DE102006003556B4 - Tool sensor unit with pre-calibrated sensor - Google Patents

Abstract

Tool sensor device comprising:
a) a tool (1) which can be positioned relative to a reference component (13) for joining the reference component (13) to a second component or to machining of the reference component,
b) a sensor (10) for obtaining position data which describe the position of the tool (1) relative to the reference component (13),
c) a support (2) attached to the tool (1) to which the sensor (10) is attached,
d) a coupling (4, 5) releasably connecting the sensor (10) to the carrier (2),
e) and a data memory (17) for calibration data of the sensor (10) which is mechanically connected to the carrier (2) together with the sensor (10) via the coupling (4, 5),
f) wherein the coupling (4, 5) comprises a first coupling half (4) connected to the carrier (2) and a second coupling half (5) connected to the sensor (10), which together form the releasable connection,
g) and wherein the calibration data include those calibration data which ...

Description

The The invention relates to a device according to claim 1 with a tool for joining or machining of components, for example, for bolt or nut welding or Blind rivets, and a sensor to determine the position of the tool. Furthermore, the invention relates to a method according to claim 31 Invention may be particularly preferred in the vehicle industry and there find use in the assembly of vehicle parts. Within the Vehicle industry, the invention is aimed in particular at the automotive industry from.

At the welding of bolt or nut is the problem that these components relative to another component, for example a body part a vehicle to be accurately positioned in the connected state have to. The problem is basically there, where components must be connected to each other positionally accurate or a component must be processed exactly. In automated procedures the joining technique Movable tools are used in combination with sensors, to detect the position of the tool to the respective component and the tool relative to the components to be joined together or only relative to one of these components or the component to be machined position accurate to lead to a destination. If tool and assigned sensor arranged close to each other and to each other in a fixed positional relationship are, the tool can on the basis of the sensor signal until immediately be guided to an arbitrarily located destination exact position. Furthermore, the position of the tool does not need to be additionally measured. on the other hand The sensor is the adverse in many applications conditions exposed to the environment, often through the connection process are conditional, such as welding. With increasing duration of use elevated the danger of the malfunction or the complete failure of the sensor. However, replacing the sensor with a new one is costly which are to be operated according to the one to be exchanged To increase wall and time. This is especially true for one Use in a continuous series production in the weight.

From the DE 10 2004 043 072 A1 a device for processing by laser beam is known, which has a relative to at least one workpiece movable laser head, an optical arrangement for aligning and focusing the laser beam on an active zone and at least one laser head arranged on the effective zone directed camera. The laser head can be positioned in a stationary calibration station, which contains a calibration object in the active zone.

It It is an object of the invention to provide a device for joining Building components or machining a component that is a tool and for positioning the tool comprises a sensor that is simple and be replaced in a short time against a replacement sensor can.

A Device for joining a first component and a second component or edit the first component, how the invention relates to it, comprises a relative to the first component positionable tool for joining the Components or processing of the first component and a sensor for Obtaining position data showing the position of the tool relative to the first component and optionally to other components describe to which or those the tool for the joining or editing positionally accurate has to be moved. The first component is the reference or a of several references for the positioning and is referred to below as a reference component.

The Word "or" is always in the sense used by "and / or", as far as nothing else results from the respective context. Of the Term "position" in the sense the invention either the location of one body relative to another or the orientation of the body relative to the other or the location and the orientation in combination. As far as no special Statements are made, the term position refers to the Location relationship always and orientation only optional.

The Positional data obtained by means of the sensor describe the position the tool to the reference component preferably completely, so that the tool depending from these position data, preferably solely on the basis of the position data, can be positioned. The position data can be the position relative to already describe the reference component in a coordinate system, after X, Y and Z coordinates and preferably also after the angular position for reference. In preferred embodiments, however, the sensor measures not immediately a distance or an angle, but takes the reference component and generates measurement data from a downstream Data processing device for determining the tool position to be evaluated first. For example, the sensor can take a picture from the reference, i. from the entire reference component or only from an area around a destination of the reference component. In such cases the image data of the sensor are the position data. The downstream data processing device evaluates this position data and determines from this the location and preferably also the orientation of the tool relative to the reference component or to the destination on the reference component.

Of the Sensor is connected to the tool by means of a carrier. At least the Sensor is on the carrier assembled. Preferably, the tool is also mounted on the carrier. Basically the carrier but also in one piece Molded on the tool or materially connected to the tool be, for example by means of welded connection. On the common carrier is the sensor is defined in its position connected to the tool and makes his movements with the positioning. The tool, the carrier and the sensor form a movement unit. The sensor can open the carrier be movably mounted as long as its position relative to the tool defined, i. a control or regulation for the movement of the tool known or over a transmission is specified. Preferably, the sensor is mounted in the Condition relative to the wearer and not movable relative to the tool, but both fixed on the location as well as the orientation. The regarding the Mobility of the sensor relative to the carrier What has been said applies to the tool relative to the carrier as well.

The Device includes a coupling that releasably connects the sensor the carrier connects so that the sensor is replaced by an equivalent replacement sensor can be. If necessary, the sensor is only for repair or maintenance of the carrier dismantled and then remounted. Furthermore, the sensor does not have to be in all make through a completely equivalent sensor can be replaced, but can be replaced by another sensor be replaced in adaptation to, for example, another type is modified by components or other environmental conditions, around the changed Better to meet requirements.

Further The device comprises a data memory for calibration data of the sensor. The data memory is mechanical together with the sensor via the coupling with the carrier connected and thus by solving the clutch together with the sensor removable and vice versa means the coupling to the carrier mountable. Sensor and data storage form in this sense Mounting unit. The calibration data can be all Calibration data of the sensor act including calibration data, which describe the position of the sensor relative to the tool. Alternatively, you can but it is also just about those calibration data, which describe the sensor as such, but not yet the position the sensor relative to the tool. Such calibration data will be obtained before the first assembly of tool and sensor. The sensor is pre-calibrated in this sense. Will the sensor turn on? first time on the carrier mounted, there is no need to calibrate the sensor as such, i.e. of the sensor in and possibly with respect to one coupling half connected to it, but only the calibration in relation to the tool. If a CCD camera forms the sensor, for example the calibration data concerning the sensor only as such, for example distortion of a lens, the orientation of the lens relative to one for Light sensitive transducer or manufacturing accuracy of the Corrected.

The Coupling comprises a first coupling half, which is connected to the carrier, preferably stationary component of the carrier, and a second coupling half, the Preferably connected to the sensor is stationary. Preferably the clutch is formed as a quick-change coupling, for example as a dovetail clutch, in which the two coupling halves means a dovetail guide led to each other and through the dovetail guide after five Degrees of freedom of movement are fixed to each other. The sixth Degree of freedom, viz the direction parallel to the two lateral guides of the dovetail guide can for example by means of a screw or a releasable latching connection be set. As an alternative to the preferred dovetail guide, the coupling halves also by means of a differently executed linear guide be fixed to each other in combination with preferably a one-point connection, for example screwed or latched connection, preferably prevents any relative movement.

Around To facilitate the mounting of the sensor, the coupling is preferably formed so that the clutch engagement in fixing one of coupling halves can be produced manually with just one hand. For this purpose can one of the coupling halves, preferably that of the wearer, transverse to the guiding direction be resilient in itself, preferably elastically yielding to the Making the clutch engagement easier. The person in question coupling half can for example be in two parts, the two parts against the force of a spring or several springs tensioned away from each other are. The other coupling half is pressed against one of the two parts, so that the two parts be moved apart. After inserting the other coupling half, snap the two parts back to each other and take the other half of the coupling between yourself. The other coupling half becomes by means of the preferred one-point connection at one of the two Parts fixed. Optionally, the two parts of the two-part coupling half additionally fixed together, should the restoring spring force for the Fixing the sensor is not enough.

The calibration data stored in the data memory prior to mounting the sensor Pre-calibration describes the sensor as already mentioned in such a way that manufacturing inaccuracies of the sensor, individual components of the sensor or inaccuracies in the position of individual components to each other can be corrected by means of the calibration data. The calibration data includes calibration data describing the position of the sensor relative to the second coupling half. In terms of its position relative to the second coupling half, although the sensor is preferably mechanically calibrated by being exactly aligned with the second coupling half. However, errors in the alignment can still be mathematically compensated on the basis of measurements carried out by means of the sensor by means of calibration data obtained for this purpose.

at exact manufacture of the coupling halves and exact positioning of the first coupling half relative to the tool requires after the mounting of the sensor on the carrier not even a calibration relative to the tool. However, it corresponds to preferred embodiments, when the sensor is in the assembled state with respect to its position relative to the tool is measured and from the measurement more Calibration data are obtained. The sensor is in such embodiments before mounting on the carrier pre-calibrated and finally calibrated in assembled state.

The Calibration data obtained from the two calibrations can be stored in the data memory of the sensor to be stored as two records. The final calibration is in preferred embodiments performed by a data processing device, the later Use of the device together with the sensor to the device belongs and the position data obtained by the sensor for an actuator control a movable in space actuator, where the unit from tool, carrier and sensor attachable or already attached. The data processing device is preferably an external device to the actuator control and with the actuator control signaling by cable or without wires, For example, by radio, connected. The data processing device is preferably housed in a separate housing. she can in close spatial Connected to the sensor and shared by the clutch with the sensor on the carrier be mountable. Preferably, however, it is also an external device in terms of the sensor and with the sensor also signaling leadless or preferably connected by cable. The data processing device has one Data storage, in which advantageously the calibration data of the final calibration get saved. In such embodiments, the data store contains the sensor preferably only the calibration data of the pre-calibration, and the data memory of the data processing device contains the calibration data the final calibration. When positioning the tool or preferably only once during commissioning of a new sensor its calibration data are read and stored in the data memory of Data processing device as a second record in addition to the Calibration data of the final calibration permanently stored or only cached. The data processing device, too receives the position data of the sensor in the operation and for the actuator control processed, the two calibration data sets can be permanent save and process in the evaluation of the position data or from the two calibration records form a new calibration record and store it permanently, which then stores all kinds of manufacturing or position errors of the sensor during the preparation of the position data corrected mathematically. The data processing device and its Cooperation with the actuator control and the sensor is in the German patent application entitled "Control for a tool-sensor device" described the applicant deposited on the same day as the present application Has. With respect to the controller and in particular the data processing device the parallel application is referenced.

at The stored calibration data may be pure measurement data act. Preferably, however, the calibration data are already correction values or if necessary, only a single correction value, the or at positioning the tool as a constant value with each of the Sensor determined position data is or will be charged, preferably only additive or multiplicative to the manufacturing or position errors to correct the sensor. The correction values are preferably mathematical transformation rules for a mathematical correction of sensor errors. If the position data is image data, the Calibration data, for example, a shift or rotation or Cause stretching or compression of the recorded image. The example mentioned transformations, such as stretching, the entire Image or just one or more local areas of the image affect.

The tool is preferably a tool for joining, ie a tool for producing a joint or for holding a component to be joined. In particular, it can be a joining tool for producing a material bond, for example a welding device, soldering device or adhesive device, or a tool for a joining technique based on force or positive locking, for example a riveting device, screwing device or roller folding device. Preferably, it is in the Able to automatically connect the components. It may include a feeder for second components, such as bolts, nuts, screws, rivets, hinges, and the like. In alternative embodiments, it is a holding device for the second component, for example, a clamping device or gripping device for an attachment of a vehicle body, which holds the respective attachment during assembly. The second component may be in such applications for example a vehicle door, a flap, hood, a fastening serving hinge or a vehicle lamp. The tool may alternatively be a machining tool, preferably for a machining operation such as in particular milling or drilling. Also, multiple tools may be connected to the sensor via the carrier so that the sensor serves to position each of these tools. In such embodiments, by means of the sensor, the position data for one of these tools can be obtained, which serves for the positioning of such an extended tool-sensor device as a reference tool. The other or several other tools are movably connected in such a manner with the carrier in a predetermined manner, so that the positioning of the reference tool is sufficient for the positioning of the one or more other tools. Alternatively, each of the tools combined with each other by means of the carrier can successively form the reference tool for the sensor if the respective tools are used successively or simultaneously at different target locations on the reference component. Advantageously, the combination of a holding device for a second component, such as a vehicle attachment or a hinge for a hinged attachment of the attachment, with a joining tool for attaching the second component to the reference component. Examples are the combination of a holding device for a vehicle lamp with a welding or riveting tool for fixing the vehicle lamp or a holding device for a vehicle door with a welding or screwing tool. As an alternative to the arrangement of several tools on the same carrier, a separate sensor can also be provided for each of the several tools. The tool-sensor devices, which in this case are of the same type, are moved and activated in a coordinated manner with regard to control technology.

Of the Although sensor can basically be undirected, d. H. record from all directions, preferred However, it is a directional sensor with a measuring surface, preferably Measuring plane, which is directed in a measuring direction and only signals absorbs that hit the measuring surface from one direction at least has a pointing against the direction of measurement direction component. The sensor accordingly has a measuring axis parallel to the measuring direction. The measuring axis is a surface normal on the measuring surface and extends through a central area of the measuring surface. The Measuring direction can coincide with a working direction of the tool or pointing at an angle to the working direction. Be preferred are the Working direction of the tool and the measuring direction of the sensor parallel spaced apart, one between the measuring axis and a central working axis of the tool measured distance over about 30 cm should not go out. Such a small distance from tool and sensor is synonymous for one to the working direction of the tool angular arrangement of the sensor advantageous. The working direction is a tool for setting For example, nut, bolts, rivets or screws the longitudinal direction understood such second components. With a glue tool would it be according to the exit direction of the adhesive, in a holding device For example, a direction in which the held component against the reference component is pressed, for example. The calibration data the pre-calibration preferably include such calibration data, by means of which a possible geometry error of the measuring surface, for example a vaulting error, can be corrected.

Of the Sensor is preferably an optical sensor, although the use another sensor, such as another electromagnetic Sensors or an ultrasonic sensor, can not be excluded should. Particularly preferred is an image capture device the sensor. The sensor can be a 3D sensor or in preferred, simpler versions be a 2D sensor. It is also conceivable a combination of at least two 1D sensors, by means of which the destination in a view plane of the reference component can be determined. In very simple versions, the sensor can also be only a 1D sensor, such as a distance sensor, with the only the distance of the tool to the reference member along a single axis is determined. In particular, a CCD camera be used. When final calibration is in the case of an image-capturing Sensors preferably the image center point of the sensor to the place of Mounting the sensor on the carrier or equal to calibrated to the tool.

A sensor control for controlling the activity of the sensor is preferably also arranged on the carrier, preferably mechanically connected to the carrier together with the sensor via the coupling. The sensor control is connected to a higher-level control, which controls the movements of the tool and thus also of the sensor as a function of the position data. The position data are given to the higher-level control, and the sensor control is controlled by the higher-level control triggered to activate the sensor. If the sensor comprises a radiation device, for example a laser or an illumination device, the radiation device is preferably activated by the latter when the sensor control is actuated. If a transducer of the sensor has to be activated, it is activated via the sensor control. Measures the sensor purely passive, so if it contains only one transducer, the activation can only consist, for example, that the position data of the sensor in the data memory for the calibration or another data memory of the sensor read or transmitted directly to the parent control, if necessary via a sensor-own data processing device. Preferably, the position data of said external data processing device are transmitted for evaluation.

The parent Control uses the position data in preferred embodiments only for the formation of a reference variable. alternative can be the parent Control be developed to a scheme that from the position data forms a controlled variable. In a preferred embodiment is the destination of the parent Control specified, the parent Control or the preferably intermediate data processing device evaluates the position data and calibration data and forms from this a new leader for that Tool positioning adjusting device.

The Device is in preferred embodiments of a movable in space Attached actuator that can form a particular robotic arm. The parent Control is in such embodiments the actuator control, the term of the actuator control as above explained may also include a regulation.

On the carrier a data processing device for the processing of means The sensor obtained position data arranged, in particular common be mechanically connected to the sensor by means of the coupling with the carrier. However, this data processing device is preferably one to the sensor external device that is not common with the sensor mounted by means of the coupling and preferably not on the carrier is arranged. In preferred embodiments, this data processing device is the data processing device already described in connection with the calibration. In another variant, but also not the preferred is the data processing device for processing the position data integrated part of the actuator control or another parent Control. The data processing device preferably calculates already the position of the tool in the measuring coordinate system. In this case becomes the parent Control the calculated position or preferably already Correction vector transmitted as a reference variable. The data processing device can in particular be a data memory for the Position data and, where appropriate, data of a higher processing level include. If the data processing device is arranged on the carrier is, it includes the data memory of the sensor with the stored therein Calibration data.

To the Protection against harmful environmental influences such as dirt and humidity, the sensor is more preferred execution in a housing arranged. The housing is preferably connected together with the sensor via the coupling to the carrier and therefore interchangeable with the sensor. The housing faces an opening on, through which the sensor for the recording of the position required signals can record. In the case of the preferred optical sensor, the opening is translucent. For working in adverse environmental conditions, as they occur during welding, for example, is preferably a Shutter provided between a protective state in which he the opening closes, and a release state in which it releases the opening, reversible is. Although the parent controller could control the closure, it is preferred if the said sensor control, the preferred in the case arranged and over the coupling with the carrier is connected, the shutter depending on the sensor activity between reverses the protection and the release state. The closure can formed, for example, as a slide or preferably as a hood or flap be. When shifting the shutter control in the sensor control becomes the parent controller relieved.

The device can have a radiation device for emitting a signal that can be received by the sensor after reflection. The radiation device may, for example, be an ultrasound transmitter or preferably a device for emitting electromagnetic energy, with the optical range being preferred from the electromagnetic spectrum. In embodiments in which the sensor operates as preferred in the wavelength range of visible light, in the UV range or in the IR range, the radiation device can be a lighting device with which the destination or another location lying on the way to the destination location illuminated if daylight or any artificial lighting installed in the vicinity is insufficient to illuminate the site or if a particular lighting effect is to be generated at the site and used for the measurement. The illumination device preferably comprises a plurality of light-emitting diodes, which advantageously arranged distributed around the opening of the housing. In order not to dazzle personnel working in the vicinity of the device, the illumination device preferably radiates with IR light or red light. A lighting device that emits white light, not least in view of the low price in alternative versions preferred. The illumination device may in particular comprise LEDs, preferably it consists of LEDs. A preferred camera or other optical sensor may be equipped with a suitable filter for the light of the illumination device.

One Laser or an array of multiple lasers may also be the radiation device form. The sensor and a subordinate, on the carrier or arranged elsewhere data processing device can advantageously work according to the light section method, for example attachments to be mounted on vehicle bodies or body parts. through Light-slit method can be mounted in particular with regard to a high gap quality become. The or preferably several lasers emit laser light preferably in such a way that at least one narrow, elongated laser strip or preferably several adjacent form extending laser stripe, or by means of the sensor received and from the data processing device in the sense of Light section method are evaluated. With the light-section method can in particular, the gap width and the fall between two of the relevant Gap between forming component edges of two components determined become.

The Radiation device is preferably on the housing easily replaceable fastened to adapt to the respective Measuring task to combine the sensor with different radiation devices to be able to. If a protective screen the opening of the housing covers, the radiation device can advantageously part the protective screen be embedded in example in the protective screen or attached to the protective screen. In such an education the protective screen is advantageously easily replaceable on the housing of the Sensors attached.

The Radiation device is preferably switched on and off and in further developments the radiation intensity adjustable. To the parent Relieve control of the function of a radiation control, the radiation device is in advantageous developments controlled by the integrated sensor control, i. switched on and off and optionally adjusted to an optimal radiation intensity.

For the transmission the position data of the sensor to the higher-level control is advantageously used an optical waveguide. The data transmission therefore can not be affected by magnetic fields of the environment, as they are for example, during welding occur, disturbed become. The signal transmission from the parent Control for sensor control can be via an electrical signal line take place, but preferably also the signals of the parent Transfer control or regulation via fiber-optic cable to the sensor control, preferably over the fiber optic cable, which also transmits the data output by the sensor. In still Another development is the control signals for the tool transmitted via fiber optic cable, for example, over again the same optical fiber. In another preferred embodiment communicates the control in conventional Way over an electrical line with the tool.

Of the easy interchangeability of the sensor is conducive when the connections for transmission the position data, the control signals and the power supply integrated into a single cable connector so that the connections solved with the same handle or can be made. The power supply line and the line or lines for transmission The data from the sensor or the control signals to the sensor can advantageously be combined in a hybrid cable, wherein the one or more optical fibers and an electrical conductor within a common jacket run. In alternative versions the data of the sensor or the control signals are transmitted wirelessly, preferably by radio.

The device advantageously further comprises a calibration device, with the aid of which the calibration data of the sensor mounted on the carrier can be determined. The calibration device is advantageously always available for calibration in a workstation of the device for calibration. The calibration device comprises a reference element and at least one, preferably a plurality of marks in one or each one with respect to the reference element predetermined position. During the final calibration, the reference element and the tool are positioned relative to each other, preferably by contacting. In the contacted state, the mark or marks are received by the sensor. The reference element is preferably a contact element for direct contact with the tool, for example a tool tip. The position data recorded by the sensor are evaluated by the data processing device and advantageously already offset to correction values. Since the calibration data of the pre-calibration already exists and the position or positions of the mark or marks relative to the reference element is known or the final calibration can be carried out on-site with little effort and therefore little expenditure of time. Preferably, the final calibration is carried out automatically by the actuator brings after changing a sensor, the tool in contact with the reference element and the sensor in this state receives the mark or more brands.

The Device is preferably also equipped with a display, indicating whether the signal connection between the sensor and the Data processing device exists and works properly. A corresponding control device can be part of the sensor control or more preferably the data processing device. The ad is preferably in the sensor, suitably on the housing of Outside well arranged. The ad should be particular from the place be attached to the data processing device from clearly visible. The display is advantageously a simple light, for example an LED and as such may be part of the radiation device or preferably separately for the indication of the status of the signal connection can be provided. The Control of the signal connection is from the data processing device from preferably made behind the sensor control, d. H. between the sensor control and the transducer of the sensor. At the same time with the control of the signal connection also the further check whether the energy supply is guaranteed is, otherwise the ad does not display. The ad can in simple versions also just indicate if the power supply to the sensor is working. In such embodiments the display combines the functions of display and control in one. In such a simple design, but also in the Function as indication of the status of the signal connection, becomes the energy for the Display preferably between the sensor control and the pickup branched off the sensor.

The Invention has in addition to the device and a method of assembly including the calibration of the sensor to the object, which are the Assembly at the first creation of the device or in particular can be an exchange of the sensor. In the process is the sensor as such, d. H. in itself and preferably also relatively Measure to the second coupling half connected to the sensor. The measurement data obtained by this measurement are stored in the data memory the sensor control directly or stored as derived correction values. The stored data form the calibration data of the pre-calibration. The sensor and the sensor control become after the pre-calibration by means of the coupling on the support assembled. The mechanical assembly is followed by a final calibration at which the sensor with respect its position relative to the tool is calibrated. The from the Final calibration obtained calibration data are directly or as derived correction values stored, for example in the data memory the sensor, a memory of the actuator control or preferably a data memory of said external data processing device.

advantageous Features of the invention are also in the subclaims and their combinations are described. Features disclosed in the subclaims and the embodiments described above may be mutually exclusive mutually complementary be combined. It is further noted that the invention in the present case with the features d) and e) of claim 1 and also according to the claimed method of mounting on easy Interchangeability, but the applicant reserves the right to a device having only the features a) to c) of claim 1, optionally supplemented by one of the features d) and e) to issue a divisional application, for example, the integration of additional functions in the sensor control concerns, such as the control of the protective device or radiation device or any other means of measurement conducive to the measurement. The same thing applies with respect to the connection of the device with a higher-level control or preferably a data processing device by means of optical waveguides. The arrangement of a reversible protective device and also their Shape are also features of particular interest. Advantageous Furthermore, it is already only the integration of a tool, in particular a welding or rivet head, and the sensor on a common carrier in an immediate spatial Close to each other and also the installation of the sensor by means of quick-change coupling.

following is an embodiment of Invention explained with reference to figures. On the embodiment Obviously emerging features form each individually and in each combination of features the objects the claims and also the embodiments described above advantageous further. Show it:

1 a tool-sensor unit for positionally accurate connection of components in a perspective view,

2 a sensor unit of the tool-sensor unit in a side view,

3 the sensor unit with transparent side wall,

4 a workstation and a control of the tool-sensor unit in a schematic Presentation,

5 a calibration device,

6 a sensor unit in a second embodiment in a perspective view and

7 the sensor unit of the second embodiment with mounted light shield.

1 shows a tool-sensor unit for positionally accurate connection of components that a tool 1 , a sensor 10 and a carrier 2 includes. The carrier 2 serves the mechanical attachment of the tool-sensor unit on a movable in space actuator, preferably a robot arm. The tool 1 is on the carrier 2 fixed and immovable mounted. The sensor 10 is in a housing 20 recorded, which is also stationary and immovable on the support 2 is arranged. The carrier 2 and the sensor housing 20 are releasably connected to each other by means of a coupling. The coupling is for a quick replacement of the sensor 10 formed as a quick-change coupling. The clutch comprises a first coupling half 4 that stuck with the carrier 2 connected, and a second coupling half 5 that stuck to the case 20 connected is. The coupling 4 . 5 is designed as a linear guide, in the embodiment as a dovetail guide. The fixation along the two guides of the first coupling half 4 takes place by means of a single screw connection or for an even faster exchange by means of a detachable latching connection.

The first coupling half 4 is longitudinal in two coupling parts 4a and 4b divided. The coupling parts 4a and 4b each form one of the two guides of the first coupling half 4 , They are elastically stretched towards each other transversely to the guide direction and correspondingly movable away from each other against the elastic restoring force, so that the first coupling half 4 can be widened transversely to its guiding direction in its management plane. The coupling part 4b is with the carrier 2 not movably connected. The coupling part 4a is with the coupling part 4b movably connected transversely to the guide direction. The transverse mobility facilitates the insertion of the second coupling half 5 in the direction of an axis perpendicular to the management plane, by the coupling half 5 under the leadership of the movable coupling part 4a inclined to the management level is introduced, the coupling parts 4a and 4b by pressure against the coupling part 4a moved apart and then the coupling half 5 is tilted to the management level. As soon as the pressure on the moving coupling part 4a decreases, grab the clutch parts 4a and 4b under the elastic restoring force back to each other and grasp the coupling half 5 on both sides. If the elastic clamping force does not guarantee a sufficiently tight fit, an additional single-point connection is provided, by means of which the coupling parts 4a and 4b transverse to the guide direction relative to each other, preferably to each other, are set.

The tool 1 is a welding device by means of a reference component, such as a body part or a body shell of a vehicle, a second component, such as a nut or a bolt, can be fastened by means of welded connection. A front end of the tool 1 Such second components are each supplied individually, at the front end of the tool 1 held, which also serves as a holding device with respect to this function, and welded to the first component relative to the latter after accurate positioning. Alternatively, the relevant second component is only after the exact positioning of the tool 1 promoted to the front end of the tool. If the second components are, for example, nuts, they are placed with exact positioning on a hole of the first component and welded.

Of the in particular equipped with the tool-sensor unit actuator be located in a workstation on a production line, along the the reference components one by one in the workstation and after joining be required from the workstation. In preferred uses It is a production line for series production of car bodies.

The first component preferably rests during the tool 1 is positioned. In a further development, however, it would also be possible for the actuator to be tracked by means of the actuator control to a first component moving during the positioning and optionally also during the connection.

2 shows the tool-sensor unit in a further view of the housing 20 , In 2 is also a positioning pin 3 recognizable to one of the tool 1 and the sensor 10 opposite bottom of the carrier 2 protrudes and part of a connecting device, by means of which the carrier 2 is attached to the actuator.

The housing 20 protects the sensor 10 against the adverse effects of the environment, such as water, water vapor, dust and other dirt. In particular, it shields the sensor 10 but also from the welding process.

3 shows the means of the coupling 4 . 5 on the carrier 2 mountable and from the carrier 2 again detachable part of the tool-sensor unit. This part includes the housing 20 with the sensor arranged therein 10 and the coupling half 5 , The viewer facing side wall of the housing 20 is shown as transparent, so that the view into the interior of the housing 20 free is. The to the carrier 2 belonging first coupling half 4 is also shown for purposes of illustration of clutch engagement, but is not part of the sensor unit.

The sensor 10 serves for the exact positioning of the tool 1 relative to the respective first component. For this task is the sensor 10 as a two-dimensionally measuring, optical sensor, formed in the embodiment as a 2D CCD camera. It consists of a photosensitive transducer 11 and a lens 12 , The photosensitive transducer 11 is a photosensitive, two-dimensional pixel array. The sensor 10 is including his lens 12 in the case 20 arranged. The pickup 11 forms a measuring surface, in the exemplary embodiment, a measuring plane, with a parallel to the surface normal of the measuring plane measuring direction M. The measuring direction M is to the working direction of the tool 1 parallel. In the 2 and 3 is the in the measuring direction M facing, with respect to the transducer 11 central measuring axis drawn.

The housing 20 is with an opening 21 provided by the sensor 10 absorbs the light required for the measurement. A translucent protective screen 22 covers the opening 21 , The protective screen 22 is on the outside of the case 20 releasably attached and can be replaced quickly. From the opening 21 apart, the housing forms 20 a closed container. The housing 20 is made of light metal.

During welding, the protective screen becomes 22 from a lock 26 protected against welding spatter, sparks and the like. The closure 26 is a metallic clasp closure. The closure 26 is in the 2 and 3 shown in 3 but removed to reveal the view of the sensor. For the detection of the reference component, which is understood as the detection of only a portion of the reference component, the shutter is 26 from the opening 21 folded down, leaving the opening 21 releases. After detection of the reference component, the shutter becomes 26 again against the opening 21 folded and closes in a protective state, the housing 20 at its front facing the joining of the first component. The closure 26 is between the in 1 and 2 shown release state and the protection state reversible, ie stored back and forth movable.

In addition or instead of the lock 26 can the protective screen 22 be subjected to a cross-jet, ie one at high speed on the outer surface of the protective screen 22 flowing gas stream. The cross-jet acts like a lock and prevents smaller parts or sparks generated during welding against the protective screen 22 can bounce. The cross-jet is preferably produced pneumatically, ie it is an air flow. One to the generation on the vehicle 2 arranged, preferably on the housing 20 attached nozzle is formed in preferred embodiments as a Lavall nozzle.

The sensor 10 and also the tool 1 communicate via a signal line 31 with an actuator control, which controls the movements of the actuator. The actuator control is given in a first step as a reference variable, the target position of the first component. By means of the sensor 10 become the actual position of the tool 1 and determined therefrom a correction vector and the actuator control abandoned as a new reference variable. After the actuator and thus jointly the attached tool-sensor unit has been moved closer to the destination according to the correction vector, the actual position and from it a new correction vector are determined, which is the actuator control again abandoned as a new reference variable. In this way, the positioning of the actuator in discrete steps is successively improved until the destination is reached with sufficient accuracy. The signal line 31 transmits those from the sensor 10 determined position data of the actuator and thus the tool 1 , When the tool 1 in terms of the location of the connection, the destination is precisely positioned, becomes the tool 1 activated, so that at the destination a second component, such as a bolt or a nut, is welded.

The signal line 31 is an optical fiber and is by means of a cable connector 30 , which is preferably formed as a Harting connector connected to the tool-sensor unit. The connection counterpart of the cable connector 30 protrudes from a cable connection 25 off at the from the opening 21 opposite rear side of the housing 20 is arranged.

In the case 20 is an opto-electronic converter 15 arranged. The converter 15 converts the electrical output signals of the sensor 10 , ie the position data, into optical signals, which are then transmitted via the optical waveguide 31 be transmitted. The tool-sensor unit is connected via the cable connector 30 and an outgoing power supply line 32 supplied with electrical energy. It thus becomes the entire signal and energy flow of the sensor 10 over the same cable connector 30 directed. The control signals for the tool 1 and also its energy are conducted over another line connection, whereby the embedding of the sensor 10 into the system from Ak gate and tool 1 is relieved.

In the case 20 is a sensor control 16 recorded the activity of the sensor 10 controls, the sensor control 16 essentially consists in that of the transducer 11 received signals as position data in an internal image memory or a register memory stores or directly via the converter 15 forwards. The sensor control 16 furthermore has a data memory 17 , in which the calibration data of the sensor 10 stored in the form of sensor correction values. The data store 17 may be part of the image memory, if such in the housing 20 is included. If the sensor control 16 already has its own image memory, ie one in the housing 20 recorded image memory has access, the sensor control 16 the position data already taking into account in the data memory 17 Correct stored calibration data and store as corrected position data in the image memory. The position data, namely the recorded position data or already corrected position data, are transmitted via the optoelectronic converter 15 and the optical fiber 31 forwarded to a data processing device and evaluated there and prepared for the actuator control.

About the activity of the sensor 10 In addition, the sensor control controls 16 also a lighting device 23 and the closure 26 , The lighting device 23 includes a plurality of light emitting diodes surrounding the opening 21 evenly distributed and in the protective screen 22 are embedded. The lighting device 23 is only on and off. The sensor control switches accordingly 16 the lighting device 23 when the destination is to be detected, and turns it off after detection. She controls the shutter synchronously 26 between the protection state and the release state. For reversing the lock 26 is in a separate compartment of the housing 20 an actuator 27 arranged, which is designed in the embodiment as an electric stepper motor. The actuator 27 swings the lock 26 via a gearbox 28 , which is formed in the embodiment as a crank.

The closure 26 is shaped so that it is the transducer 11 of the sensor 10 also shields in the release state on three sides against the environment, even at the tool 1 facing side by the shutter 26 there forms a partition. In order to fulfill the protective function even in the release state, the shutter is 26 shaped as a hood which forms a measuring channel extending in the measuring channel M with walls that surround the measuring channel at three mutually perpendicular sides. However, the measuring channel is open on the remaining fourth side. In this way, dirt particles and, for example, welding spatter only in the vicinity of the sensor 10 when they move in the longitudinal direction of the measuring channel or arrive through the open side. The hood-like closure 26 consists of two side walls leading to the side walls of the housing 20 parallel and to the side walls of the housing 20 are closely applied, and a connecting cover, which in the release position parallel to a side facing away from the actuator top of the housing 20 has. The two side walls of the closure 26 are parallel to each other and the cover wall has at right angles to these side walls. The three walls are each plan. If the shutter 26 is pivoted into the protective position, pivots its cover wall in front of the opening 21 , and the two side walls pivot into a substantial overlap with the side walls of the housing 20 , The pivot axis extends transversely to the measuring direction M, in the embodiment parallel to the opening 21 covering cover wall, and by a in the release position in coincidence with the housing 20 located rearmost portion of the side walls of the closure 26 ,

Because the gear 28 for the agility of the lock 26 the housing 20 engages, is the interior of the housing 20 in particular, the sensor 10 and the sensor control 16 with the data store 17 and also the converter 15 are arranged again specially encapsulated. The encapsulation comes with a seal 24 produced, which seals the said components water and dustproof and preferably also against water vapor. The seal 24 also surrounds the opening 21 , The protective screen 22 is on the case 20 so attached to the gasket 24 presses and for the opening 21 a translucent, but otherwise dense protection is obtained. The actuator 27 and the gearbox 28 are outside the encapsulation thus obtained. The seal 24 seals the interior of the housing 20 also against the case 20 attached cable connection 25 from.

4 shows a workstation for joining components. The sketched automobile is representative of a reference component 13 For example, a body shell of an automobile, on the workstation in the one or more second components, such as bolts or nuts, positioned and welded. As stationary reference system and measuring coordinate system of the workstation is used in vehicle standard Cartesian X, Y, Z coordinate system with pointing against the direction of travel of the vehicle X-axis, the Z-vertical axis and pointing in Fahrzeugachsrichtung Y-axis. In the workstation, a robot is stationary assigns. The robot has a single robot arm whose free end is the actuator 6 forms. The actor 6 is pivotally connected to the stationary base of the robot via rocker arms and push rods and movable relative to this and the X, Y, Z reference system both in the three degrees of freedom of translation and in the three degrees of freedom of rotation. In the so-called Tool Center Point TCP of the actuator 6 is that the actor 6 fixed X ', Y', Z 'coordinate system of the robot located. The detached tool-sensor unit is by means of its carrier 2 on the actuator 6 attached so that its X ', Y', Z 'system is also the fixed coordinate system of the tool-sensor unit.

4 schematically shows the actuator control 7 and the already mentioned data processing device 8th by the actuator control 7 and also moved away from the tool-sensor unit and is preferably arranged stationary in the workstation. The actuator control 7 , is located in or at the base of the robot, where also the data processing device 8th can be arranged.

4 also shows the signal flow for the positioning of the actuator 6 and the moving tool-sensor unit and the activation of the tool 1 , The actuator control 7 and the data processing device 8th are via an electronic data bus 33 connected with each other. In the data bus 33 it is a standard data bus such as the fieldbus common in industrial applications. The tool-sensor unit and the data processing device 8th are over the already described optical signal line 31 signal technically connected. The data processing device 8th is for this communication with an optoelectronic converter 14 fitted. The entire signal flow between the actuator control 7 and the sensor 10 runs over the Datenverarbeitungsein direction 8th , With the tool 1 is the actuator control 7 however, directly connected, in particular without interposition of the data processing device 8th , which is therefore exclusively for the sensor 10 is provided. The actuator control 7 has connections for external devices. At one of these ports is the data processing device 8th over the data bus 33 connected. Another of the connections is the tool 1 connected. Via a third connection, the actuators of the robot, for example electric motors, are controlled by control signals A, wherein this control expediently also includes a regulation of the actuators. Another connection is the actuator control 7 with a higher-level station or plant control 9 which coordinates the robot with other robots or other facilities of the same workstation or multiple workstations of the production line.

In 4 takes the actor 6 relative to the component 13 a starting position. The component 1 is positioned in the X, Y, Z reference system of the workstation and ready to perform the joining process. The actuator control 7 is the component target position in which the component 1 Ideally, it is known, ie predetermined. The station or plant control 9 transmitted to the actuator control 7 a start signal, after which the actuator control 7 by means of control signals A, the movement of the actuator 6 in the direction of the target position directly or previously initiated a measurement process. In any case, the actual position is the actor 6 relative to the component 13 occupies determined before reaching the predetermined target position by measurement. This is necessary in view of the requirements placed on the accuracy of the positioning of the second component or of the plurality of second components, since on the one hand it is not ensured that the reference component 13 the predetermined target position actually takes, and on the other hand, the tolerances and elasticities of the movable elements of the robot for inaccuracies in the position of the actuator 6 to care. In the reference component 13 It is possible that it does not occupy the target position as a whole or due to inaccurate shape or subsequent delay, a destination on the component 13 is not in the set position.

After receiving the control signal from the station or plant control 9 generates the actuator control 7 a measuring command S to the sensor 10 to activate. The measuring command S is via the data bus 33 and the data processing device 8th namely, their transducers 14 , in the signal line 31 fed and passes as an optical measuring command S to sensor near converter 15 , which converts the measuring command S back into an electronic signal, the sensor control 16 receives. The sensor control 16 controls the actuator 27 of the lock 26 on, whereupon the shutter 26 is moved to the release position. If the lighting conditions on site require it, the sensor control controls 16 Furthermore, the lighting device 23 to illuminate the destination. The reflected light from the destination passes through the opening 21 and is about the lens 12 on the pickup 11 where it photoelectrically creates a two-dimensional image of the destination. The pixel charges of the pickup 11 be in the case 20 arranged image memory or there only existing register memories cached. Once the sensor control 16 has recognized that the complete image information has been recorded, it switches the illumination device 23 if activated, and controls the actuator 27 around, leaving the shutter 26 is moved back into the protective position. The position data P become over the two transducers 14 and 15 and the signal line 31 to the data processing device 8th transfer.

The sensor control 16 may be equipped with the ability to calculate corrected position data from the recorded position data and the stored calibration data. In a preferred alternative, however, does not have the sensor control 16 about the ability, rather it corrects the data processing device 8th the recorded position data P. It is conceivable, for example, that per measurement or recording respectively recorded position data P and the sensor 10 stored calibration data to the data processing device 8th be transferred and charged there together. The more preferred are the sensor 10 stored calibration data only once during assembly of the sensor 10 from its data store 17 read out and into a data memory of the data processing device 8th where they are available for further billing.

The data processing device 8th has a data memory in which are stored with the position data P corresponding target data representing the image that the sensor 10 picks up when the actor 6 relative to the reference component 13 assumes the target position. The target data thus specify the target image. The data processing device 8th has a comparison device which automatically compares the position data P with the target data upon receipt and calculates the actual position based on the comparison that the actuator 6 at the time of measurement relative to the component 13 occupies. The data processing device calculates the difference between the target and the actual 8th preferably directly a correction vector K, which consists of a total of six coordinate values, namely three translation coordinates and three angular coordinates by which the actuator 6 must be moved from its current actual position, relative to the reference component 13 to reach the target position. The actuator control 7 received from the data processing device 8th the correction vector K via the data bus 33 , The correction vector K is expediently in the X ', Y', Z 'coordinate system of the actuator 6 specified. The actuator control 7 controls the actuators of the robot so that the actuator 6 by the correction vector K is moved on. Appropriately, the actuator 6 is not moved by the entire correction vector K, but only by a part of the correction vector K. More preferred is the data processing device 8th in an alternative embodiment set up so that they are the actuator control 7 only one with respect to at least the translational component shortened correction vector K transmitted to the actuator control 7 then complete. After execution of the correction vector K or a part of the correction vector K corresponding motion transmits the actuator control 7 again a measuring command S, via the converter 14 and 15 for sensor control 16 which then initiates a measuring process again. The re-measurement process and the further data processing and control processes correspond to the described cycle.

The data processing device calculates during each measuring process 8th not only the correction vector K of the respective measurement process, but also determines based on a quality criterion, whether at the time of the last measurement by the actuator 6 assumed actual position with sufficient accuracy of the actual location and condition of the component 13 corresponding reference position corresponds. As a quality criterion, in particular a square distance measure can be used, for example the length of the translational component of the correction vector K and a corresponding measure of the angular position. When the data processing device 8th determines that the quality criterion is not met, it generates a new correction vector K, the actuator control 7 executing. If the quality criterion is met, it sends the actuator control 7 a corresponding output signal.

If the actuator control 7 from the data processing device 8th the information receives that the actor 6 already with given accuracy to the component 1 is positioned or in an alternative embodiment, the verification of the quality criterion of the actuator control 7 is performed and this has detected the fulfillment of the quality criterion, generates the actuator control 7 a control signal T, whereby the tool 1 is activated. The as a tool 1 exemplarily selected welding device presses a bolt or a nut at the destination against the component 13 and weld this second component at the destination. Subsequently, the actuator control transmits 7 the actuators of the robot control signals A, so that the actuator 6 is moved back to the starting position. If with the component 13 another second component must be joined, the actuator can 6 also directly into a new desired position or deviating from the starting position, for example closer to the component 13 moved intermediate position from which out the new target position is controlled as described.

The sensor 10 forms with the sensor control 16 , the optional equipment 23 and 26 and the converter 15 a sensor unit. Should one of the on the carrier 2 arranged components of the sensor unit to be defective, the sensor unit is replaced as a whole. For the exchange, only the two interfaces, namely the clutch 4 . 5 and the cable connector 30 be solved. The already pre-calibrated, new sensor unit is using the clutch 4 . 5 on the carrier 2 mounted and by means of the cable connector 30 again to the data processing device 8th connected.

Before assembly, the new sensor unit is pre-calibrated as already mentioned. As part of the pre-calibration, the sensor becomes 10 with respect to its orientation relative to the second coupling half 5 measured. A position error detected by the survey between the sensor 10 and coupling half 5 will be corrected. The correction consists in a mechanical positioning of the new sensor 10 relative to the second coupling half 5 by taking the measuring axis of the new sensor 10 with the measuring axis of the second coupling half 5 is put into flight. The new sensor 10 is mechanically centered and aligned with respect to its measuring axis. At the sensor 10 of the embodiment has the measuring axis of the sensor 10 perpendicular to and centrally through the measuring surface of the transducer 11 , the level of the pixel array. The measuring axis of the second coupling half 5 is parallel to the working direction of the tool 1 and runs centrally through the opening 21 of the housing 20 ,

The sensor positioned mechanically with respect to location and orientation on the coupling half 10 is then measured in itself by a calibration field with marks of predetermined position from several different, but predetermined distances at the same angular position of the sensor 10 recorded to the calibration field and the images are evaluated by image processing. The calibration field is preferably a calibration template in the form of a predetermined grid of color dots, holes or luminous dots, which are each formed, for example, by an LED or a combination of such marks. By comparing the recorded image data with the known image data of the calibration field, the image errors of the sensor 10 calculated. The image errors and possibly even after the mechanical positioning position error or preferably a calculated therefrom correction value or multiple correction values is or will be used as calibration data of the pre-calibration in the sensor's own data memory 17 stored. The second calibration step is performed on the sensor 10 of the embodiment in particular manufacturing inaccuracies of the pickup 11 and the lens 12 balanced. The sensor unit is precalibrated to the user in this way, either as a replacement unit for replacing a damaged sensor unit or for a first assembly of a new tool-sensor unit. Alternatively, the user may first obtain the entire tool-sensor unit after assembly.

The sensor unit with the already to the second coupling half 5 and in itself calibrated sensor 10 is then on the carrier 2 mounted and by means of cable connector 30 connected. The coupling 4 . 5 allows easy and quick mechanical mounting on the carrier 2 , When assembled, the sensor becomes 10 relative to the tool 1 calibrated. The calibration data obtained from this final calibration are likewise stored in the data memory in a first variant 17 filed in the form of correction values. Alternatively, the calibration data of the pre-calibration and the calibration data of the final calibration may also be provided by the sensor controller 16 are processed to new calibration data and additionally stored, or the calibration data of the pre-calibration are overwritten with the new calibration data. In a preferred second variant, the calibration data of the end calibration is not stored in a data memory of the sensor 10 ie one on the second coupling half 5 stored data storage, but in a data memory of the data processing device 8th , In the context of the second variant, it is further preferred if the data processing device 8th After assembly of the sensor unit in a first step, the calibration data of the pre-calibration takes over and charged with the calibration data of the final calibration, to generate a single set of calibration data in the subsequent use for the correction of all manufacturing and position inaccuracies of the sensor 10 be used. In this case, the data processing device 8th generated new calibration data are stored in a data memory of the data processing device 8th Used as a uniform data set for the correction of the position data obtained in the operation.

For the final calibration Another calibration device is used for rapid interchangeability be provided in the workstation of the tool-sensor unit should and is preferably arranged there fixed.

5 shows an example of a calibration device 35 for the calibration of the mounted sensor 10 , The calibration device 35 includes a frame 36 with a calibration field of several marks arranged regularly in columns and rows 37 and 38 , One of the brands is different from the other brands 38 by their size. The mark in question is with 37 referred to and is the embodiment of the central brand of the otherwise same brands 38 formed grid. As a frame 36 For example, a flat disc is used, and the marks 37 and 38 are exemplified as holes in the disc. The brands 37 and 38 Alternatively, they could be formed as dots of color or dots of light or in any other suitable manner, they merely need to be from the sensor 10 as distinguishable brands he can be recorded recognizable.

About the brands 37 and 38 In addition, the calibration device includes 35 a contact element 39 that to the brands 37 and 38 is arranged stationary. The contact element 39 sticks out of the frame 36 in front.

For the final calibration becomes the tool 1 the actor 6 fixed tool-sensor unit with its front end, more precisely, the ejection point for the second components, against the free front end of the contact element 39 emotional. The calibration device 35 , ie their position 36 , is in the plane of the grid of the marks 37 and 38 stored floating against elastic restoring forces. The contact element 39 is the shape according to the tool further 1 adjusted so that it is by means of the floating storage of the frame 36 by contacting with the tool 1 centered on this. The storage of the rack 36 is also perpendicular to the plane of the marks 37 and 38 elastically yielding, so that the calibration device 35 beyond the centering by contacting even at right angles to the working direction of the tool 1 and thus to the measuring direction M of the sensor 10 aligns. However, the right-angled alignment is not essential as the sensor 10 is already calibrated in itself and the data processing device 8th the positions of the brands 37 and 38 relative to each other and in particular to the contact element 39 are known.

For the final calibration a single shot of the brands is sufficient 37 and 38 existing grid. The data processing device 8th As already described, calculates the calibration data of the final calibration and, preferably, accounts for the same with the calibration data of the pre-calibration for the calibration data used in the following.

In a simplified variant, the calibration device 35 not floatingly movable and stationarily arranged in the work station, although this variant is preferred, but instead is provided on a connection interface optionally formed on the tool-sensor unit in a predetermined position relative to the tool 1 fastened, for example by means of a connector, to then perform the final calibration in otherwise the same way as described.

The 6 and 7 show a sensor unit in a second embodiment. The sensor unit comprises a sensor 10 who like the sensor 10 of the first embodiment may be formed. The sensor 10 is in a housing 20 arranged on which, as in the first embodiment, the coupling half 5 attached or molded. In the 6 and 7 is also the first coupling half 4 shown, however, as in the first embodiment, for example, is attached to the carrier and the rapid assembly of the sensor unit is used. The sensor unit of the second embodiment operates on the light-section method. In the case 20 is not just the sensor 10 but also a laser for emitting a laser beam on one of the sensor 10 To be recorded measuring surface produces an elongated, narrow strip of light. Preferably, a plurality of such lasers are provided. The sensor unit of the second exemplary embodiment is particularly suitable for mounting a second component on a reference component with high gap quality, for example, a door, hood or flap on Fahrzeugrohkarosse. The sensor unit of the second embodiment is advantageously by means of the coupling 4 . 5 attached to a carrier which forms a holding device for the second component by serving as a common platform for a plurality of grippers or tensioners. The radiation direction L of the laser or of the plurality of lasers, preferably radiating parallel to one another, has an angle, ie, oblique to the measuring direction M of the sensor 10 ,

The sensor unit is via a signal line 31 and a utility line 32 as described under the first embodiment with a data processing device and the power supply connected. To the signal line 31 the same applies to the first exemplary embodiment and also to the data processing device, which, however, operates in the second embodiment according to the peculiarities of the light-section method.

7 shows the sensor unit of the second embodiment from a different view and with a mounted light shield 29 , which is funnel-shaped and opens in the measuring direction M. The sunscreen 29 shields the sensor 10 from laterally incident extraneous light.

1

Tool

2

carrier

3

connecting device

4

first coupling half

4a

coupling part

4b

coupling part

5

second coupling half

6

actuator

7

actuator control

8th

Data processing device

9

station- or plant control

10

sensor

11

pickup

12

lens

13

reference component

14

converter

15

converter

16

sensor control

17

data storage

18

-

19

-

20

casing

21

opening

22

windscreen

23

lighting device

24

poetry

25

cable

26

shutter

27

actuator

28

transmission

29

sunscreen

30

cable connectors

31

signal line

32

Power line

33

bus

34

-

35

calibration

36

frame

37

brand

38

brand

39

contact element

A

control signals actuator

K

correction vector

M

measuring direction

P

position data

S

control signal sensor

T

control signal Tool

Claims (37)

Tool sensor device comprising: a) a relative to a reference component ( 13 ) positionable tool ( 1 ) for joining the reference component ( 13 ) with a second component or processing of the reference component, b) a sensor ( 10 ) for obtaining position data which indicates the position of the tool ( 1 ) relative to the reference component ( 13 ), c) one on the tool ( 1 ) fastened carrier ( 2 ), where the sensor ( 10 ), d) a coupling ( 4 . 5 ), the sensor ( 10 ) detachable with the carrier ( 2 ), e) and one together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ) mechanically linked data memory ( 17 ) for calibration data of the sensor ( 10 ), f) where the coupling ( 4 . 5 ) one with the carrier ( 2 ) connected first coupling half ( 4 ) and one with the sensor ( 10 ) connected second coupling half ( 5 ), which together form the detachable connection, g) and wherein the calibration data comprise those calibration data which the position of the sensor ( 10 ) relative to the second coupling half ( 5 ). Tool sensor device according to claim 1, wherein the calibration data are those of the sensor ( 10 ) as such. Tool sensor device according to the preceding claim, wherein by means of the calibration data, an error can be compensated by the sensor ( 19 ), preferably the defect of a lens ( 12 ) or a transducer ( 11 ) of the sensor ( 10 ). Tool sensor device according to one of the preceding claims, wherein the sensor ( 10 ) relative to the second coupling half ( 5 ) is directed in a measuring direction (M) and by means of the calibration data an error in the orientation of the sensor ( 10 ) relative to the second coupling half ( 5 ) is compensatable. Tool-sensor device according to one of the preceding claims, wherein the calibration data comprise those calibration data which the position of the sensor ( 10 ) relative to the tool ( 1 ). Tool-sensor device according to one of the preceding claims, further comprising - a movable actuator ( 6 ), the tool ( 1 ) together with the sensor ( 10 ), and - an actuator control ( 7 ) used for positioning the tool ( 1 ) the movement of the actuator ( 6 ) depending on the position data of the sensor ( 10 ) controls or regulates. Tool sensor device according to one of the preceding claims, wherein a sensor control ( 16 ) for controlling the sensor activity together with the sensor ( 10 ) via the coupling ( 4 . 5 ) mechanically with the carrier ( 2 ) connected is. Tool sensor device according to one of the preceding claims, further comprising a protective device ( 26 . 27 . 28 ) or a radiation device ( 23 ) for the sensor ( 10 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ) mechanically connected and preferably by means of a sensor control ( 16 ) is controllable according to the preceding claim. Tool-sensor device according to the preceding claim, wherein the protective device ( 26 . 27 . 28 ) between a protective state in which the sensor ( 10 ) shields against the environment, and a release state in which the sensor ( 10 ), is reversible. A tool-sensor device according to any one of the preceding claims, further comprising - a sensor ( 10 ) receiving housing ( 20 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ), - an opening ( 21 ) in the housing ( 20 ) through which the sensor ( 10 ) the reference component ( 13 ), - a closure ( 26 ) resulting from a protective state in which it has the opening ( 21 ), in a release state in which it closes the opening ( 21 ), is reversible, - and a sensor control ( 16 ) for controlling the sensor activity, - wherein the sensor control ( 16 ) the closure ( 26 ) as a function of the sensor activity. Tool sensor device according to one of the preceding claims, further comprising - a sensor ( 10 ) receiving housing ( 20 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ), - an opening ( 21 ) in the housing ( 20 ) through which the sensor ( 10 ) the reference component ( 13 ), - a closure ( 26 ) resulting from a protective state in which it has the opening ( 21 ), in a release state in which it closes the opening ( 21 ), is reversible, - the closure ( 26 ) is formed as a hood which in the release state in front of the sensor ( 10 ) one to at least the height of the opening ( 21 ) extending protective channel in a measuring direction (M) of the sensor ( 10 ) is open. Tool sensor device according to the preceding claim, wherein the closure ( 26 ) comprises a cover wall, a left side wall projecting from the cover wall and a right side wall projecting from the cover wall, and these walls form the protection channel. Tool sensor device according to one of the three preceding claims, wherein the closure ( 26 ) about a transversely to a measuring direction (M) of the sensor ( 10 ) pointing axis pivotally with the housing ( 20 ) connected is. Tool sensor device according to one of the preceding claims, further comprising - a sensor ( 10 ) receiving housing ( 20 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ), - an opening ( 21 ) in the housing ( 20 ), through which the sensor the reference component ( 13 ), and - a protective screen ( 22 ), which the opening ( 21 ) and transparent to a measurable by the sensor, preferably light, is permeable. Tool sensor device according to one of the preceding claims, wherein the sensor ( 10 ) a sensor control ( 16 ) for controlling the sensor activity and a transducer ( 11 ) and on the support ( 2 ) a radiation device ( 23 ), preferably lighting device, for emitting a after reflection from the transducer ( 11 ) and preferably by means of the sensor control ( 16 ) is controllable. Tool-sensor device according to a combination of the two preceding claims, wherein the radiation device ( 23 ) in or on the protective screen ( 22 ) is arranged. Tool sensor device according to one of the preceding claims, further comprising - a sensor ( 10 ) receiving housing ( 20 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ), and - an opening ( 21 ) in the housing ( 20 ) through which the sensor ( 10 ) the reference component ( 13 ), the housing ( 20 ) including the opening ( 21 ) by means of a seal ( 24 ) dampproof, the opening ( 21 ) is translucent. Tool sensor device according to the preceding claim in combination with claim 8, 10 or 11, wherein the protective device ( 26 . 27 . 28 ) or only one or more components of the protective device ( 26 . 27 . 28 ) is arranged outside the enclosure or are. Tool sensor device according to one of the preceding claims, further comprising - a sensor ( 10 ) receiving housing ( 20 ), which together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ), - an opening ( 21 ) in the housing ( 20 ) through which the sensor ( 10 ) can detect the reference component, - and one before the opening ( 21 ) arranged compressed gas nozzle, by means of which the opening ( 21 ) with a parallel to the opening ( 21 ) directed pressurized gas jet, preferably a cross-jet, can be acted upon. Tool sensor device according to one of the preceding claims, wherein the sensor ( 10 ) a photosensitive transducer ( 11 ) and a lens ( 12 ) for the transducer ( 11 ) contained in a housing ( 20 ) are arranged, which has an opening ( 21 ) through which the sensor ( 10 ) the reference component ( 13 ). Tool sensor device according to the preceding claim, wherein the housing ( 20 ) together with the sensor ( 10 ) via the coupling ( 4 . 5 ) with the carrier ( 2 ) connected is Tool sensor device after a of the preceding claims, further comprising - an actuator movable in space ( 6 ) on which the tool ( 1 ), the carrier ( 2 ) and the sensor ( 10 ) are attached or attachable as a tool-sensor unit, - an actuator control ( 7 ) for controlling the movements of the actuator ( 6 ) - and one to the actuator control ( 7 ) and also to the tool-sensor unit external data processing device ( 8th ), which is used for processing the position data with the actuator control ( 7 ) and the sensor ( 10 ) each by cable ( 31 ) or lead-free signal technology is connected. Tool sensor device according to the preceding claim, wherein the data processing device ( 8th ) by optical fiber ( 31 ) with the sensor ( 10 ) connected is. Tool sensor device according to one of the two preceding claims, wherein the data processing device ( 8th ) a data memory for the calibration data of the sensor ( 10 ) and a correction device for a mathematical correction of the position data by means of the calibration data. Tool-sensor device according to one of the preceding claims, wherein a signal line ( 31 ) and a power supply line ( 32 ) for the sensor ( 10 ) by means of a common cable connector ( 30 ) with the sensor ( 10 ) are connected. Tool-sensor device according to one of the preceding claims, wherein the tool ( 1 ) is a joining tool, for example an adhesive, soldering, riveting, screwing, roll-folding or welding tool, or a cutting tool for machining the reference component or a holding device for the second component. Tool sensor device according to one of the preceding claims, wherein the sensor ( 10 ) an optical, preferably at least two-dimensional receiving sensor and the sensor ( 10 ) a preferably external data processing device ( 8th ), preferably image processing, is arranged downstream. Tool sensor device according to one of the preceding claims, further comprising a device for calibrating the sensor ( 10 ) with respect to a positional accuracy relative to the tool ( 1 ) usable calibration device ( 35 ) with a frame ( 36 ), one of the sensor ( 10 ) recordable brand ( 37 . 38 ) and a contact element ( 39 ) for the tool ( 1 ), each in a predetermined position on, in or on the frame ( 36 ) are arranged. Tool-sensor device according to the preceding claim, wherein the contact element ( 39 ) from the frame ( 36 protrudes, preferably pin-shaped. Tool-sensor device according to one of the two preceding claims, wherein on, in or on the frame ( 36 ) several of the sensor ( 10 ) recordable brands ( 37 . 38 ) are each arranged in a predetermined position. Method for assembling a tool-sensor device according to one of the preceding claims, wherein a) the sensor ( 10 ) separately from the tool ( 1 ) is calibrated, b) calibration data obtained in the pre-calibration in a data memory ( 17 ) a sensor control ( 16 ), c) the sensor ( 10 ) and the sensor control ( 16 ) with the stored calibration data by means of a common coupling ( 4 . 5 ) on the carrier ( 2 ) d) and the sensor ( 10 ) in the assembled state with respect to its position relative to the tool ( 1 ) is finally calibrated. Method according to the preceding claim, in which with a coupling half ( 5 ) of the coupling ( 4 . 5 ) connected sensor ( 10 ) in the pre-calibration relative to the coupling half ( 5 ) is positioned, in particular aligned. Method according to one of the preceding claims, in which the sensor ( 10 ) is measured in the pre-calibration for errors that it has in itself, and from this measurement at least a part of the calibration data for a mathematical correction of the error is obtained. Method according to one of the preceding claims, in which the sensor ( 10 ) positioned at different distances from a calibration field of marks during the pre-calibration, the calibration field at the different distances from the sensor ( 10 ) and at least the part of the calibration data is obtained from the recordings. Method according to one of the preceding claims, in which the tool ( 1 ) at the final calibration relative to at least one marker ( 37 . 38 ) containing at least one mark ( 37 . 38 ) are received by the sensor and calibration data are obtained from the recording, which describe the position that the sensor ( 10 ) relative to the tool ( 1 ) occupies. Method according to the preceding claim, in which the tool ( 1 ), the carrier ( 2 ) and the sensor ( 10 ) on one by means of an actuator control ( 7 ) Actuator movable in space ( 6 ), the tool ( 1 ) relative to the at least one mark ( 37 . 38 ) by means of the actuator control ( 7 ) and the calibration data of the final calibration by means of a data processing device ( 8th ), which also in the subsequent joining or processing of the sensor ( 10 ) measured data for the actuator control ( 7 ). Method according to the preceding claim, in which the data processing device ( 8th ) during the final calibration from the data memory ( 17 ) of the sensor ( 10 ) and the calibration data of the final calibration calculates and stores new calibration data comprising both calibrations.