wegmesssystem ist somit immer die Position des Werkzeugs beim Verfahren von der Ausgangsstellung in die Zwischenstellung bekannt. Stellt das Wegmesssystem fest, dass das Werkzeug, bezogen auf die dem Werkzeug zugeordnete Achsrichtung der Ebene, sich der auf dieser Achsrichtung bezogenen Position der Zwischenstellung um ein definiertes Maß nähert, wird das Stellmittel aktiviert, dem die Funktion zukommt, das Werkzeug in die Zwischenstellung, bezogen auf die zugeordnete Achsrichtung der Ebene, zu bewegen.Preferably, a displacement measuring system determines the position of the tool between the starting position and the intermediate position. About the displacement measuring system is thus always known the position of the tool in the process from the starting position to the intermediate position. If the displacement measuring system determines that the tool, based on the axial direction of the plane associated with the tool, approaches the intermediate position in this axial direction by a defined amount, the actuating means, which has the function, activates the tool in the intermediate position, relative to the assigned axial direction of the plane to move.

Somit erfolgt manuell quasi ein ungefähres Anfahren der Zwischenstellung des Werkzeugs, während das exakte Anfahren der Zwischenstellung, nach dem Erreichen der ungefähren Anfahrstellung mittels der Stellmittel bewirkt wird. Aufgrund der Stellmittel befindet sich das Werkzeug in der exakten Zwischenstellung und es ist dann nur erforderlich, das Werkzeug manuell in die Arbeitsstellung zuzustellen. Aufgrund dieser exakten Positionierung des Werkzeugs in der Zwischenstellung kann beim Überführen des Werkzeugs von der Zwischenstellung in die Arbeitsstellung, wobei diese Bewegung mittels der weiteren Führungsmittel erfolgt, keine Beschädigung von Werkstücken bzw. Bauteilen mittels des Werkzeugs erfolgen. Auch benötigt das Werkzeug beim Zustellen seitlich nur wenig Platz, weil die Zustellbewegung seitlich toleranzfrei erfolgt.Thus, an approximate starting of the intermediate position of the tool takes place manually, while the exact starting of the intermediate position, after reaching the approximate starting position, is effected by means of the adjusting means. Due to the adjusting means, the tool is in the exact intermediate position and it is then only necessary to deliver the tool manually in the working position. Due to this exact positioning of the tool in the intermediate position, no damage of workpieces or components by means of the tool can be carried out when transferring the tool from the intermediate position to the working position, wherein this movement is carried out by means of the further guide means. Also, the tool requires little space laterally when delivering, because the feed movement takes place laterally tolerance-free.

Besonders vorteilhaft ist es, wenn die Stellmittel beim Erfassen des vorgegebenen Abstands zur Zwischenstellung aktiviert werden und bei Erreichen der Arbeitsstellung deaktiviert werden.It when the adjusting means are activated when detecting the predetermined distance to the intermediate position and deactivated when reaching the working position is particularly advantageous.

Insbesondere ist bei dem erfindungsgemäßen Verfahren die Ebene eine Ebene, die durch X-Y-Koordinaten eines räumlichen Koordinatensystems aufgespannt ist und es erfolgt die Zustellbewegung von der Zwischenstellung in die Arbeitsstellung in Z-Richtung des Koordinatensystems.In particular, in the method according to the invention, the plane is a plane which is spanned by X-Y coordinates of a spatial coordinate system and the feed movement takes place from the intermediate position into the working position in the Z direction of the coordinate system.

Die Bewegung des Werkzeugs in der genannten Ebene kann auf unterschiedliche Art und Weise erfolgen. Beispielsweise kann das Werkzeug in der Ebene mittels erster Führungsmittel in einer geraden Achsrichtung und mittels zweiter Führungsmittel in einer senkrecht zu dieser Achsrichtung angeordneten geraden Achsrichtung geführt werden. In diesem Fall wird das Werkzeug insbesondere in Richtung der X-Y-Koordinaten des räumlichen Koordinatensystems bewegt. Andererseits ist es durchaus möglich, das Werkzeug in der Ebene mittels erster Führungsmittel in einer geraden Achsrichtung und mittels dritter Führungsmittel, die um eine senkrecht zur Ebene angeordneten Achse schwenkbar sind, in einer kreisbogenförmigen Achsrichtung zu führen. Dies bedeutet, dass das Werkzeug beispielsweise in X-Koordinatenrichtung oder Y-Koordinatenrichtung bewegt wird und diese X- bzw. Y-Koordinate aufgrund der dritten Führungsmittel geschwenkt wird. Die Bewegung des Werkzeugs von der Ausgangsstellung in die Zwischenstellung erfolgt somit durch eine überlagerte Bewegung aus einer geraden Bewegung und einer kreisförmigen Bewegung. Eine Anordnung zur Ausführung dieses Verfahrens benötigt weniger Platz als eine Führung des Werkzeugs in zwei geraden Achsrichtungen, die senkrecht zueinander angeordnet sind.The movement of the tool in said plane can be done in different ways. For example, the tool can be guided in the plane by means of first guide means in a straight axial direction and by means of second guide means in a direction perpendicular to this axial direction arranged straight axial direction. In this case, the tool is moved in particular in the direction of the X-Y coordinates of the spatial coordinate system. On the other hand, it is quite possible to guide the tool in the plane by means of first guide means in a straight axial direction and by means of third guide means, which are pivotable about an axis arranged perpendicular to the plane, in an arcuate axial direction. This means that the tool is moved, for example, in the X coordinate direction or the Y coordinate direction, and this X or Y coordinate is pivoted due to the third guide means. The movement of the tool from the starting position to the intermediate position is thus effected by a superimposed movement of a straight movement and a circular movement. An arrangement for carrying out this method requires less space than a guide of the tool in two straight axial directions, which are arranged perpendicular to each other.

Das X-Y-Z-Koordinatensystem kann im Raum beliebig angeordnet sein. Insbesondere sind in üblicher Art und Weise X-Y-Koordinaten in einer horizontalen Ebene angeordnet, so dass die Zustellbewegung von der Zwischenstellung in die Arbeitsstellung in Z-Richtung vertikal erfolgt, insbesondere nach unten gerichtet erfolgt. Es ist genauso denkbar, die X-Y-Ebene vertikal anzuordnen. In diesem Fall erfolgt die Zustellbewegung von der Zwischenstellung in die Arbeitsstellung in der Horizontalen.The XYZ coordinate system can be arranged arbitrarily in space. In particular, XY coordinates are arranged in a conventional manner in a horizontal plane, so that the feed movement from the intermediate position into the working position in the Z direction takes place vertically, in particular directed downward. It is also conceivable to arrange the XY plane vertically. In this case, the feed movement takes place from the intermediate position to the working position in the horizontal.

Die Messung der Position des Werkzeugs beim Verfahren von Ausgangsstellung in die Zwischenstellung erfolgt vorzugsweise elektrisch. Insbesondere geschieht diese Messung elektromagnetisch. So kann beispielsweise ein Stator mit einem Wegmesssystem in Richtung der jeweiligen Verfahrachse bzw. ein Drehwinkelmesssystem bei Schwenkung um die Achse vorgesehen sein.The measurement of the position of the tool in the process of starting position in the intermediate position is preferably carried out electrically. In particular, this measurement is electromagnetic. Thus, for example, a stator can be provided with a displacement measuring system in the direction of the respective travel axis or a rotational angle measuring system when pivoted about the axis.

Die Bewegung mittels des nichtmanuellen Stellmittels erfolgt vorzugsweise elektrisch. Insbesondere erfolgt diese Bewegung elektromagnetisch.The movement by means of the non-manual actuating means is preferably carried out electrically. In particular, this movement is electromagnetic.

Es wird bei dem Verfahren als besonders vorteilhaft angesehen, wenn die Bewegung mittels der nichtmanuellen Stellmittel in die Zwischenstellung durch Abbremsen des Werkzeugs erfolgt. Insbesondere nimmt die Abbremskraft zum Abbremsen des Werkzeugs mit der Verringerung des Abstands des Werkzeugs in den Achsrichtungen der Ebene zur Zwischenstellung zu. In der Konsequenz nimmt beim manuellen Bewegen des Werkzeugs in der Ebene mit zunehmender Annäherung des Werkzeugs in der jeweiligen Achsrichtung der Ebene bezüglich der Zwischenstellung die Bremskraft zu, sodass aufgrund der nichtmanuellen Stellmittel in einem Fangbereich quasi ein Fangeffekt stattfindet, der bewirkt, dass das Werkzeug in die Zwischenstellung eingefangen wird. Dies ist insbesondere unter dem Aspekt zu sehen, dass der Bediener des Werkzeugs nicht zunächst eine Achsrichtung abfährt und dann die nächste Achsrichtung abfährt, sondern eine zielgerichtete Bewegung auf die Zwischenstellung hin ausführt.It is considered to be particularly advantageous in the method when the movement takes place by means of the non-manual actuating means in the intermediate position by braking the tool. In particular, the deceleration force for decelerating the tool increases with the reduction of the distance of the tool in the axial directions of the plane to the intermediate position. As a consequence, during manual movement of the tool in the plane with increasing approach of the tool in the respective axial direction of the plane with respect to the intermediate position increases the braking force, so that due to the non-manual actuating means in a catching area quasi a catching effect takes place, which causes the tool in the intermediate position is captured. This is to be seen in particular from the aspect that the operator of the tool does not first depart one axial direction and then moves off the next axial direction, but executes a targeted movement towards the intermediate position.

Dieses Abbremsen des Werkzeugs ist dann von besonderem Vorteil, wenn der Bediener das Werkzeug derart der Zwischenstellung nähert, dass die Zwischenstellung überfahren würde. In diesem Fall bewirkt die Bremskraft quasi das Einfangen des Werkzeugs in die Zwischenstellung. Für den Fall, dass der Bediener, wobei dies eher als unüblich angesehen wird, sich der Zwischenstellung nicht ganz nähert aber sich das Werkzeug im Bereich des vorgegebenen Abstands zur Zwischenstellung befindet, bewegen die Stellmittel das Werkzeug über eine ziehende Bewegung in die Zwischenstellung, womit gleichfalls das Werkzeug in die Zwischenstellung eingefangen wird. Diese beschriebenen Einfangbewegungen sind somit im weitesten Sinne mit einem Kugelrasteffekt zu vergleichen, dem Einrasten einer Kugel im Bereich einer Kreisöffnung, die einen geringeren Durchmesser als die Kugel aufweist, wobei die eine Kugel in Richtung der X-Koordinate und die andere Kugel in Richtung der Y-Koordinate einfängt. Während sich bei einer Kugelraste die Einfangbewegung durch die Größe der Kugel, die Größe der Öffnung für die Kugel und eine Federvorspannung für die Kugel varrieren lässt, lässt sich dieser Effekt bei dem nicht manuellen Stellmittel elektrisch bzw. elektronisch darstellen. Es ist nur eine diesbezügliche Programmierung des nicht manuellen Stellmittels erforderlich.This braking of the tool is of particular advantage when the operator approaches the tool in such a way the intermediate position that the intermediate position would be run over. In this case, the braking force virtually causes the tool to be caught in the intermediate position. In the event that the operator, while this is considered rather unusual, does not quite approach the intermediate position but the tool is within the range of the predetermined distance to the intermediate position, the adjusting means move the tool via a pulling movement into the intermediate position, which also the tool is captured in the intermediate position. These described trapping movements are thus in the broadest sense to be compared with a Kugelrasteffekt, the engagement of a ball in the region of a circular opening having a smaller diameter than the ball, wherein the one ball in the direction of the X-coordinate and the other ball in the direction of Y. Coordinate field. While in a ball catch, the trapping movement can be varied by the size of the ball, the size of the opening for the ball and a spring preload for the ball, this effect can be electrically or electronically represented in the non-manual actuating means. Only programming of the non-manual actuator is required.

Von Vorteil ist es, wenn das Zustellen des Werkzeugs von der Zwischenstellung in die Arbeitsstellung und/oder die Rückstellung des Werkzeugs von der Arbeitsstellung in die Zwischenstellung bei Gewichtsausgleich der in die Zustellrichtung bzw. entgegengesetzt zu dieser zu bewegenden Komponenten erfolgt. Bei diesen Komponenten handelt es sich um das Werkzeug und die diese tragenden Bauteile, die in Zustellrichtung bzw. entgegengesetzt zu bewegen sind.It is advantageous if the feeding of the tool from the intermediate position into the working position and / or the return of the tool from the working position to the intermediate position with weight compensation of the in the feed direction or opposite to this to be moved components. These components are the tool and the components that carry them, which are to be moved in the feed direction or in the opposite direction.

Das erfindungsgemäße Verfahren findet insbesondere bei einem Werkzeug Verwendung, das als Schraubwerkzeug ausgebildet ist. Grundsätzlich ist das Verfahren auch für jedes andere beliebige manuell verfahrbare Werkzeug anwendbar.The inventive method finds particular use in a tool that is designed as a screwing tool. In principle, the method is also applicable to any other manually movable tool.

Gemäß einer bevorzugten Weiterbildung des Verfahrens ist vorgesehen, dass mehrere vorgegebene Arbeitsstellungen nacheinander angefahren werden, wobei nach dem Erreichen einer Arbeitsstellung das Werkzeug in die Zwischenstellung überführt wird und anschließend das Werkzeug in die nächste Zwischenstellung und von dort in die nächste Arbeitsstellung verfahren wird. Hat das Werkzeug, ausgehend von der Arbeitsstellung, die Zwischenstellung erreicht, stellt diese im Sinne des erfindungsgemäßen Verfahrens für das Anfahren der nächsten Arbeitsstellung eine Ausgangsstellung dar, sodass von dieser Zwischenstellung/Ausgangsstellung die nächste Zwischenstellung angefahren wird und von dort die nächste Arbeitsstellung.According to a preferred embodiment of the method is provided that several predetermined working positions are approached in succession, wherein after reaching a working position, the tool is transferred to the intermediate position and then the tool is moved to the next intermediate position and from there to the next working position. Has the tool, starting from the working position, the intermediate position achieved, this represents a starting position in the sense of the method for starting the next working position, so that the next intermediate position is approached by this intermediate position / starting position and from there the next working position.

Weitere Merkmale der Erfindung sind in den Unteransprüchen, der Beschreibung der Zeichnung der Figuren und den Figuren selbst dargestellt, wobei bemerkt wird, dass alle Einzelmerkmale und alle Kombinationen von Einzelmerkmalen erfindungswesentlich sind.Further features of the invention are set forth in the dependent claims, the description of the drawing of the figures and the figures themselves, wherein it is noted that all individual features and all combinations of individual features are essential to the invention.

In den Figuren ist die Erfindung anhand eines bevorzugten Beispiels dargestellt, ohne hierauf beschränkt zu sein. Es zeigt:

Fig. 1
in einer schematischen Darstellung eine Vorrichtung zur Durchführung des erfindungsgemäßen Verfahrens,
Fig. 2
eine Diagrammdarstellung einschließlich Erläuterungen, betreffend Verfahrensschritte zum Anfahren mehrerer vorgegebener Arbeitsstellungen eines manuell verfahrbaren Werkzeugs in einer Ebene, bezogen auf eine X- und Y-Achse eines Koordinatensystems.
In the figures, the invention is illustrated by way of a preferred example, without being limited thereto. It shows:
Fig. 1
in a schematic representation of an apparatus for carrying out the method according to the invention,
Fig. 2
a diagram representation including explanations, concerning method steps for approaching several predetermined working positions of a manually movable tool in a plane, relative to an X and Y axis of a coordinate system.

In Fig. 1 ist ein Koordinatensystem im dreidimensionalen Raum durch die jeweils senkrecht zueinanderstehenden Achsen X, Y und Z veranschaulicht.In Fig. 1 is a coordinate system in three-dimensional space by the respective perpendicular axes X, Y and Z illustrated.

Ein Schlittensystem 1 dient dem geführten Verfahren eines Werkzeugs 2, bei dem es sich beispielsweise um ein Schraubwerkzeug handelt. Dieses Werkzeug 2 ist beispielsweise pneumatisch antreibbar.A carriage system 1 is used for the guided procedure of a tool 2, which is, for example, a screwing tool. This tool 2 is pneumatically driven, for example.

Das Schlittensystem 1 besteht aus drei Schlittenanordnungen 3, 4 und 5. Die Schlittenanordnung 3 ist hierbei in X-Richtung, die Schlittenanordnung 4 in Y-Richtung und die Schlittenanordnung 5 in Z-Richtung orientiert.The carriage system 1 consists of three carriage assemblies 3, 4 and 5. The carriage assembly 3 is oriented here in the X direction, the carriage assembly 4 in the Y direction and the carriage assembly 5 in the Z direction.

Im Einzelnen weist die Schlittenanordnung 3 eine in X-Richtung angeordnete, ortsfeste Laufschiene 6 und einen in dieser gelagerten, in X-Richtung verfahrbaren Schlitten 7 auf. Lagermittel, die dem Lagern des Schlittens 7 in der Laufschiene 6 dienen, sind nicht veranschaulicht. Im Bereich eines Endes weist die Laufschiene 6 einen Vorsprung 8 auf, mit dem eine Stange 9 fest verbunden ist, deren Längsachse in X-Achsrichtung angeordnet ist. Die Stange 9 erstreckt sich im Wesentlichen über die gesamte Länge der Laufschiene 6. Bei der Stange 9 handelt es sich um einen Stator mit Wegmesssystem in X-Achsrichtung. Die Messung des Wegmesssystems erfolgt elektromagnetisch. Mit dem Schlitten 7 ist eine elektromagnetisch wirksame Positionierbremse 10 verbunden. Die Stange 9 bzw. der Stator durchsetzt eine sich in X-Richtung erstreckende Durchgangsöffnung der Positionierbremse 10.In detail, the carriage arrangement 3 has a stationary running rail 6, which is arranged in the X-direction, and a carriage 7, which is mounted in the same in the X-direction. Bearing means, which serve to support the carriage 7 in the running rail 6, are not illustrated. In the region of one end, the running rail 6 has a projection 8, with which a rod 9 is fixedly connected, whose longitudinal axis is arranged in the X-axis direction. The rod 9 extends substantially over the entire length of the running rail 6. The rod 9 is a stator with position measuring system in the X-axis direction. The measurement of the displacement measuring system is electromagnetically. With the carriage 7 an electromagnetically effective positioning brake 10 is connected. The rod 9 or the stator passes through a through opening of the positioning brake 10 which extends in the X direction.

Betreffend die in Z-Richtung verlaufende Schlittenanordnung 5 ist mit dem Schlitten 7 der Schlittenanordnung 3 eine sich in Z-Richtung erstreckende Laufschiene 11 fest verbunden. Bezogen auf die horizontale Orientierung der X-Achse verläuft diese Laufschiene 11 vom Schlitten 7 ausgehend vertikal nach oben. Die Laufschiene 11 nimmt einen in Z-Richtung verfahrbaren Schlitten 12 auf. Lagermittel, die dem Lagern des Schlittens 12 in der Laufschiene 11 dienen, sind nicht veranschaulicht. Im Bereich eines oberen Endes der Laufschiene 11 nimmt diese einen Gewichtsausgleicher 13 auf, der ein Zugseil 14 aufweist, das am Schlitten 12 angreift.With regard to the carriage arrangement 5 extending in the Z direction, a running rail 11 extending in the Z direction is fixedly connected to the carriage 7 of the carriage arrangement 3. Based on the horizontal orientation of the X-axis, this running rail 11 extends from the carriage 7, starting vertically upwards. The running rail 11 receives a movable carriage 12 in the Z direction. Bearing means, which serve to support the carriage 12 in the running rail 11, are not illustrated. In the region of an upper end of the running rail 11, this receives a weight compensator 13, which has a pull cable 14 which engages the carriage 12.

Mit dem Schlitten 12 ist eine Ausleger 15 fest verbunden, der sich in Richtung der Y-Achse erstreckt. Der Ausleger 15 nimmt im Bereich seines dem Schlitten 12 abgewandten Endes die Schlittenanordnung 4 auf. Hierbei ist ein Schlitten 16 der Schlittenanordnung 4 fest mit dem freien Ende des Auslegers 15 verbunden und es ist in diesem Schlitten 16 die Laufschiene 17 der Schlittenanordnung 4 in Richtung der Y-Achse geführt. Lagermittel, die dem Lagern der Laufschiene 17 im Schlitten 16 dienen, sind nicht veranschaulicht. Im Bereich eines der Laufschiene 11 der Schlittenanordnung 5 abgewandten Endes weist die Laufschiene 17 einen Vorsprung 18 auf, mit dem eine Stange 19 fest verbunden ist, deren Längsachse in Y-Achsrichtung angeordnet ist. Die Stange 19 erstreckt sich im Wesentlichen über die gesamte Länge der Laufschiene 17. Bei der Stange 19 handelt es sich um einen Stator mit Wegmesssystem in Y-Achsrichtung. Die Messung durch das Wegmesssystem erfolgt elektromagnetisch. Mit dem Schlitten 16 ist eine elektromagnetisch wirksame Positionierbremse 20 verbunden. Die Stange 19 bzw. der Stator durchsetzt eine sich in Y-Richtung erstreckende Durchgangsöffnung der Positionierbremse 20.With the carriage 12, a boom 15 is fixedly connected, which extends in the direction of the Y-axis. The boom 15 takes in the region of the carriage 12 facing away from the carriage assembly 4. Here, a carriage 16 of the carriage assembly 4 is fixedly connected to the free end of the boom 15 and it is guided in this carriage 16, the running rail 17 of the carriage assembly 4 in the direction of the Y-axis. Bearing means which serve to store the running rail 17 in the carriage 16 are not illustrated. In the region of one of the running rail 11 of the carriage assembly 5 facing away from the running rail 17 has a projection 18, with which a rod 19 is fixedly connected, whose longitudinal axis is arranged in the Y-axis direction. The rod 19 extends substantially over the entire length of the track rail 17. The rod 19 is a stator with path measuring system in the Y-axis direction. The measurement by the displacement measuring system is electromagnetically. With the carriage 16 an electromagnetically effective positioning brake 20 is connected. The rod 19 or the stator passes through a through opening of the positioning brake 20 extending in the Y direction.

Der Verschiebeweg des Schlittens 12 bezüglich der Laufschiene 11 ist bei der Schlittenanordnung 5 unten durch den Schlitten 7 und im Bereich des Gewichtsausgleichs 13 durch einen Anschlag 21 begrenzt. Entsprechend ist bei der Schlittenanordnung 4 der Verschiebeweg des Schlittens 16 bezüglich der Laufschiene 17 im Bereich eines Endes durch den Vorsprung 18 und im Bereich des diesem Vorsprung 18 abgewandten Endes durch einen Anschlag 22 begrenzt. Entsprechend ist bei der Schlittenanordnung 3 der Verschiebeweg des Schlittens 7 bezüglich der Laufschiene 6 durch den Vorsprung 8 und im Bereich des dem Vorsprung 8 abgewandten Endes der Laufschiene 6 durch einen aufgrund der Darstellung gemäß der Fig. 1 nicht einsehbaren Anschlag begrenzt.The displacement of the carriage 12 with respect to the running rail 11 is limited in the carriage assembly 5 below by the carriage 7 and in the region of weight compensation 13 by a stop 21. Accordingly, in the slide assembly 4, the displacement of the carriage 16 with respect to the running rail 17 in the region of one end by the projection 18 and in the region of this projection 18 opposite end by a stop 22 limited. Accordingly, in the carriage assembly 3, the displacement of the carriage 7 with respect to the running rail 6 through the projection 8 and in the region of the projection 8 facing away from the end of the running rail 6 by a due to the illustration in accordance with Fig. 1 limited view not visible.

Der Vorsprung 18 bildet Bestandteil einer mit der Laufschiene 17 verbundenen Aufnahmeplatte 23. Mit dieser ist nicht nur die Stange 19 verbunden, sondern es dient die Aufnahmeplatte 23 auch der Lagerung einer Aufnahme 24 für das Werkzeug 2. In dieser Aufnahme 24 ist das Werkzeug 2 fest gelagert.The projection 18 forms part of a receiving plate 23 connected to the running rail 17. With this not only the rod 19 is connected, but it serves the receiving plate 23 and the storage of a receptacle 24 for the tool 2. In this receptacle 24, the tool 2 is fixed stored.

Der Gewichtsausgleicher 13 ist derart ausgelegt, dass über das Zugseil 14 eine in Z-Richtung nach oben gerichtete Kraft auf den Schlitten 12 ausgeübt wird, die im Wesentlichen der Gewichtskraft der Bauteile entspricht, die im Schlitten 12 gelagert sind, somit der Gewichtskraft von Ausleger 15, Schlittenanordnung 4, Stange 19, Positionierbremse 20, Aufnahmeplatte 23, Aufnahme 24 und Werkzeug 2. Demzufolge kann diejenige Person, die am Werkzeug 2 arbeitet, dieses weitgehend kräftefrei in Z-Richtung nach oben und unten bewegen.The weight compensator 13 is designed such that via the pull cable 14, a force directed upward in the Z direction is exerted on the carriage 12, which substantially corresponds to the weight force of the components which are mounted in the carriage 12, thus the weight of the boom 15 , Slide assembly 4, rod 19, positioning brake 20, receiving plate 23, receptacle 24 and Tool 2. Accordingly, the person working on the tool 2, this move largely without force in the Z direction up and down.

Abgesehen hiervon lässt sich aufgrund des beschriebenen Schlittensystems 1 das Werkzeug 2 manuell auch in X- und Y-Richtung frei bewegen. Hierbei wird die Bewegung des Werkzeugs 2 in X- und Y-Richtung dauernd mittels des der jeweiligen X-Y-Achsrichtung zugeordneten Wegmesssystems elektromagnetisch erfasst. Über eine Erfassungs- und Auswerteeinheit ist somit immer bekannt, in welcher X- und Y-Position sich das Werkzeug 2 befindet.Apart from this, due to the described carriage system 1, the tool 2 can be moved manually also in the X and Y directions. In this case, the movement of the tool 2 in the X and Y directions is continuously detected electromagnetically by means of the path measuring system assigned to the respective XY axis direction. By means of a detection and evaluation unit, it is thus always known in which X and Y positions the tool 2 is located.

In der Fig. 1 sind zu den jeweiligen Laufschienen 6, 11 und 17 Doppelpfeile veranschaulicht, die den Bewegungsfreiheitsgrad, somit bezogen auf die Laufschiene 6 in X-Richtung, bezogen auf die Laufschiene 11 in Z-Richtung und bezogen auf die Laufschiene 17 in Y-Richtung wiedergeben. Zu dem die Laufschiene 6 betreffenden Doppelpfeil 25 und zu dem die Laufschiene 17 betreffenden Doppelpfeil 26 sind zudem drei sich quer zur Pfeilrichtung des Doppelpfeils erstreckende Querstriche angegeben, konkret äußere Striche 27 und ein symmetrisch zu diesem angeordneter Mittelstrich 28. Diese real nicht vorhandenen Pfeile / Striche dienen der Verdeutlichung der Funktion des beschriebenen Schlittensystems 1 bezüglich der Bewegung der Schlittenanordnungen 3 und 4 in X- und Y-Achsrichtung.In the Fig. 1 are illustrated to the respective rails 6, 11 and 17 double arrows representing the degree of freedom of movement, thus relative to the running rail 6 in the X direction, relative to the running rail 11 in the Z direction and relative to the running rail 17 in the Y direction. To the the running rail 6 respective double arrow 25 and to the running rail 17 respective double arrow 26 are also three transverse to the arrow of the double arrow extending transverse lines indicated, concretely outer lines 27 and a symmetrically arranged to this middle bar 28. This real non-existent arrows / dashes serve to illustrate the function of the described carriage system 1 with respect to the movement of the carriage assemblies 3 and 4 in the X and Y axis direction.

Ermittelt, jeweils bezogen auf die Schlittenanordnung 3 bzw. 4 und damit die Achsrichtung X bzw. Y das der jeweiligen Achse zugeordnete Wegmesssystem, somit die Stange 9 mit Stator und Wegmesssystem bzw. die Stange 19 mit Stator und Wegmesssystem, dass das Werkzeug 2 eine solche Position einnimmt, die eine Annäherung an die Linie 28 somit einen X- bzw. Y-Schraubwert 28 betrifft, wird bei Erreichen des Striches 27, unabhängig von welcher Seite des Striches 28 dies erfolgt, somit bei Erreichen eines Fangbereiches zwischen zwei Strichen 27 derselben Achse, die Positionierbremse 10 bzw. 20 eingeschaltet, mit der Konsequenz, dass diese aufgrund deren elektromagnetischen Wirkung eine manuelle Bewegung des Werkzeugs 2 über diesen Wert 27 in Richtung des Wertes 28 hinaus abbremst. Diese Abbremsbewegung mittels der Positionierbremse 10 bzw. 20, somit mittels eines nichtmanuellen Stellmittels erfolgt derart, dass die Abbremskraft zum Abbremsen des Werkzeugs 2 mit der Verringerung des Abstands des Werkzeugs 2 zu dieser Stellung, die dem Mittelstrich 28 entspricht, zunimmt. Damit erfolgt bei Erreichen der Position gemäß dem äußeren Strich 27, unabhängig von welcher Seite die Annäherung an den Mittelstrich 28 erfolgt, eine zwangsläufige Ansteuerung der Position des Mittelstrichs 28. Beim Zusammenwirken der beiden Schlittenanordnungen 3 und 4 ist damit eine eindeutige Positionierung des Werkzeugs 2 in X- und Y-Achsrichtung durch zwangsläufige Einnahme der Positionierung der Mittelstriche 28 gemäß der beiden Schlittenanordnungen 3 und 4 gewährleistet. Es ist somit nur noch erforderlich, aus dieser definierten Position das Werkzeug 2 mittels der Schlittenanordnung 5 in Z-Richtung zuzustellen, im vorliegenden Fall das Werkzeug 2 nach unten in die Arbeitsposition, insbesondere Schraubposition zu bewegen. Nach dem Schraubvorgang wird das Werkzeug 2 aus dieser Arbeitsposition in Z-Richtung wieder hoch bewegt und kann in die nächste auf die X-Y-Achsrichtung bezogene Zwischenstellung verfahren werden, durch Annäherung an neue Annäherungspositionen gemäß der äußeren Striche 27 und anschließendes Anfahren der Position des Mittelstrichs 28 mittels der nichtmanuellen Stellmittel.Determined, in each case based on the carriage arrangement 3 or 4 and thus the axial direction X or Y associated with the respective axis path measuring system, thus the rod 9 with stator and path measuring system or the rod 19 with stator and path measuring system that the tool 2 such Position occupies an approximation to the line 28 thus an X- or Y-screw 28, when reaching the stroke 27, regardless of which side of the bar 28 this is done, thus reaching a capture range between two strokes 27 the same axis , the positioning brake 10 and 20 is turned on, with the consequence that they due to their electromagnetic effect, a manual movement of the Tool 2 decelerates beyond this value 27 in the direction of the value 28 addition. This braking movement by means of the positioning brake 10 or 20, thus by means of a non-manual actuating means is such that the braking force for braking the tool 2 with the reduction of the distance of the tool 2 to this position, which corresponds to the middle bar 28, increases. Thus, upon reaching the position according to the outer line 27, regardless of which side the approach to the middle bar 28 takes place, an inevitable control of the position of the center bar 28. The interaction of the two carriage assemblies 3 and 4 is thus a unique positioning of the tool 2 in X- and Y-axis direction ensured by inevitably taking the positioning of the middle line 28 according to the two carriage assemblies 3 and 4. It is therefore only necessary to deliver from this defined position, the tool 2 by means of the carriage assembly 5 in the Z direction, in the present case the tool 2 down to the working position, in particular to move screwing. After the screwing operation, the tool 2 is moved up again from this working position in the Z direction and can be moved into the next intermediate position related to the XY axis direction, by approaching new approach positions according to the outer lines 27 and then approaching the position of the middle bar 28 by means of the non-manual actuating means.

Mit der beschriebenen Vorrichtung ist somit das erfindungsgemäße Verfahren zum Anfahren mindestens einer vorgegebenen Arbeitsstellung des manuell verfahrbaren Werkzeugs 2 darstellbar. Das Werkzeug 2 wird in einer Ebene aus einer Ausgangsstellung, beispielsweise der in Fig. 1 gezeigten Stellung, mittels Führungsmitteln, vorliegend den Schlittenanordnungen 3 und 4 geführt in eine Zwischenstellung gemäß der Koordinaten 28 der beiden Schlittenanordnungen 3 und 4 verfahren, die mit der Arbeitsstellung des Werkzeugs 2 fluchtet. Aus dieser Zwischenstellung wird das Werkzeug 2 mittels weiterer Führungsmittel - vorliegend der Schlittenanordnung 5 - geführt in die Arbeitsstellung zugestellt. Hierbei ist wesentlich, dass die Position des Werkzeugs 2 beim Verfahren von der Ausgangsstellung in die Zwischenstellung gemessen wird, vorliegend mittels der Stange 9 des Stators mit Wegmesssystem und beim Erfassen eines vorgegebenen Abstands des Werkzeugs 2 in Achsrichtung der Ebene, vorliegend den Achsrichtungen X und Y, zur Zwischenstellung 28 nichtmanuelle Stellmittel, vorliegend die Positionierbremsen 10 und 20 aktiviert werden und die Stellmittel das Werkzeug in die Zwischenstellung gemäß der Positionen 28 bewegen. Dieser vorgegebene Abstand entspricht dem Abstand des Mittelstrichs 28 vom äußeren Strich 27. Hat das Wegmesssystem der jeweiligen Achse X bzw. Y somit die Position 27 erfasst, werden die Positionierbremsen 10 bzw. 20 aktiviert und bremsen das manuell geführte Werkzeug 24 in die Zwischenstellung gemäß der jeweiligen Position 28 ab.With the described device, the inventive method for starting at least one predetermined working position of the manually movable tool 2 is thus represented. The tool 2 is in a plane from a starting position, for example, in Fig. 1 shown position, by means of guide means, in this case the slide assemblies 3 and 4 guided in an intermediate position according to the coordinates 28 of the two carriage assemblies 3 and 4 method, which is aligned with the working position of the tool 2. From this intermediate position, the tool 2 is guided by means of further guide means - in this case the carriage assembly 5 - guided in the working position. It is essential that the position of the tool 2 in the process of the starting position is measured in the intermediate position, in this case by means of the rod 9 of the stator with position measuring system and upon detection of a predetermined distance of the tool 2 in the axial direction of the plane, in this case the axial directions X and Y, to the intermediate position 28 non-manual actuating means, in this case the positioning brakes 10 and 20th be activated and the adjusting means move the tool in the intermediate position according to the positions 28. This predetermined distance corresponds to the distance of the middle bar 28 from the outer bar 27. If the position measuring system of the respective axis X or Y thus detects the position 27, the positioning brakes 10 and 20 are activated and brake the manually guided tool 24 in the intermediate position according to each position 28 from.

Für drei nacheinander anzufahrende Arbeitsstellungen, konkret bezogen auf die X- und Y-Achse drei nacheinander anzufahrende Zwischenstellungen ist der Verfahrensablauf in Fig. 2 veranschaulicht:For three working positions to be approached one after the other, specifically three intermediate positions to be approached one after the other in relation to the X and Y axes, the procedure in FIG Fig. 2 illustrates:

So ist eine erste Schraubposition des Werkzeugs 2, bezogen auf die X- und Y-Achse bei Werten X = 5 und Y = 4, die beispielsweise 5 mm bzw. 4 mm entsprechen, vorgesehen. Diese Werte entsprechen somit den beiden Mittelstrichen 28 gemäß Fig. 1. Bei einem Abstand von 2 von diesem Koordinatenwert, jeweils in beiden Richtungen, den das jeweilige der Koordinate zugeordnete Wegmesssystem ermittelt, wird die jeweilige Positionierbremse 10 bzw. 20 aktiviert. In Abhängigkeit von der Annäherung des Werkzeugs an die Schraubposition der X-Achse, konkret des Wertes X = 5, bedeutet dies, dass die beiden Werte gemäß äußerer Striche 27 in Fig. 1 X = 3 bzw. X = 7 betragen. Befindet sich das Werkzeug 2 somit, vom Wert X = 0 kommend, in der Position X = 3, wird das Wegmesssystem aktiviert, genauso wenn das Werkzeug 2, von einem Wert X = 10 kommend, den Wert X = 7 einnimmt. Werden diese Werte X = 3 bzw. X = 7 vom Wegmesssystem ermittelt, wird die Positionierbremse 10 aktiviert und das Werkzeug 2 auf den Wert X = 3 bewegt. Hierbei kann, bezogen auf diesen X-Wert und die einzunehmende Schraubposition eine Toleranz von 0,1, im realen Wert insbesondere 0,1 mm akzeptiert werden. Entsprechendes gilt für die Aktivierung der Positionierbremse 20 für die Y-Achse. Vor dem Hintergrund des anzufahrenden Wertes Y = 4 wird die Positionierbremse 20 dann aktiviert, wenn das Werkzeug einen Wert, von Y = 0 kommend, von Y = 2 oder, von Y = 10 kommend von Y = 6 erreicht hat. Ausgehend von diesen Werten Y = 2 bzw. Y = 6 wird über die Positionierbremse 20 definiert der gewünschte Wert Y = 4 angefahren, wieder mit einer Toleranz der Schraubposition von 0,1. Ist diese definierte Zwischenstellung X = 5, Y = 4 erreicht, wird das Werkzeug 2 in Z-Richtung bewegt und mittels des Werkzeugs die Bauteile verschraubt. Diese Beendigung des exakten Verschraubvorgangs wird üblicherweise erfasst. Diese elektrische Erfassung bewirkt auch, dass die Positionierbremsen 10 und 20 deaktiviert werden, womit weiter nur die Wegmesssysteme bezüglich X- und Y-Achse aktiv sind. Es wird das Werkzeug 2 in Z-Richtung angehoben. Veranschaulicht ist in der Fig. 2 eine zweite Schraubposition. Ausgehend von der ersten Zwischenstellung mit X = 5 und Y = 4 wird das Werkzeug 2 ausschließlich manuell in Richtung der X-Achse und der Y-Achse bewegt, bevor es in den nächsten Bereich, der quasi einen Fangbereich darstellt, gelangt, in dem erneut die Positionierbremsen 10 bzw. 20 aktiviert werden, um das Werkzeug in die zweite Schraubposition zu bewegen. Entsprechendes gilt für die in der Fig. 2 veranschaulichte dritte Schraubposition. Um Wiederholungen zu vermeiden, wird insbesondere auf die ausführliche Darstellung des Anfahrens der ersten Schraubposition und die Erläuterungen in Fig. 2 verwiesen.Thus, a first screwing position of the tool 2, with respect to the X and Y axes, is provided at values X = 5 and Y = 4, corresponding for example to 5 mm and 4 mm, respectively. These values thus correspond to the two middle lines 28 according to FIG Fig. 1 , At a distance of 2 from this coordinate value, in each case in both directions, which determines the respective coordinate system associated Wegmesssystem, the respective positioning brake 10 and 20 is activated. Depending on the approach of the tool to the screwing position of the X-axis, specifically the value X = 5, this means that the two values according to outer lines 27 in FIG Fig. 1 X = 3 or X = 7 amount. If the tool 2 is thus in the position X = 3, coming from the value X = 0, the position measuring system is activated, just as the tool 2, coming from a value X = 10, assumes the value X = 7. If these values X = 3 or X = 7 are determined by the position measuring system, the positioning brake 10 is activated and the tool 2 is moved to the value X = 3. In this case, based on this X value and the screw position to be taken, a tolerance of 0.1, in real value in particular 0.1 mm. The same applies to the activation of the positioning brake 20 for the Y-axis. In the light of the value Y = 4 to be approached, the positioning brake 20 is activated when the tool has reached a value coming from Y = 0, from Y = 2 or from Y = 10 coming from Y = 6. Based on these values Y = 2 or Y = 6, the desired value Y = 4 is approached via the positioning brake 20, again with a tolerance of the screwing position of 0.1. If this defined intermediate position reaches X = 5, Y = 4, the tool 2 is moved in the Z direction and the components are screwed by means of the tool. This termination of the exact screwing operation is usually detected. This electrical detection also causes the positioning brakes 10 and 20 are deactivated, which further only the distance measuring systems with respect to X and Y axis are active. It is the tool 2 raised in the Z direction. Illustrated in the Fig. 2 a second screwing position. Starting from the first intermediate position with X = 5 and Y = 4, the tool 2 is exclusively moved manually in the direction of the X-axis and the Y-axis before it enters the next area, which is virtually a capture area, in which again the positioning brakes 10 and 20 are activated to move the tool to the second screwing position. The same applies to the in the Fig. 2 illustrated third screwing position. In order to avoid repetition, reference is made in particular to the detailed description of the starting of the first screwing position and the explanations in Fig. 2 directed.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

11
Schlittensystemslide system
22
WerkzeugTool
33
Schlittenanordnungcarriage assembly
44
Schlittenanordnungcarriage assembly
55
Schlittenanordnungcarriage assembly
66
Laufschienerunner
77
Schlittencarriage
88th
Vorsprunghead Start
99
Stange/StatorBar / stator
1010
Positionierbremsepositioning brake
1111
Laufschienerunner
1212
Schlittencarriage
1313
Gewichtsausgleicherbalancer
1414
Zugseilrope
1515
Auslegerboom
1616
Schlittencarriage
1717
Laufschienerunner
1818
Vorsprunghead Start
1919
Stange/StatorBar / stator
2020
Positionierbremsepositioning brake
2121
Anschlagattack
2222
Anschlagattack
2323
Aufnahmeplattemounting plate
2424
Aufnahmeadmission
2525
Doppelpfeildouble arrow
2626
Doppelpfeildouble arrow
2727
Äußerer StrichOuter line
2828
Mittlerer StrichMiddle line

Claims (12)

  1. Method for moving a manually movable tool (2) to at least one predetermined operating position, wherein the tool (2), guided by guiding means (3, 4), is moved in a plane (X, Y) from a starting position into an intermediate position (28, 28), which is in line with the operating position, and, guided by further guiding means (5), is adjusted from the intermediate position (28, 28) into the operating position, wherein the position of the tool (2) is measured while it is moving from the starting position into the intermediate position (28, 28) and, when a predetermined distance (27) of the tool (2) from the intermediate position (28) in axial directions of the plane (X, Y) is detected, non-manual adjusting means (10, 20) are activated, and the adjusting means (10, 20) move the tool (2) into the intermediate position (28).
  2. Method according to Claim 1, wherein the plane is a plane that is defined by X-Y coordinates of a system of spatial coordinates and the adjusting movement from the intermediate position (28) into the operating position takes place in the Z direction of the system of coordinates.
  3. Method according to Claim 1 or 2, wherein the tool (2) is guided in the plane (X, Y) by first guiding means (3) in a straight axial direction (X) and by second guiding means (4) in a straight axial direction (Y) arranged perpendicularly thereto.
  4. Method according to Claim 1 or 2, wherein the tool (2) is guided in the plane (X, Y) by first guiding means in a straight axial direction and by third guiding means, which are pivotal about an axis (Z) arranged perpendicularly to the plane (X, Y), in an arcuate axial direction.
  5. Method according to one of Claims 1 to 4, wherein the measurement of the position of the tool (2) while it is moving from the starting position into the intermediate position (28) takes place electrically, in particular electromagnetically.
  6. Method according to one of Claims 1 to 5, wherein the movement brought about by the non-manual adjusting means (10, 20) takes place electrically, in particular electromagnetically.
  7. Method according to one of Claims 1 to 6, wherein the movement brought about by the non-manual adjusting means (10, 20) into the intermediate position (28) takes place by decelerating the tool (2).
  8. Method according to Claim 7, wherein the decelerating force for decelerating the tool (2) increases as the distance of the tool (2) from the intermediate position (28) in axial directions of the plane (X, Y) becomes less.
  9. Method according to one of Claims 1 to 8, wherein the adjusting means (10, 20) are activated when the predetermined distance (27) from the intermediate position (28) is detected and are deactivated when the operating position is reached.
  10. Method according to one of Claims 1 to 9, wherein the adjustment of the tool (2) from the intermediate position (28) into the operating position and/or the readjustment of the tool (2) from the operating position into the intermediate position (28) takes place when there is a counterbalance of the components to be moved in the adjusting direction or opposite thereto.
  11. Method according to one of Claims 1 to 10, wherein the movement to the predetermined operating position is performed by means of a tool (2) that is formed as a screwing tool.
  12. Method according to one of Claims 1 to 11, wherein a number of predetermined operating positions are moved to one after the other, wherein, after reaching an operating position, the tool (2) is transferred into the intermediate position (28) and subsequently the tool (2) is moved into the next intermediate position (28) and from there into the next operating position.
EP13180662.2A 2013-08-16 2013-08-16 Method for moving to an operating position of a manually moveable tool Active EP2837471B1 (en)

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EP13180662.2A EP2837471B1 (en) 2013-08-16 2013-08-16 Method for moving to an operating position of a manually moveable tool

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EP2837471B1 true EP2837471B1 (en) 2015-12-30

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9402241U1 (en) 1994-02-10 1995-06-14 LIKRATEC Drucklufttechnik GmbH, 80636 München Screwdriver guide with brake
DE19609511A1 (en) 1996-03-11 1997-09-18 Raimund Wilhelm Auxiliary system for hand-guided tool with guide unit for tool holder
DE19810333A1 (en) 1998-03-11 1999-09-23 Tilo Klett Automatic tool positioning arrangement
DE19824219A1 (en) 1998-05-29 1999-12-09 Mayer Gmbh Maschbau M Method and system for setting up CNC machines
DE19841364C1 (en) 1998-09-10 2000-03-30 Andreas Otto Multifunctional body handling system
DE10152219C1 (en) 2001-10-23 2003-06-12 Agilent Technologies Inc Positioning of an eccentrically held optical component
DE20316090U1 (en) 2003-04-25 2004-01-15 Fuchs, Reinhard Support arm system used in handling/finishing comprises a rear arm pivotably arranged on a frame, and a front arm supporting on its front end a holder for a hand screwdriver
DE102007026299A1 (en) 2007-06-06 2008-12-11 Mrk-Systeme Gmbh Industrial robots and method for programming an industrial robot

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9402241U1 (en) 1994-02-10 1995-06-14 LIKRATEC Drucklufttechnik GmbH, 80636 München Screwdriver guide with brake
DE19609511A1 (en) 1996-03-11 1997-09-18 Raimund Wilhelm Auxiliary system for hand-guided tool with guide unit for tool holder
DE19810333A1 (en) 1998-03-11 1999-09-23 Tilo Klett Automatic tool positioning arrangement
DE19824219A1 (en) 1998-05-29 1999-12-09 Mayer Gmbh Maschbau M Method and system for setting up CNC machines
DE19841364C1 (en) 1998-09-10 2000-03-30 Andreas Otto Multifunctional body handling system
DE10152219C1 (en) 2001-10-23 2003-06-12 Agilent Technologies Inc Positioning of an eccentrically held optical component
DE20316090U1 (en) 2003-04-25 2004-01-15 Fuchs, Reinhard Support arm system used in handling/finishing comprises a rear arm pivotably arranged on a frame, and a front arm supporting on its front end a holder for a hand screwdriver
DE102007026299A1 (en) 2007-06-06 2008-12-11 Mrk-Systeme Gmbh Industrial robots and method for programming an industrial robot

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Retrieved from the Internet <URL:http://www.jaeger-handling.de/downloads/katalog(handyflex.pdf>

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