DE102009046635A1 - Device for guiding e.g. tool along adjustable movement path in e.g. wood working area, has control unit controlling locking unit such that locking unit locks movement of carriage in direction of position during reaching position - Google Patents

Abstract

The device has a carriage (2) manually adjustable on a guide rail (1) and provided with a holding unit (3) for holding a tool and a workpiece. The carriage is provided with a locking unit e.g. forward latch (5a) and backward latch (5b), and a position sensor (8) e.g. optical sensor, for detecting actual position on the guide rail. The position sensor is connected with a control unit. The control unit controls the locking unit such that the locking unit locks forward movement (V) of the carriage in direction of a target position (S) during reaching the target position. The position sensor is designed as an inductive sensor, magnetic field sensor or a capacitive sensor.

Description

The invention relates to a device for guiding a tool, workpiece or the like.

Stencils are generally known in the art. Due to the shape of a template, a movement path is predetermined along which a tool can be guided and thus a workpiece can be processed along the movement path. In particular, for the production of small series in the field of wood or metal processing such templates are often used.

Templates have the disadvantage that they are manufactured specifically for the respective processing purpose. Often a template is adapted in size to the workpiece to be machined. When machining a workpiece of a different size or when changing the processing purpose, it is usually necessary to make a customized new template. This is costly and time consuming.

The object of the invention is to eliminate the disadvantages of the prior art. In particular, a device which can be produced as simply and inexpensively as possible can be specified with which a tool, a workpiece or the like can be moved along an adjustable path of movement.

This object is solved by the features of claim 1. Advantageous embodiments of the invention will become apparent from the features of claims 2 to 10.

According to the invention, an apparatus for guiding a tool, workpiece or the like along an adjustable path of motion is proposed,
with a first carriage which can be displaced manually on a first guide rail and which is provided with a holding device for holding the tool, workpiece or the like,
wherein the first carriage is provided with a first locking device and has a first position sensor for detecting an actual position on the first guide rail,
wherein the first position sensor is connected to a control device for adjusting at least a first desired position on the first guide rail, and
wherein the control device controls the first locking device so that the first control device blocks a first forward movement of the first carriage in the direction of the first desired position upon reaching the first desired position.

The proposed device is relatively simple and inexpensive to produce. It allows setting a trajectory, for example for a tool. If a change in the trajectory is required, this can be adjusted relatively quickly and easily. It is no longer necessary to produce a template for this purpose.

For the purposes of the present invention, the term "guide rail" means a straight or even a curved guide rail. The guide rail can be designed in the manner of a ring, in particular in the manner of a circle. It can be configured both rigid and flexible. In a flexible embodiment, the guide rail can be adapted to a predetermined trajectory and then fixed, for example, on a base. In particular, if a high precision of the movement path is required, the guide rail is rigid and preferably made of metal.

According to an advantageous embodiment of the invention, the guide rail is manually slidably received on a second carriage, which is provided with a second locking device and has a second position sensor for detecting a second actual position on the second guide rail,
wherein the second position sensor is connected to the control means for adjusting at least a second desired position on the second guide rail, and
wherein the control device controls the second locking device so that the second locking device blocks a second forward movement of the second carriage in the direction of the second desired position upon reaching the second desired position.

By the first guide rail is slidably received along the second guide rail on a second carriage, for. B. a device in the manner of a cross table can be created. This allows arbitrary trajectories to be executed in an xy plane. For this purpose, the first carriage is guided in each case in the direction which is being released by the first or second locking device. It may be that when reaching a desired position, a backward movement is not blocked. This allows a multiple approach to the desired position. However, it can also be that, when a desired position is reached, a backward movement of a carriage is blocked and thus a further movement of the other carriage is forced.

On the basis of the aforementioned principle of a positively driven movement by repeatedly locking and releasing the first and / or second locking device by means of the control can be realized positively guided three-dimensional movements. For this purpose, the second guide rail may be manually slidably received on a third carriage, which is provided with a third locking device and has a third position sensor for detecting a third actual position on the third guide rail,
wherein the third position sensor is connected to the control means for adjusting at least a third target position on the third guide rail, and
wherein the control means controls the third locking means so that the third locking means blocks a third forward movement of the third carriage in the direction of the third target position upon reaching the third target position.

With the proposed embodiment, it is possible to use a three-dimensional movement path z. B. pretending to be perpendicular to each other arranged guide rails by x, y and z coordinates by means of the controller. With manual movement of the first carriage this is forced to the predetermined path of movement by an automatic control of the locking devices by means of the controller.

According to one embodiment of the invention, at least two of the guide rails are expediently formed straight and arranged at an angle, preferably of 90 ° to each other. One of the guide rails can also be designed as a gear, so that thus a rotational movement about a predetermined angle is possible.

According to an advantageous embodiment, the controller is a programmable controller, preferably a computer. Ie. the computer can be provided with a program with which the trajectory can be defined. After defining the trajectory, the program can be used to automatically determine target positions. The trajectory can thus be defined by a sequence of pairs of values, each pair of values comprising a desired position and the respective guide rail. Furthermore, the value pair can be assigned a further value which describes the direction of movement of the respective carriage.

For determining the actual and the desired positions, each of the guide rails is expediently provided with markings. It may also be that each of the carriages is provided with a suitable device for determining the respective position of the respective guide rail. It may be that the position sensor is an optical sensor, an inductive sensor, a magnetic field sensor or a capacitive sensor. With such sensors markings and directions of movement can be detected.

The locking devices can be designed differently. Advantageously, the locking means each have a pawl, which engages to block the forward and / or backward movement in a toothing respectively provided on the guide rails. The toothing may be formed, for example, in the form of a toothed rack or the like. The locking device may each comprise an electromagnetic or hydraulic actuator for actuating the pawl.

According to a further advantageous embodiment, a sensor connected to the control device for detecting a physical quantity, preferably a temperature, a pressure, a force or the like, is provided on the first slide, wherein the control device upon reaching a predetermined limit value of the physical quantity at least the first Locking device controls so that the first forward movement of the first carriage is locked in the direction of the first target position. For example, the sensor may be a force sensor. When a predetermined force is exceeded, a further forward movement can thus be blocked by means of the control device. Thus, for example, damage to a tool, for example a cutter received on a milling device, a drill received on a drill or the like, can be avoided.

The proposed device is not suitable for guiding a tool, a workpiece or the like, but also for other purposes. The device can be designed, for example, lightweight and mobile. It can for example be designed in the manner of an orthosis, which can be attached to the arm or leg of a person. Thus, a movement of the respective limb can be limited to a predetermined trajectory or a predetermined range of motion. Such a restriction may be for therapeutic purposes. However, it is also conceivable to use such an orthosis for the protection of a person working in a dangerous area. This can ensure that the person, for example, does not bring a hand into an area of inadmissibly high temperature, radiation or the like. The embodiment of the device in the form of an orthosis is also regarded as an independent invention, which may form the subject of a divisional application.

Embodiments of the invention will be explained in more detail with reference to the drawings. Show it:

1a to d a first device in which a first locking device is in different locking positions and

2a to d a second device in which a locking device is in different locking positions.

At the in 1 shown first device is a first guide rail 1 designed in the manner of a rack. The preferably straight trained first guide rail 1 may be made of metal, for example. On the first guide rail 1 is a first slide schematically indicated here 2 slidably guided. With the reference number 3 is a holding device referred to, which is a clamping screw 4 for clamping holding a tool on the first carriage 2 having. In the first sleigh 2 a first locking device is received, which is a forward locking pawl 5a comprising, by means of a forward actuator 6a from one into the rack of the guide rail 1 engaging and acting in a forward direction V locking position is movable to a retracted position. The first locking device further includes a reverse pawl here 5b , with a movement of the first carriage 2 can be locked in a reverse direction R. To move the reverse pawl 5b from a lock position to a position releasing the backward movement R is a reverse actuator 6b intended. With the reference numerals 7a and 7b are first and second tension springs, which are the forward 5a and the reverse pawl 5b when forward is not activated 6a and reverse actuator 6b force into the respective blocking position. The forward 5a and the reverse pawl 5b are here designed so that they lock only in the forward V or in the reverse direction R.

In 1a Both are pawls 5a . 5b in one the movement of the carriage 2 withdrawn in the forward V and the reverse direction R releasing position. With the reference number 8th is a first position sensor, with which a current actual position of the carriage 2 on the guide rail 1 continuously determined and passed on to a computer (not shown here). The reference symbol S is a predetermined desired position on the first guide rail 1 designated.

In the 1b to 1d is for the sake of clarity of the slide 2 with the holding device attached thereto 3 . 4 Not shown. In 1b is with the position sensor 8th , which may be an absolute encoder or an incremental encoder, the desired position S has been detected. As a result, the forward actuator receives 6a from the computer (not shown) a control signal to which the first forward pawl 5a placed in the locked position and thus a further forward movement V of the carriage 2 is blocked. In this case, it may be that the reverse pawl 5b in a not engaged with the first guide rail 1 position remains, ie a backward movement R of the carriage 2 remains possible.

1c shows similar to 1b the situation for the blocking of a backward movement R when reaching the desired position S. This is the reverse pawl 5b engaged with the rack of the first guide rail 1 and thus blocks the backward movement R. The forward pawl 5a is not engaged with the rack and allows movement of the carriage 2 in the forward direction V.

At the in 1d shown position of the first locking device are the first 5a and the second pawl 5b engaged with the rack and thus block both a movement in forward V and in the reverse direction R. If the first guide rail 1 manually movable on a (not shown here) second carriage, for example, in a direction perpendicular to the forward V or reverse direction R, is movable, could be held in the first carriage 2 a movement perpendicular to the paper plane.

A (not shown here), with the first guide rail 1 firmly connected second carriage, which, for example, vertically along a (not shown here), preferably straight, second guide rail is movable, may be provided with a second locking device, which is configured analogously to the first locking device. Similarly, a second position sensor for detecting an actual and a desired position S may be provided.

The second position sensor can be analogous to that in the first carriage 2 used first position sensor 8th be educated.

To include a movement of one in the fixture 3 . 4 held tool (not shown here), for example, to allow in a z-direction, the (not shown here) second guide rail may be fixedly connected to a third slide which is slidably received in a, preferably straight, third guide rail. The third guide rail, for example, perpendicular to the first 1 and be arranged to the second guide rail and extend substantially in the z-direction. The third carriage may in turn have a third locking device designed analogously to the first locking device and a third position sensor.

In the in the 2a to 2d shown second device is another first guide rail 9 formed in the manner of a gear. This can be a rotational movement of a in the holding device 3 recorded tool (not shown here) are performed by a predetermined angular amount in forward or backward movement. The first locking device here again comprises a forward pawl 5a and a reverse pawl 5b which by means of forward 6a and reverse actuators 6b are controllable. Incidentally, the operation is analogous to in the 1a to 1d shown first device.

In the 2a to 2d shown further first guide rail 9 can be combined with straight or curved second or third guide rails (not shown here). An angle defined by the, in particular straight, guide rails can be adjustable. This allows in certain cases a particularly fast and easy manual movement control.

LIST OF REFERENCE NUMBERS

1

first guide rail

2

first sled

3

holder

4

clamping screw

5a

Forward ratchet

5b

Rearward ratchet

6a

Next actuator

6b

Reverse actuator

7a

first tension spring

7b

second tension spring

8th

position sensor

9

another first guide rail

R

regression

S

Nominal position

V

forward movement

Claims (10)

Device for guiding a tool, workpiece or the like along an adjustable trajectory, with a manually on a first guide rail ( 1 . 9 ) movable first slide ( 2 ), which with a holding device ( 3 . 4 ) is provided for holding the tool, workpiece or the like, wherein the first carriage ( 2 ) with a first locking device ( 5a . 6a . 7a ) and a first position sensor ( 8th ) for detecting a first actual position on the first guide rail ( 1 . 9 ), wherein the first position sensor ( 8th ) with a control device for setting at least a first desired position (S) on the first guide rail ( 1 . 9 ), and wherein the control device controls the first blocking device ( 5a . 6a . 7a ) so that the first locking device ( 5a . 6 . 7a ) a first forward movement (V) of the first carriage ( 2 ) in the direction of the first setpoint position (S) when reaching the first setpoint position (S) blocks. Device according to one of the preceding claims, wherein the first guide rail ( 1 . 9 ) is manually slidably received on a second carriage, which is provided with a second locking device and a second position sensor for detecting a second actual position on the second guide rail, wherein the second position sensor with the control device for adjusting at least a second target position the second guide rail is connected, and wherein the control device controls the second locking device so that the second locking device blocks a second forward movement of the second carriage in the direction of the second desired position upon reaching the second desired position. Device according to one of the preceding claims, wherein the second guide rail is manually slidably received on a third carriage, which is provided with a third locking device and has a third position sensor for detecting a third actual position on the third guide rail, wherein the third position sensor is connected to the control means for adjusting at least a third target position on the third guide rail, and wherein the control device controls the third locking device such that the third locking device blocks a third forward movement of the third carriage in the direction of the third setpoint position when the third setpoint position is reached. Device according to one of the preceding claims, wherein at least two of the guide rails are straight and arranged at an angle, preferably of 90 ° to each other. Device according to one of the preceding claims, wherein the controller is a programmable controller, preferably a computer. Device according to one of the preceding claims, wherein each guide rail ( 1 . 9 ) is provided with markings for determining the actual and the desired positions. Device according to one of the preceding claims, wherein the position sensor ( 8th ) is an optical sensor, an inductive sensor, a magnetic field sensor or a capacitive sensor. Device according to one of the preceding claims, wherein the locking devices each have a pawl ( 5a . 5b ) which for blocking the forward (V) and / or backward movement (R) in one of the guide rails ( 1 . 9 ) intervene each intended teeth. Device according to one of the preceding claims, wherein the locking devices each comprise an electromagnetic, pneumatic or hydraulic actuator ( 6a . 6b ) for actuating the pawl ( 5a . 5b ) having. Device according to one of the preceding claims, wherein one on the first carriage ( 2 ) provided with the control device sensor for detecting a physical quantity, preferably a temperature, a pressure, a force or the like., Is provided, wherein the control device upon reaching a predetermined limit value of the physical size at least the first locking device ( 5a . 6a . 7a ) so that the first forward movement (V) of the first carriage ( 2 ) is locked in the direction of the first desired position (S).

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