DE202007016098U1 - Tool holder device - Google Patents

Abstract

Tool holder device (1, 1 ') with at least one with a tool, in particular a Robot tool, connectable first coupling device (100, 100 ', 100' ') and one with a solid base and the first Coupling device (100, 100 ', 100' ') connectable second coupling device (200), wherein the second coupling device (200) is a tool receiving plate (201), a base plate (203) and a storage device (220) characterized in that the storage device (220) at least one column (230, 231, 232), wherein the at least one column (230, 231, 232) with the base plate (203) and the tool receiving plate (201) is connected and for storage the tool receiving plate (201) is elastic.

Description

The The invention relates to a tool holder device in particular for tools of robots or manipulators.

On automated production lines are common Robots in use, which are suitable for various automatable Processing and handling processes are used. It will be different robots with different tools, such as Welding tongs, glue guns, rivet pliers or holding means such as suction cups or clamps used.

One critical factor in the operation of those production lines is that the goods to be processed, such as Automotive bodies, moving at a steady pace and leak, which causes difficulties, when a robot is done much faster with its work step is as another robot in another place within the Production line. For this purpose, one has gone over to to connect the robots with different interchangeable tools, the tools being accessible to a robot Place are stored. For example, it is possible a robot in a first step with welding tongs equip and for a subsequent assembly step with a holding device. In this way, the individual stations of the production line are operated efficiently.

in principle become the robot and the tool by means of a coupling device connected with each other. In the process, this is first connected to the robot Tool placed in one place and the new tool added, coupled and performed the task to be performed. Known tool holder devices of such tool changing devices are often used to form a tool station or tool magazine arranged side by side.

Even though the robots can already be controlled relatively accurately, there is still a tolerance range of a few millimeters, around which the real position of the robot of the aimed Position may differ. This is a problem when recording or Storage of tools in a tool station or a tool holder device, because the clutch mechanisms on the tool holder devices quickly can wear when the tool holder device no storage device for passive or active readjustment having the position of the tool.

The Utility Model DE 202 08 059 U1 1 shows a tool holder with a first coupling device which can be connected to at least one tool, in particular a robot tool, and a second coupling device which can be connected to a fixed support, wherein the at least one first coupling device has a tool suspension with at least one recess and one receptacle, and the second coupling device has a tool mounting plate, a base plate, at least one receiving bolt and a storage device comprises. In addition, the receptacle of the first coupling device with the receiving bolt of the second coupling device is axially connectable, so that a tool attached to the first coupling device can be picked up by the robot. Disadvantage of the tool holder device shown there, it is that this is very complicated and in particular the storage mechanism must be of high precision in order to compensate for the driving tolerances of the approaching or departing robot can. Furthermore, the manufacturing costs of the tool holder device shown there are high, since most of the components have to be completely milled.

task The present invention is a tool holding device to provide which does not have the disadvantages mentioned above.

The Task is by an object with the features of the main claim solved. Advantageous developments can be found in the subordinate claims.

Thereby, that the storage device comprises at least one column, the at least one column with the base plate and the tool receiving plate is connected and for supporting the tool receiving plate is elastic, the at least one column can when applied a transverse load on the tool holder plate in advance dodge determinable tolerance range. Functionally this is comparable to the yielding of grasses in the wind, although this comparison is heavily oversubscribed.

in the Unlike other storage devices are in the inventive Version in the form of at least one column solely the material properties and the length / surface area ratio used the column, and there are no complicated ball bearings as required in the prior art.

Preferably, the at least one column is non-positively or materially connected to the base plate and / or the tool receiving plate. Furthermore, between the at least one pillar and the base plate and / or the tool receiving plate at least one elastic bush, preferably a rubber bush, as an additional contribution to the elastic storage of at least one column.

there it is particularly advantageous if the at least one column clamped rigidly in the base plate and the tool holder plate is. Due to the rigid clamping also move in the Applying a lateral load on the tool holder plate the tool holder plate and the base plate substantially plane-parallel to each other. This requires at least one elastic column Deform S-shaped. Even with the application of a rotational force on the tool holder plate this is by a Torsionsverdrillung the compensated at least one column.

Of Further, it is advantageous if the at least one column a length and a length perpendicular to the length Base area and the ratio of the length larger than the square root of the base area than 10: 1, preferably greater than 15: 1. On This way is for a wide variety of materials Ensures that one parallel to the base the column applied force the column in the Level moved parallel to the base for dodging. A Compressibility along the length dimension across to the base should be as low as possible be such that the effect of the transverse deflection is stronger as the length compressibility in length dimension.

The Tool holder device is particularly advantageous then if the at least one column is designed in such a way that the tool receiving plate connected to the at least one column in a direction transverse to the length of the columns 0.5 to 8 mm, preferably 1 mm to 5 mm, is deflectable. This one specified deflection intervals correspond essentially to the tolerance range modern industrial robot. Therefore, it is important that the columns are so elastic that they meet this tolerance range can. At the same time, the tolerance should not be too large, to the stability of the tool holder device guarantee.

It is particularly advantageous if the at least one column of metal, preferably steel, or of plastic or of one Combination of two of these materials. This becomes the one ensures that the mass of tools, which partly can apply a high own weight, by the at least one pillar is supported and the others the compressibility in the longitudinal direction column is very low, whereas in a suitable Length-to-base area ratio one Elasticity or movement flexibility within the level of the base area is given. Furthermore are Metals or plastics easily processable and easily exchangeable, which also increases the life of a tool holder device.

Especially Preferably, the tool holder device has at least three columns on. There are at least three columns each at three different points with the tool holder plate and the base plate connected. This way, a wide Power support base for the tool holder plate created so that on the one hand the tools used by the robot on the other hand, in particular the plane-parallel Movement of the tool holder plate in relation to the base plate is possible. Also, a rotation of the tool holder plate within the plane of the tool holder plate can by a slight Twisting or S-shaped twisting of at least three Pillars are generated.

Preferably has the tool holding device on the first coupling device, Particularly preferably on a tool hanger of first coupling device, at least one recess and preferably another hole for fixing a tool. often the recess of the first coupling device is mainly for this purpose thought that the tool located on the coupling mechanism through the recess is inserted therethrough. A fixation of the tool with the tool suspension is not inevitable where. This fixation can be achieved when the tool hanger preferably has further holes and the tool by means Screws and / or other fasteners, which by the Holes are inserted through, in the tool hanger is fixed.

Especially Preferably, a receptacle and a receiving bolt are present. In this case, the recording on the first coupling device and the receiving bolt on the second coupling device or be reversed. The locating pin can with the recording at least partially engaged, the engagement is preferably at least partially positive fit.

Preferably, the receptacle is an independent workpiece, which is non-positively connected, for example, with a tool suspension of the first coupling device. In this way, it is possible to produce the recording in a separate process, which is particularly advantageous if the manufacturing process of the recording is largely done by turning. Turning is a preferred alternative because costs can be saved and recording can be made faster.

advantageously, the receptacle has at least one section with a recess for partial or complete enclosure a cylinder, wherein an axis of inertia with a largest Moment of inertia of the cylinder substantially parallel is formed along the engaging connection.

A Such recess is in particular for receiving a receiving bolt suitable. Characterized in that the recording is a substantially rotationally symmetrical Can absorb body, there are no edges in the Section of the recess of the receptacle, so that the wear, which normally occurs especially at the edges, very much can be kept low.

Of Furthermore, it is advantageous if the recording at least one Partial or full enclosure section a truncated cone, wherein an axis of inertia with a largest moment of inertia of the Truncated cone substantially parallel along the engaging Connection is formed. By means of a truncated cone, which represents a tapered geometric shape can a portion of the weight of the first coupling device of a Mounting bolt with a frusto-conical section be recorded. It is advantageous if the truncated cone shape its base in the direction of the weight of the first coupling device widened downwards (in the case that the inclusion of the first coupling device attached) or narrowed down (in the case that the receptacle attached to the second coupling device is). In this way, an improved through the receiving bolt Support and power absorption allows.

Farther it is advantageous if the receptacle has a transverse bore for receiving having a dowel pin. By means of the dowel pin or the designated Transverse bore can be a rotation of the first coupling device in a plane of the tool holder plate can be prevented. Thus serves the transverse bore also to an adjustment of the first coupling device to enable by means of the locating pin. advantageously, the transverse bore can be transverse to the direction of the engaging connection be partially tapered to the adjustment of the first coupling device on the dowel pin or in the transverse bore continue to facilitate.

Especially in connection with the recesses of the receptacle it is advantageous when the locating pin cylindrical and frustoconical Has sections corresponding to the recesses of the recording. In this way, a fitting engagement between recording and locating bolts made without substantial stress spikes what the life of the first coupling device and of the locating pin increases and at the same time parts of the weight the first coupling device of the receiving bolt or the Recording can be recorded.

Farther it is advantageous if the locating bolt laterally on a side plate the tool receiving plate is attached. That way you can attached to several sides of the tool holder plate tools which allows storage of multiple tools in a small space becomes. The side plate can be one side of the receiving plate, or an independent component, which on the tool holder plate is attached, his.

Farther it is particularly advantageous if at least one movable cover is present, which is a top of the recess of the tool hanger the at least one first coupling device in a first Position at least partially covered and in a second Position releases. In this way, it can prevent sparks flying or pollution following the gravitational field on a below the cover fastened coupling of the tool fall, causing Dirt and ultimately to a reduced life the first coupling device, in particular sensitive attachments (eg open electrical contacts, etc.), or the tool or an elevated Maintenance activity.

there it is advantageous if the at least one cover substantially pivotable parallel to the top of the first coupling device is. Advantage is the easy to implement movement mechanism the cover.

Particularly preferably, the at least one cover is passively movable by a fastened to a tool carrier and / or robot or associated element from the first to the second position or from the second to the first position. In this way, the cover does not require its own drive to be transferred from a first, for example, closed to a second, for example, open position or vice versa. This simplifies the design effort and the manufacturing cost of the cover. For this purpose, it is particularly advantageous if the cover has a Betätigungskufe, which can come into contact with the fastened element of the tool carrier and / or robot, so that the cover of the first transferred to the second position or vice versa.

Farther it is advantageous if the at least one cover a return element includes, wherein the return element, the at least one Cover from the first to the second position or the second returns to the first position. Once the cover by a tool carrier and / or robot attached Element from the first to the second position or the second is moved to the first position, after removing the element from the cover, the cover by means of the return element returned to the original position. By means of the return element is ensured that no active drive must be present, since only the in the reset element due to the opening movement from the first to the second position, stored mechanical or electrical energy back into momentum for closing movement transferred from the second to the first position becomes.

Especially Preferably, the cover is provided with a holding device, which frictionally with the second coupling device connected is. In this way, the cover can be retrofitted attached to the tool holder device, which is particularly advantageous in existing systems.

Further Advantageous developments can be further under or inferior claims.

The Tool holder device according to the invention will be explained in more detail with reference to some figures.

It demonstrate

1a , b tool holding devices according to the invention;

2a , b, c, d a first coupling device;

3a , b a tool holding device with cover;

4a , b, c the movement of the cover according to the invention.

The 1a shows a tool holder device 1 with a first coupling device 100 and a second coupling device 200 , The first coupling device 100 has a tool hanger 101 and a recording 110 on, taking the picture 110 as an independent workpiece 111 is trained. The tool suspension 101 also has a recess 102 through which the coupling attached to a tool or robotic tool can extend to be coupled by the robot. In the 2a - 2d will be discussed in more detail on the first coupling device.

The second coupling device 200 has a tool receiving plate 201 which extends substantially in the xy plane. At the tool holder plate 201 is a lateral side plate 202 to see at which the first coupling device 100 is mounted such that the axis of rotation of the recording 110 essentially in the z-direction. In this way, a force acts on the first coupling device 100 due to a hinged tool mainly in the negative z-direction, and perpendicular to it in the direction of the Werkzeugaufnehmerplatte 201 ,

Furthermore, the second coupling device 200 a base plate 203 on, which can be connected to a solid Un terlage, such as a concrete floor or a steel plate by means of, for example, screw, which are not shown. The base plate 203 is with the tool holder plate 201 by means of an elastic storage device 220 connected. The storage device 220 causes the tool holder plate 201 is slightly movable substantially in the xy plane and so there is a tolerance for a non-exact approach of a robot, and the inaccuracy can be compensated for by means of the passive mobility of the tool holder plate within the xy plane.

The storage device 220 is essentially three pillars 230 . 231 . 232 built up. These columns are made of metal and are in the embodiment shown here about 1 m long and have a diameter of 30 mm, which corresponds to a base area A of 7.65 cm ² . Due to the ratio of the length of the columns 230 . 231 . 232 to the base A of the columns can in a firmly bolted to the ground base plate 203 the tool holder plate 201 easily moved slightly in the xy plane. In this case, it is advantageous if a tolerance movement of 1 mm to 8 mm is possible with a force of 500 Newtons acting laterally on the tool receiving plate.

The tool holder plate 201 is with the pillar 230 over the opposite clamping screws 2301 and 2302 firmly connected. Analog is the tool holder plate 201 with the pillar 231 over the clamping screws 2311 and 2312 and with the pillar 232 over the invisible clamping screw 2321 and the visible clamping screw 2322 connected. The columns 230 . 231 . 232 are with the reason plate 203 over with the base plate cohesively connected thread 2030 . 2031 . 2032 and by means of the clamping screws 2304 . 2314 . 2324 connected. By means of the clamping screws are both the tool holder plate 201 as well as the base plate 203 resistant to bending with the columns 230 . 231 . 232 braced. This means in particular that the tool holder plate 201 and the base plate 203 even with a deflection of the tool holder plate 201 within the xy-direction are substantially plane-parallel to each other. Instead of the clamping screws other fasteners can be used to allow the bending-resistant tension. Welding can also justify the connection between base plate or tool holder plate with the columns.

Due to the elasticity of the columns 230 . 231 . 232 , which results from the choice of material and the ratio of length to the root of the base, leads in the x- or y-direction of the tool holder plate 201 attacking force to an S-shaped bending of the columns 230 . 231 . 232 , During a rotational movement of the tool holder plate 201 Within the xy-plane there is a slight twisting of the columns 230 . 231 . 232 , whereby a tolerance range is given even with rotational movements.

In the embodiment of the tool holder device shown here 1 become three pillars 230 . 231 . 232 used, as a result, improved stability and in particular during rotations of the tool holder plate 201 better resilience is given within the xy plane. It is also by means of three pillars 230 . 231 . 232 possible, the tool holder plate 201 and the base plate 203 Align plane parallel to each other, such that even with a deflection of the tool holder plate in the xy plane, these plates are still plane-parallel to each other. Although this would only be possible with two columns in one direction within the xy plane, even two columns can already lead to a promising result. The use of at least one elastic column can already lead to an improved tolerance of the tool-holder device 1 due to the elasticity of the at least one column is given.

In the 1b is an analog tool holder device 1' shown, which differ from the tool holder shown above 1 characterized in that on the second coupling device 200 three first coupling devices 100 . 100 ' . 100 '' are attached. By attaching several coupling devices to the tool holder plate 201 makes it possible to attach a plurality of tools to the tool holder device.

As already in the 1a are the tool holder plate 201 and the base plate 203 formed substantially triangular. The connections with the columns 230 . 231 . 232 take place essentially at the three vertices of the triangular-shaped tool receiving plate 201 and base plate 203 , However, it is also possible, the column connection points of the tool holder plate 201 and the base plate 203 to choose at other positions, if this makes sense in the context of the task and the location of the tool holder device.

As already in 1a mentioned, are the pillars 230 . 231 . 232 about one meter long. The base A of the columns is substantially 7.65 cm ² , so that the root is 2.65 cm. This results in a ratio of the length to the root of the base area of about 30: 1. However, satisfactory results can already be observed from a ratio of 8: 1.

In the 2a - 2d becomes the first coupling device 100 (which with the first coupling devices 100 ' and 100 '' is identical) and the corresponding locating bolt 300 shown which in the 1a respectively. 1b on the side plate 202 by means of the fastening bolts 330 . 331 . 332 . 333 was fixed and has a substantially z-axis orientation, such that the axis of rotation is aligned with the lowest moment of inertia along the z-axis. The first coupling device 100 has a tool holder 101 with the recess 102 and further drilling 140 on, with the holes 140 suitable for this, one with the tool suspension 101 tool or robot tool to be connected to the tool hanger 101 to fix. The holes can 140 both through the tool suspension 101 be continuous in the z-axis as well as closed holes with threads. Inside the recess 102 are also half shells 141 present, which improve an accurate positioning of the tool or the robot tool and thus contribute to an increased life of both the tool and the tool holder device as well as the robot itself. On the tool hanger 101 is one as a separate workpiece 111 trained recording 110 by means of screws 1110 attached. As a material for both recording 110 as well as the tool hanger 101 Steel or metals are suitable, which are designed for the high load capacity by robotic tools.

The recording 110 has a recess in its interior, which consists of several different shaped sections. The recess for receiving a cylinder section 112 is in the z direction at its lower end by a Recess for receiving a truncated cone section 113 extended.

In 2 B is also a second recess for receiving a truncated cone 113 ' to see which in close proximity to the upper recording limit 117 the recording 110 followed. Furthermore, the recording shows 110 an opening 114 on, which through a side opening wall 115 and the invisible opposite opening wall and an upper opening wall 116 is limited. Also in 2 B you can see the socket screws 1110 with which the recording 110 with the tool suspension 101 connected is.

The opening 114 is chosen such that the receiving bolt 300 which has a cylindrical section 312 and two frustoconical section 313 and 313 ' has, in the recesses 112 . 113 the recording is insertable. The width of the opening 114 in particular by means of the blank of the lateral opening wall 115 designed to match the diameter of the locating pin 300 equivalent. In this way, the tool suspension 101 coming from the y-direction on the locating bolt 300 be deferred.

In 2 B is evident that the opening 114 and in particular its upper opening wall 116 is chosen such that the recess for receiving a truncated cone 113 ' suitable for receiving a completely circumferential truncated cone. This is in contrast to the Ge section of the recess for receiving a cylinder 112 and the recess for receiving a truncated cone 113 to see in which the receiving bolt only in the corresponding recesses corresponding areas must be cylindrical or frustoconical, since the opening 114 the recording partially opens in the negative y-direction.

At its lower end, the recording 110 a transverse bore 120 into which a dowel pin 320 of the locating pin 300 can occur. Here is the transverse bore 120 open at the bottom and tapering towards the top. Will the first coupling device 100 now coming from the y-direction and slightly raised in the z-direction on the locating bolt 300 pushed, then comes the dowel pin 320 in a part of the cross hole 120 to the stop. Will the first coupling device 100 then drained in negative z-direction, comes the top, in the section 112 lying end of the transverse bore 120 on the dowel pin 320 for lying, as well as the recording limit 117 on the locating pin limit 317 comes to rest.

This is based on the 2c explained in more detail. The first coupling device 100 is first moved in the direction AN in the direction of the locating pin, so that the cylinder portion 312 of the locating pin 300 with the recess for receiving a cylinder 112 comes into contact. The first coupling device 100 must be in the direction of the locating pin 300 be driven, that the dowel pin 320 in the cross hole 120 intervenes. Otherwise there is no surface contact between the cylinder section 312 and the recess for receiving a cylinder 112 , and the first coupling device 100 can not be drained so in the direction AB, so that the locating pin limit 317 with the recording limit 117 can come into contact and a frictional connection between the first coupling device 100 and the locating bolt 300 given is.

The in the 2a to 2d illustrated first coupling device 100 and the complementary studs 300 the second coupling device 200 do not necessarily have a trained as an independent component dowel pin 320 exhibit. Likewise, the dowel pin integral part of the locating pin 300 be, or it can be waived entirely on a passport. Complementary to this can also be the transverse bore 120 omitted.

The situation in which the locating bolt 300 with the coupling device 100 is engaged in is 2d shown. The truncated cone section 313 ' of the locating pin 300 is completely through the section 113 ' the recording 110 surround. Furthermore, it can be seen that the ground 318 of the locating pin flush with the bottom 104 the tool suspension 101 concludes.

The first coupling device shown here 100 Can be used in conjunction with the locating bolt 300 considered as an independent invention. This would be the receiving bolt 300 either by means of the fastening bolts 330 . 331 . 332 . 333 or one in the ground 318 of the locating pin 300 arranged dowel pin connected to any tool receiving plate not shown here and after the in the 2a -D illustrated and explained methods for storing the first coupling device 100 on the mounting bolt 300 a connection can be established between the two. It is also conceivable that it is also possible that the opening 114 the recording 110 is not present and so a rotationally symmetrical recording 110 is created. However, it would be necessary, the recording bolts 330 . 331 . 332 . 333 to remove and also an advantageously rotationally symmetrical receiving bolt 300 to use.

The picture shown here 110 and the locating bolt 300 can be produced by turning in a first step. Only in a second step is the opening by means of milling 114 in the recording 110 and holes for the mounting bolts 330 - 333 in the locating bolt 300 brought in. The fastening bolts 330 - 333 are then inserted into holes and connected to a tool holder plate.

In the 3a and 3b is a cover according to the invention in connection with the mounting device 1 shown. It should be noted that the cover 500 also in another way with the second coupling device 200 can be connected and thus also interesting for other tool stations. The cover 500 has a cover frame 501 of metal, which has a diameter which is larger, preferably one and a half times, particularly preferably twice larger than the diameter of the recess 102 the first coupling device 100 , In the cover frame 501 is a cover disc 502 clamped, which consists of a transparent plastic, so that looking from the top in a negative z-direction down the first top 103 the coupling device 100 is visible. Of course, other materials such as metal or opaque plastics are conceivable.

The cover frame 501 is composed of a substantially circular section and an outgoing from the circular section arm, wherein the arm is a hole 505 with a notch 504 having. In this way, the cover frame 501 with the top hinge 510 be attached non-positively. This will be the hole 505 on the cover bolt 511 arranged and then by means of a clamping screw 503 lashed. This may be the width of the notch 504 due to the tension of the clamping screw 503 reduce.

An upper hinge 510 is with the holding device 520 connected. In this case, a bolt with a return element is present within either the holding device or the upper rotary joint, on the working effect in the 4a and 4c will be received. The return element may be formed for example as a torsion spring.

The holding device 520 forms the connection of the actual cover with the second coupling device 200 , The holding device 520 has a lower hinge 521 on which with the top hinge 510 is engaged and between which the return element is installed. In 3a and 3B becomes the upper hinge 510 when opening or closing the cover opposite the lower hinge 510 rotates. The lower hinge 521 is in the fixture 520 by means of the clamping disc 522 and the clamping screws 523 clamped, here due to the notch 524 a great tension can be brought up. Thus, the cover is particularly suitable for being passively opened by a robot, ie not having its own drive, but merely due to the movement of the approaching robot from a first position, for example a closed position, to a second position, for example an open position Position to be transferred. The holding device 520 is by means of a clamping block 525 and by means of clamping screws 526 at the storage device 220 appropriate. In the embodiment of the storage device shown here 220 with three columns 230 . 231 . 232 is the holding device 520 at the pillar 230 appropriate.

The cover frame 501 with the cover disc mounted therein 502 runs substantially plane-parallel to the first coupling device 100 and cover the top 103 the coupling device 100 from. In this first, closed position is thus avoided that from the top down sparks of rain in the tool hanger 101 fixed device, such as a tool, preferably a robot tool, and in particular dirty its coupling mechanism. In this way, the functionality and the life of the first coupling device, the tool and the robot is increased. The movement of the cover 500 essentially runs within the xy plane. The cover frame rotates 501 due to an element attached to a robot or tool 541 which has two pins 5410 . 5410 ' on the Betätigungskufe 540 attacks, such that the top 103 the first coupling device 100 is released and the robot either put down a tool already attached to him or a treatment device on the hitch be 100 can take attached tool.

As an alternative mounting option, the cover 500 also on the tool holder plate 201 be attached. This can be done either with a screw clamp or an equivalent holding device, such attachment with the expertise of the skilled person is easy to carry out. For example, the cover could be bolted to the upper hinge on the tool holder plate.

In the 3b becomes a tool holder 1' shown for up to three works Witness associated first coupling device 100 respectively. 100 ' respectively. 100 '' a separate cover 500 . 500 ' . 500 '' having. So that the individual covers 500 . 500 ' . 500 '' be moved independently of each other and in particular can not come into contact with each other, they are mounted at different heights, so that in the illustration shown here, the cover 500 under the cover 500 ' and 500 '' can rotate through the cover 500 ' above the cover 500 and below the cover 500 '' and the cover 500 '' above the covers 500 and 500 ' rotates.

In the 4a and 4c is the tool holder device 1 of the 3a shown looking at the xy plane. The cover 500 is present in the closed position G. Press an item 541 , or the pins arranged thereon 5410 . 5410 ' , a robot in y-direction on the Betätigungskufe 540 , as in 4b shown, then the cover 500 rotates in the xy plane, thus giving the first coupling device 100 and / or the locating bolt 300 free.

A robot can then the coupling device 100 record or resume. When transferring the cover 500 from the closed position G of 4a in the open position O the 4c is a restoring element, which either in the upper hinge 510 or in the holding device 520 or in the lower hinge 521 is present, cocked, leaving the cover 500 with decreasing pressure on the Betätigungskufe 540 , z. B. due to the returning element 541 of the robot, automatically returns to the closed position G in the direction of the y-axis. Due to the passive drive of the cover 500 by means of a robot, which the first coupling device 100 can pick up or take off, can on its own drive for the cover 500 be omitted, which reduces the design effort of the cover and reduces costs.

The cover shown here 500 Of course, also on the tool holder plate 201 be attached. For this purpose, as already mentioned, a slight modification of the holding device 520 However, which is easily vornehmbar for the skilled person. Also is the cover 500 , which is due only to a touch with an element of a robot and not due to its own drive, combined with other already known tool holder devices.

A big advantage of the storage device shown here 200 or the combination of the first coupling device shown here 100 and the locating bolt 300 as well as the cover 500 is that the design measures are easy to perform for the skilled person and the production costs of the individual parts over conventional, comparable devices can be greatly reduced. This is partly due to the fact that in the storage device 200 the elastic properties of the at least one column or the three columns shown here are exploited.

In the first coupling device and its connection with the receiving bolt 300 by means of the recording 110 the advantage is that a large part of the material processing can be done first by turning and then the finished components can be produced by a few simple milling steps.

The Cover proves to be a good alternative, because this on a purely passive drive mechanism is based and with a return element provided from a first to a second position or from a open in a closed position or vice versa is moved back.

100 100 ', 100' '

First coupling device

101

tool suspension

102

recess

103

top the recess

110

admission

111

workpiece

112

recess for receiving a cylinder

113 113 '

recess for receiving a truncated cone

114

opening

115

lateral opening wall

116

upper opening wall

117

consumption limit

120

cross hole

140

drilling

200

Second coupling device

201

Tool holder plate

202

side plate

203

baseplate

220

storage device

230 231, 232

columns

300

locating pin

312

cylinder section

313 313 '

Truncated cone section

317

Locating pin limit

320

dowel

330 331, 332, 333

mounting bolts

1110

screw

2030 2031, 2032

thread

2301 2302, 2303, 2311, 2312, 2313, 2321, 2322, 2323

turnbuckles

A

Floor space the column

G

closed position

O

opened position

500, 500 ', 500' '

cover

501

cover frame

502

cover disc

503

clamping screw

504

score

510

upper swivel

511

cover bolts

520

holder

521

lower swivel

522

tensioning pulley

523

turnbuckles

524

score

525

clamping block

526

clamping screw

540

Betätigungskufe

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 20208059 U1 [0006]

Claims (22)

Tool holder device ( 1 . 1' ) with at least one with a tool, in particular a robot tool, connectable first coupling device ( 100 . 100 ' . 100 '' ) and one with a fixed base and the first coupling device ( 100 . 100 ' . 100 '' ) connectable second coupling device ( 200 ), wherein the second coupling device ( 200 ) a tool receiving plate ( 201 ), a base plate ( 203 ) and a storage device ( 220 ), characterized in that the storage device ( 220 ) at least one column ( 230 . 231 . 232 ), wherein the at least one column ( 230 . 231 . 232 ) with the base plate ( 203 ) and the tool holder plate ( 201 ) and for storing the tool holder plate ( 201 ) is elastic. Tool holder device ( 1 . 1' ) according to claim 1, characterized in that the at least one column ( 230 . 231 . 232 ) in the base plate ( 203 ) and the tool holder plate ( 201 ) is clamped rigid. Tool holder device ( 1 . 1' ) according to claim 1 or 2, characterized in that the at least one column ( 230 . 231 . 232 ) has a length and a base perpendicular to the length (A), and the ratio of the length to the square root of the base (A) is greater than 10 to 1, preferably greater than 15 to 1. Tool holder device ( 1 . 1' ) according to any one of the preceding claims, characterized in that the storage device comprises at least three columns ( 230 . 231 . 232 ). Tool holder device ( 1 . 1' ) according to claim 4, characterized in that the at least three columns ( 230 . 231 . 232 ) are formed such that with the at least three columns ( 230 . 231 . 232 ) connected tool receiving plate ( 201 ) in a direction transverse to the length of the columns ( 230 . 231 . 232 ) is deflectable by 0.5 mm to 5 mm, preferably 1 mm to 3 mm. Tool holder device ( 1 . 1' ) according to one of the preceding claims, characterized in that the at least one column consists of metal, preferably steel, or of plastic or a combination of two of these materials. Tool holder device ( 1 . 1' ) according to one of the preceding claims, characterized in that the first coupling device ( 100 ) at least one recess ( 102 ) and preferably at least one further bore ( 140 ) for fixing a tool. Tool holder device ( 1 . 1' ) according to one of the preceding claims, characterized in that a receptacle ( 110 ) and a locating bolt ( 300 ), wherein the locating bolt ( 300 ) at least partially with the inclusion ( 110 ) is engageable. Tool holder device ( 1 . 1' ) according to claim 8, characterized in that the receptacle ( 110 ) an independent workpiece ( 111 ). Tool holder device ( 1 . 1' ) according to one of claims 8 or 9, characterized in that the receptacle ( 110 ) at least a portion having a recess for partially or completely enclosing a cylinder ( 112 ), wherein an inertia axis having a largest moment of inertia of the cylinder is formed substantially parallel along the axial joint. Tool holder device ( 1 . 1' ) according to one of claims 8 to 10, characterized in that the receptacle ( 110 ) at least one portion with a recess for partially or completely enclosing a truncated cone ( 113 . 113 ' ), wherein an inertia axis having a largest moment of inertia of the truncated cone is formed substantially parallel along the axial joint. Tool holder device ( 1 . 1' ) according to one of claims 8 to 11, characterized in that the receptacle ( 110 ) a transverse bore ( 120 ) for receiving a dowel pin ( 320 ) having. Tool holder device ( 1 . 1' ) according to one of claims 8 to 12, characterized in that the locating bolt ( 300 ) zy-lindric ( 312 ) and / or frusto-conical ( 313 . 313 ' ) Has sections. Tool holder device ( 1 . 1' ) according to one of claims 8 to 13, characterized in that the locating bolt ( 300 ) at least one dowel pin ( 320 ) and / or at least one fastening bolt ( 330 . 331 . 332 . 333 ) having. Tool holder device ( 1 . 1' ) according to one of claims 8 to 14, characterized in that the locating bolt ( 300 ) laterally on a side plate ( 202 ) of the tool holder plate ( 201 ) is attached. Tool holder device ( 1 . 1' ) according to one of the preceding claims, characterized in that at least one cover ( 500 . 500 ' . 500 '' ), which is a top ( 103 ) of the at least one first coupling device ( 100 . 100 ' . 100 '' ) in a first position (G) at least partially covered and in a second position Release position (O). Tool holder device ( 1 . 1' ) according to claim 16, characterized in that the at least one cover ( 500 . 500 ' . 500 '' ) substantially parallel to the top ( 103 ) is pivotable. Tool holder device ( 1 . 1' ) according to one of claims 16 or 17, characterized in that the at least one cover ( 500 . 500 ' . 500 '' ) is passively movable by an element mounted on a tool carrier and / or robot from the first (G) to the second (O) position or the second (O) to the first (G) position. Tool holder device ( 1 . 1' ) according to claim 18, characterized in that the at least one cover ( 500 . 500 ' . 500 '' ) a Betätigungskufe ( 540 ) having. Tool holder device ( 1 . 1' ) according to one of claims 16 to 19, characterized in that the at least one cover ( 500 . 500 ' . 500 '' ) comprises a return element, wherein the return element, the at least one cover ( 500 . 500 ' . 500 '' ) from the first (G) to the second (O) position or the second (O) to the first (G) position. Tool holder device ( 1 . 1' ) according to one of claims 16 to 20, characterized in that the cover ( 500 . 500 ' . 500 '' ) a holding device ( 520 ) and the holding device ( 520 ) frictionally with the second coupling device ( 200 ) connected is. System consisting of a robot and a tool holder device ( 1 . 1' ) according to any one of the preceding claims.