DE102016124694A1 - Joining elements providing device - Google Patents

Abstract

The present invention relates to a joining element providing device, in particular rivet provisioning device and / or Nietvereinzelner, for supplying a joining elements by means of a joining elements setting device, in particular a rivet setting device-processing robot device, in particular rivet-processing robotic device, comprising a the joining elements, in particular rivets, in the form of bulk stockpiling, first main memory and a working memory with a connecting line to the joining element-setting device connecting conveyor unit for the joining elements. The joining element providing device is characterized in that the first main memory is adapted to be attached to a robot arm of the robot device, in particular to the same robot arm as the joining element setting device.

Description

The present invention relates to a joint supplying device, in particular, to a rivet supplying device for supplying a robot device and a robot device.

State of the art

To produce a connection between components, such as. Sheets, angles, frame and / or body panels of vehicles and the like. More, the use of fasteners, in particular rivets is known. To increase the production speed, for example, automated riveting devices are used in the automotive industry, which connect components by means of a rivet device arranged on a movably driven arm by setting rivets.

For example. describes the DE 10 2008 051 489 A1 a arranged on a robot arm, so-called setting tool with a magazine and a supply module for joining elements. The magazine serves as a temporary storage and feeding device of a certain number of presorted and aligned arranged joining elements, in particular setting bolts. These are aligned in a storage groove and are movably fed jointly to a head piece of the setting device for processing, so that the setting tool supplied therefrom can process a plurality of setting bolts or rivets in succession.

The supply module for supplying or filling the magazine with corresponding presorted and aligned setting bolts is formed separately from the robotic arm comprehensive robot device and its setting device, arranged separately from it and equipped with a so-called Vormagazin for joining elements comprehensive connection module. For loading, the robot arm moves the setting device with the magazine arranged at the head to the provision module so that two coupling units formed on the respective unit can be connected to one another and the presorted set of setting bolts can be transferred into the magazine. Then the robot arm moves back to its working position to set more rivets.

Furthermore, so-called "sorters" are known from the automotive industry. With individual separation of rivets, from a series of already provided by means of a sorting device of bulk material pre-sorted rivets on the robot foot. In such devices, the rivet is blown into the rivet tongs via a long tube with a "T" cross-section. The blowing process takes about 1.5 - 3 seconds. Only when a rivet is set, the rivet gun gives the order to shoot down the next rivet. The blowing time thus also determines the number of rivets that can be processed per unit of time. A long T-tube that passes over several robot joints can also be damaged or torn off. In addition, it can be twisted with other cables or media and demolished as well. Replacing the "T" tube takes time while the unit is stopped. The energy chain must also be opened or, with the energy chain closed, the hose must be carried out individually underneath each tab. In this action, all other robots in the cell are inevitable, because each robot performs a part of a total work. Another disadvantage is that each robot tongs can be filled only with a rivet length, so only laminated cores can be riveted with a thickness.

The object of the present invention is to further improve the productivity of joining element processing devices.

This object is achieved by a joining element providing device according to the features of claim 1 and by means of a robot device according to the features of claim 13. In the dependent claims expedient and advantageous developments are given.

Accordingly, according to a first aspect, the present invention relates to a joining element providing device, in particular rivet provisioning device and / or riveting device, for supplying a joining element by means of a joining element setting device, in particular a rivet setting device-processing robot device, in particular a riveting robot device comprising a first working memory storing the joining elements, in particular rivets, in the form of bulk material, and a conveying unit for the joining elements connecting the first working memory by means of a connecting line to the joining element setting device. The joining element providing device is characterized in that the first main memory is adapted to be attached to a robot arm of the robot device, in particular to the same robot arm as the joining element setting device.

As a result of the attachment of the first working store storing the joining elements in the form of bulk material to an arm of the robotic device, such a robotic device requires neither a separately constructed sorting device for singling and aligned feeding of the individual joining elements to the joining element setting device processing them. One will still be Supply unit for such pre-sorted and aligned joining elements up to the robot arm of the robot device from the stand area forth or even from a sorting device arranged therefrom forth needed. Accordingly, all the disadvantages possibly associated with such units, such as the risk of damage or failure, the time required for individual or packet-wise conveying pre-sorted aligned joining elements for joining elements setting device or one of these in the conveying direction upstream storage groove, for their refilling the robot Arm each time interrupt the processing and dock at the separately formed sorter in the long term sawing the joining elements processing process of the joining elements setting device massively retarding way, refill and return to the working position.

In contrast, the first main memory formed according to the invention as a bulk material store that can be fastened to the robot arm can on the one hand be designed such that it can store a significantly larger number of joining elements to be kept than, for example, a presorted and aligned joining element of the joining element setting device supplying intermediate storage, eg. In the form of a storage groove.

On the other hand, due to the freedom in aligning the joining elements to be refilled compared to filling a storage unit which accommodates the joining elements in a specific orientation, such a working memory designed as a bulk material store can also be filled substantially more rapidly overall. Both in relation to each individual joining element and in particular to the total of joining elements to be replenished per unit of time. This means that, on the one hand, substantially more joining elements per filling can be refilled in the joining element provision device according to the invention, as a result of which the number of filling steps required for the filling can be reduced comparatively massively. On the other hand, in addition to the significantly faster filling possibility by unsorted supply compared to sorted supply an additional significant time gain per filling with regard to the provision of the joining elements setting device for processing the joining elements and thus a comparatively massive productivity improvement can be achieved.

In order to be able to provide correspondingly aligned joining elements to the joining element setting device, a sorting device for the joining elements is provided. In particular, a sorting device which has a rotatable with respect to the first working sorting unit for receiving individual of the joining elements in at least one sorting receiving opening which is open in at least one rotational position in the direction of the first main memory, so that a stored in the first main memory joining element in the at least one Sorting receiving opening advised, in particular may fall.

The provision of a sorting device on the robot arm offers the advantage according to the invention that the movement of the robot arm required for setting the individual joining elements exerts shaking forces on the joining elements stored as bulk material in the first working memory, so that these joining elements are always opposite the housing of the main memory and especially relative to the sorting device can move relatively. And this without having to provide a drive or a drive device for this purpose.

Preferably, the sorting device is arranged on the main memory so that its at least one sorting receiving opening is open to the interior of the working memory when, during the processing of joining elements by the joining elements setting device, at least temporarily, in the memory held together joining elements, in particular above this sort Receiving opening. If a joining element is in a correspondingly suitable orientation with respect to or above the sorting receiving opening, this joining element can fall into the sorting receiving opening, in particular fall and be sorted therewith. By providing a plurality of such sorting receiving openings on the rotatable sorting unit, the sorting device can receive a plurality of correctly aligned joining elements and transport them further to a downstream unit in the conveying direction. For example, directly to the conveyor unit which connects the main memory with the joining element setting device and / or to a conveying path upstream of this. Such an upstream conveyor line could, for example, be a so-called "switch".

Preferably, the sorting receiving opening is formed on a sorting wheel, for. B. on a hole or gear. By using such a sorting wheel can be ensured in an advantageous manner that the formed therein or thereto sorting-receiving openings rotate over and over again at the affected location on the first memory, at which joining elements out of this out in a, in particular underneath positioned sorting receiving opening can, if they are arranged appropriately aligned opposite.

If it turns out that a joining element positioned at the corresponding point in the working memory is not aligned correctly, this can happen either still catch with the sort-receiving opening and be moved from this from its current position in the first memory, or it will be at this time no joining element in the sorting-receiving opening in question and this is moved on empty. However, due to the constant movement of the robot arm, the joining elements held in bulk in the first working memory are constantly shaken, so that the joining elements located at the point in question relative to the sorting receiving opening can either change their position and / or other joining elements, e.g. B. appropriately aligned, can get their place and so when passing the next sort-receiving opening in this advised and promoted by this behind the last sorted joining element in the subsequent conveying direction in the conveying section until they sorted in the row at previously Supplementing conveyor elements in the back flow of supply.

By a correspondingly large contact area between the sorting wheel and the interior of the working memory, a plurality of sorting receiving openings can be congruent with the storage interior at the same time, so that several joining elements can be positioned relative to the sorting receiving openings in question at the same time, if they can be aligned with them or displaced from their position in the working memory due to snagging that might occur, and make room for another joining element. Here, too, the idea according to the invention comes into play that by appropriate further movement of the wheel, so its rotation, can constantly be ensured that sufficiently many sorted joining elements can be transported in the subsequent conveyor line and kept there, even if in between no joining elements in one the sorting receiving openings can be recorded.

To ensure that only correctly aligned sorted joining elements can be fed from the bulk heap into the conveying section for supplying the joining element setting device, a separating device for separating the bulk material stored in the working memory joining elements from the recorded in the sorting receiving openings and to the sorted in the conveying direction subsequent conveyor line to be submitted to joining elements. This separating device can be formed, for example, in the form of a so-called transverse slide, which is arranged in the feed direction on or in particular in front of the transfer point for the joining elements received in the individual sorting receiving openings on the subsequent conveyor line.

Thus, for a large part of the sorting situations resulting during operation, a sufficiently good separation between the joining elements which are still unsorted as bulk material and the joining elements which have already been sorted in the respective sorting receiving openings can be effected in order to prevent jamming or entangling of the moving sorting elements.

For the cases in which the moving parts of the sorting device are nevertheless prevented in their motion not intended, in particular stopped, in particular by jamming of joining elements, the sorting device to avoid damage in a development of the invention, a ball coupling and / or slip clutch have, in particular a bobble trained ball coupling and / or slip clutch.

To remedy such a clamping situation, a release device may be provided for releasing hooked joining elements. For example, For this purpose, the sorting wheel can be temporarily rotated backwards to counteract the deadlock and / or be shaken free by means of a tiltable embodiment of the ball or slip clutch a hooked joining element.

According to a preferred embodiment, the ball or slip clutch is designed so that it can initiate such vibrations on the sorting wheel, in particular on a hooked in a receiving opening joining element, that the jammed joining element is released from its clamping situation again. For example. For this purpose, the ball or slip clutch can comprise balls transmitting rotational forces and these springs which fix in correspondingly complementary recesses. In order to generate the vibrations required for the release of jammed fixing elements, either the spring forces of the springs can be correspondingly pronounced and / or the stroke of the balls upon activation of the ball or slip clutch.

In order to avoid congestion of sorted joining elements in the feed region of the conveying path following in the conveying direction, a congestion sensor for the joining elements can be provided, in particular for conveyor monitoring on a sorting lug which receives the joining elements.

In order to be able to operate the joining element provision device as long as possible without disruption, an abrasion discharge opening for discharging joining element abrasion and / or other contaminants may be provided in an advantageous development. This can be both with respect to the main memory and in particular with respect. Of basically affected with the highest level of abrasion Sorting unit to be the case, as well as particularly preferred with respect to the. In the conveying direction subsequent conveying section up to the joining elements-setting device.

In order to be able to refill the RAM with the robot arm during the processing of the joining elements constantly, a capacity of, for example, up to more than 10,000 pieces of joining elements with 3 mm longitudinal extent or over 5,000 pieces of joining elements with a longitudinal extent of 5 mm having memory when needed , this includes a refueling opening. In order to avoid that the holding elements held in the working memory can inadvertently leave it again, in a further preferred embodiment a closable refueling opening is provided for filling the working storage with joining elements.

With such a filling of the working memory, the joining element-setting device of the robot device in a processing of z. For example, 15 joining elements per minute until the next required refueling 11 hours without interruption due to refilling, when processing 3 mm long joining elements, and when processing 5 mm long joining elements after all still about 5.5 hours.

To further improve the productivity of joining elements processing robot devices, in a further advantageous embodiment, a second main memory for storing the joining elements, in particular for storing the rivets, be provided in the form of bulk material, the second main memory is particularly preferably designed for receiving joining elements , which are formed differently by the joining elements held in the first working memory, in particular with respect to the shape and / or size and / or material. Thus, either the already set out above, comparatively long processing time, without supply-related interruption, be stored in stocking the same types of joining elements in the first and second memory, or even the possibility opened, for example, different fixing requirements of components to be interconnected accordingly different To provide this type of joining elements in the two main memories.

Furthermore, it is therefore provided to provide a corresponding control unit with which different joining element types can be fed into the conveying unit for supplying the joining element setting device at exactly the right time. This also allows different types of joining elements to be processed without interrupting the number of joining element settlements. In other words, a processing of different joining elements in any order are made possible.

For feeding of joining elements from more than one main memory in the subsequent conveying direction in the conveying direction can be provided in the productivity further improving manner connectable to the conveyor unit switch device for providing a connection for the first and / or second main memory. This can be switched without interrupting the flow of pre-sorted joining elements from the two main memories as needed between them.

To increase the flexibility or variability of the joining element providing device, in particular with regard to changing requirements in the processing of joining elements, is or are the first and / or the second working memory and / or the separating device and / or the switching device as a separate interchangeable unit educated.

With regard to the shortest possible service life, both with regard to application-related reconstruction measures and in particular with regard to not completely excludable service and / or repair requirements, in a further preferred embodiment, the first and / or the second main memory and / or the separating device a coupling element for include rapid connection with the robotic device, e.g. B. a ball lock pin.

Furthermore, the present invention relates to a robot device comprising a movable robot arm and a joining element setting device, in particular a rivet setting device. This robot device is characterized in that the robot device comprises a joining element providing device as described above, which is particularly arranged on the same robot arm as the joining element setting device.

The fewer parts a device comprises, the fewer parts can cause corresponding downtime by assuming an inoperable state. Accordingly, it is particularly advantageous for the joining element providing device to be attached to the movable robot arm in such a way that the movement of the robot arm can be transferred to the joining elements stored in the working memory as bulk material and thus the joining elements can perform a relative movement to the main memory. As a result, the joining element providing device without otherwise for sorting of bulk material vorhaltenen joining elements required drive required.

In order to ensure a refilling of joining elements in a working memory, a docking device for receiving the first and / or the second main memory in the form of bulk material to be supplied joining elements, in particular rivets, is provided according to a further development.

list of figures

• 1 und 2: beispielhaft eine perspektivische Darstellung einer Fügeelemente-Bereitstellungsvorrichtung, jeweils aus einer anderen Perspektive,
• 3 und 4: jeweils eine vergrößerte Darstellung der 1 bzw. 2,
• 5 und 6: Elemente einer Sortiervorrichtung,
• 7: Elemente einer Förderstrecke für ausgerichtet sortierte Fügeelemente,
• 8 und 9: Elemente einer Weiche, und
• 10: Elemente eines Verschlusselementes einer Betankungsöffnung.

Preferred embodiments of the invention will be explained in more detail below with reference to the attached figures. Show it:

• 1 and 2 by way of example a perspective view of a joining element providing device, each from a different perspective,
• 3 and 4 : in each case an enlarged view of 1 or 2,
• 5 and 6 : Elements of a sorting device,
• 7 : Elements of a conveyor line for aligned sorted joining elements,
• 8th and 9 : Elements of a switch, and
• 10 : Elements of a closure element of a refueling opening.

In detail, the shows 1 a joining element providing device 1 for supplying a, here only schematically and exemplified joining elements 3 by means of a joining element setting device 5 processing robot device 2 , The joining element providing device comprises one of the joining elements 3 , one of which is shown schematically by way of example, in the form of bulk stockpiling, first main memory 4 and a memory with a connection line 5.1 to the joining element setting device 5 connecting conveyor unit 6 for the joining elements 3 , According to the invention, this first main memory 4 trained to be on a robot arm 7 the robot device 2 is formed attachable. Preferably exchangeable quickly, for example by means of a preferably tool-free operable coupling element 8th , z. B. a ball lock pin. This can also be done, for example, using a robot arm 7 to be mounted mounting plate 9 respectively. Such mounting plates can be prefabricated and on the robot arm 7 be preassembled for the rapid installation of joining element providing devices, in particular preferably already with correspondingly pre-installed energy and / or signal connections.

Furthermore, the joining element provision device comprises 1 a housing 10 , in which, for example, next to the main memory 4 accommodated for receiving the bulk material stocking supply elements also components for the operation of the joining element providing device and / or can be arranged on this. For example. Components of a sorting device 11 for sorting or singling with a correspondingly predetermined orientation of the held as bulk material in the working memory joining elements. The thus aligned in the appropriate position and isolated joining elements are at the output of the sorting device 11 to the conveyor unit 6 handed over (cf. 7 ). For example, in one of these so-called sorting lugs, whose cross-sectional shape corresponds to the contour of the joining elements to be conveyed, with a corresponding tolerance, so that the joining elements to be conveyed with it can slide safely and as frictionlessly as possible therein. Usually, the cross-section will have a "T" shape, in correspondence with the head and shank shape of the male joining elements, such as rivets.

In order to be able to hold a further working memory, and accordingly the joining elements stored therein, if required, likewise in accordance with the above-described manner of the connecting line 5.1 the joining element setting device 5 to be able to supply, the feed unit 6 a switch device 12 include (see a. 8th ).

Compared to 1 show the 2 a so-called rear view of the joining element providing device 1 , which by means of a coupling element 8th is attached to the mounting plate shown in the foreground. In plan view below the mounting plate is a switch device 12 shown, with two turnout units 12.1 and 12.2 , The points unit 12.1 is used to inject the from the first main memory 4 appropriately aligned from the bulk heap stored therein sorted out joining elements 3 in the connecting cable 5.1 the joining element setting device 5 ,

To the points unit 12.2 can be another conveyor unit 6 ' a second main memory to the 4 '(see. 3 ) for the introduction of sorted out deduced joining elements 3 'in the connecting cable 5.1 be connected.

To operate the points unit 12.1 is a drive unit 13 provided, comprising a drive 13.1 , z. B. in the form of a pneumatic cylinder, a drive rod 13.2 and a driving lever operated with its lifting movement 13.3 (Sat. 9 u. 8th). The same applies to the points unit 12.2 if a second memory 4 ' is installed.

In the in 4 enlarged view of the rear view of the joining element providing device 1 is at the turnout device 12 at their to the connecting line 5.1 turned side a turnout output terminal 12.3 to connect these two components. In the form shown here with two hose clamps for fixed connection of the connecting cable 5.1 at the turnout device 12 , Furthermore, at the front end side of the joining element providing device 1 a mounting handle 14 shown, by means of which the entire unit safely and reliably transported on site and in particular so that it can be positioned on the mounting plate 9. Respectively. can be securely grasped and held in a disassembly with one hand, while with the second hand, the coupling element 8th can be operated accordingly.

For bulk-like refueling of the working memory 4 with joining elements is in the housing 10 one by means of a closure plate 15.1 lockable refueling opening 15 educated.

The 5 and 6 each show individual components of the sorting device 11 in an exploded view and each assembled in the additional representations 5.1 and 6.1 , Accordingly, the shows 5 as a part of the sorting device one with respect to the first working memory 4 rotatable sorting unit 11.1 for receiving individual ones of the joining elements in at least one sorting receiving opening 11.2 , This sorting reception opening 11.2 is at one of a plurality of such sort-receiving openings 11.2 formed sorting wheel 11.3 and has in the assembled state of the joining element providing device 1 towards the interior of the joining elements 3 in bulk form of stockpiling 4 , The sorting wheel 11.3 comprises a sorting disc 11.3.2, which is to be accommodated on the front side on a rotatable shaft, and a sorting receptacle which can be connected to it 11.2 having a sorting ring 11.3.1 , Furthermore, the sorting unit 11.1 a spacer 11.3.3 include, for example, for an adjustment of the longitudinal position of the sorting wheel 11.3 on the carrying and rotating driving sorting shaft 11.3.4 (S. 6 ).

5 below shows the sorting wheel 11.3 with in the case 10 of the working memory 4 mounted state laterally bordering guide rails 11.4 , These prevent falling out of the joining elements from the main memory 4 , in particular from the sorting receiving openings 11.2 , By the rotation of the sorting wheel 11.3 opposite the working memory 4 the joining elements received in the sorting receiving openings 11.2 are correspondingly taken along during the rotation of the sorting wheel and thereby in the conveying direction to the between two guide rails 11.4 trained, leading radially outward sorting channel 11.4.1 transported.

To prevent from being bulked in memory 4 held joining elements of a wrong in a sorting-receiving opening 11.2 recorded alignment in the sorting channel 11.4.1 can reach, includes the sorting unit 11.1 a separating device 11.5 , This separation device 11.5 is adjacent to the radially outer edge of the sorting wheel 11.3 , so only correctly in the sorting-receiving openings 11.2 recorded joining elements in the conveying direction of this sorting element, also called a cross slide, of the sorting unit can be transported further in a correctly aligned position.

The 6 shows the following further components of the sorting unit 11.1 : The sorting disc 11.3.2 with a flange formed thereon for receiving on the sorting shaft 11.3.4, a bearing flange 11.6 with shaft seal 11.7 , Camp 11.8 , Spring or circlip and start-up hub 11.9 , Toothed ring 11:10 , Slip or ball coupling 11:11 with clutch hub 11.11.1 , Balls 11.11.2 , Compression springs 11.11.3 and socket 11.11.4 , another camp 11.8 as well as shoulder disc 11:12 and other fixing elements such as key and screws.

For monitoring the conveying position of the sorting unit 11.1 via the sorting channel 11.4.1 the subsequent in sorting conveyor unit 6 pent-up joining elements is a jam sensor 16 provided (s. 3 ). For example. this can be in the transition region between the Ausgangsortierkanal 11.4.1 and the inlet region of the subsequent conveyor unit 6 be arranged. For example. can thus be checked whether at this point a congestion of conveyed joining elements can be detected and, accordingly, the sorting unit can be deactivated or re-activated in case of negative detection.

The 7 shows in exploded view elements of the conveyor unit 6 , and the 7 .1 and 7.2, these assembled, in perspective from two different angles. Accordingly, the conveyor unit comprises 6 two conveyor rails 6.1 and 6.2 with trained therein grooves 6.1.1 , or 6.2.1 for receiving a radially enlarged in relation to the longitudinal extent of the joining elements thereof, such as, for example, a head portion of a rivet. The two approximately in the form of a quarter circle section trained conveyor rails 6.1 and 6.2 have in their assembled state between them at a distance. In this, the shaft of the joining element to be conveyed can slide along during its promotion. In a further advantageous manner, this forms the two Conveyor rails 6.1 and 6.2 spaced area open to the outside, as an abrasion discharge opening 6.3 acting slot (see. 7 .1, 7.2 u. 3 ).

Furthermore, the conveyor unit 6 a nozzle 6.4 and a positioning this positioning assembly 6.5 include, by means of which compressed air in the out of the feed grooves 6.1.1 and 6.2.1 as well as in the slot-shaped conveyor groove 6.3 , which also acts as an abrasion discharge opening, can be blown. For example, on the one hand to support the conveying movement of the joining elements and / or on the other hand to support the discharge of abrasion and / or other impurities. In addition, the shows 7 still positioning and fixing elements such as cylinder pin, screws and nuts as further components of the conveyor unit 6 ,

In the 8th is a switch device 12 represented, whose components are shown to each other in an exploded view, and in 8th .1 in assembled form. Accordingly, the switch device comprises 12 a switch body 12.4 with two rotary writing seats formed therein 12.1.1 and 12.2.1 in the form of cylindrical recesses. In these, rotatable, turntables 12.1.2 respectively. 12.2.2 added. These hubs each have two centrally arranged opposite receiving slots for receiving the so in the switch device 12 to be inserted joining elements. Around the joining element accommodated in this slot in the direction of the points output connection 12.3 to transport, becomes the hub 12.1.2 turned 90 degrees so that its two slots overlap with those in the turnout body 12.4 are centrally arranged conveyor channel. The correspondingly conveyed joining element then exits via the switch outlet connection out of the switch device into the connecting line supplying the joining element setting device 5.1 (see. 1 ).

The drive 13.1 for the rotational movement of the turntable 12.1.2 sits below the switch body 12.4 and controls via the drive rod 13.2 the drive lever 13.3 the turnout rotary control unit 13.4 (Sat. 1 u. 9).

In the 8th illustrated turntable 12.1.2 in turn has a cylindrical recess for receiving a guide plate 12.1.3 which in turn positionally fixed to the switch body cover 12.5 is arranged and a congruent with the trained in the main body guide slot guide slot for passing over the Weicheneinheit 12.2 having fed joining elements ago. This also provided the turntable 12.1.2 is rotationally positioned so that the receiving slots formed in it also coincide with the central conveying channel of the switch main body 12.4 are aligned. The feeding of to be conveyed joining elements from the main memory 4 or a possibly existing second main memory 4 ' in the turnout device 12 Thus, by a corresponding rotational positioning of the relevant rotary script 12.1.2 respectively. 12.2.2 , So that their receiving slots congruent with the laterally formed in the main body body inlet slots of the conveyor unit 6 respectively. 6 ' are congruent. After receiving the relevant joining element in the receiving slot of the turntable this can be rotated accordingly by 90 degrees and the thus repositioned joining element of the downstream downstream conveyor line are transferred.

The feeding of joining elements via the points unit 12.2 takes place in a corresponding manner, in which case the operating state of the points unit 12.1 must be considered or adjusted accordingly. The feeding of joining elements via the points unit 12.2 can either serve to increase the total storage capacity of the joining element providing device, and / or also to provide different joining elements for processing by the joining elements setting device 5 ,

The 8th also shows mounting elements 12.6 as well as positioning and fixing components such as cylindrical pins and screws.

The 9 also shows in an exploded manner arranged elements of the turnout rotary control unit 13.4 and the 9 .1 this in composite representation. This unit comprises the drive lever already described above 13.3 , a jack associated therewith 13.3.1 , a bearing flange 13.4.1 with warehouses 13.4.2 , a shaft seal 13.4.3 , a rotary shaft 13.4.5 for transmitting a rotary motion to the turntable 12.1.2 respectively. 12.2.2 , as well as other positioning and fixing elements such as feather key, cylindrical pins, a washer and a screw.

The 10 finally shows the closing of the refueling opening 15 provided closure plate 15.1 in exploded exploded view with provided for their operation components: pivot shaft 15.2 , Swivel Shaft Bearing Flange 15.3 , To store 15.4 , Swivel hub 15.5 as well as positioning and fixing elements, such as cylindrical pins, screws and a washer. The 10 Fig. 1 shows these components in a composite representation, as they are ultimately used to actuate the closure plate 15.1 necessary to the refueling port closed by her 15 for docking with the docking 17 to open. Respectively. after filling the main memory 4 respectively. 4 ' with stored in the form of bulk material joining elements from the external memory 17.1 for the subsequent period, in particular for the processing of the joining elements reliably reseal (sa 1 ).

LIST OF REFERENCE NUMBERS

1

Joining elements providing device

2

A robotic device

3

joining element

3 '

joining element

4

random access memory

4 '

random access memory

5

Joining elements setting device

5.1

connecting cable

6

delivery unit

6 '

delivery unit

6.1

conveyor rail

6.1.1

feed groove

6.2

conveyor rail

6.2.1

feed groove

6.3

Abrasion-discharge

6.4

jet

6.5

mounting element

7

Robot arm

8th

coupling member

9

mounting plate

10

casing

11

sorter

11.1

sorting unit

11.2

Sorting receiving opening

11.3

sorting wheel

11.3.1

sorting ring

11.3.2

sorting disc

11.3.3

spacer

11.3.4

sorting wave

11.4

guide rail

11.4.1

sorting channel

11.5

cut-off

11.6

Lagerflansch

11.7

Shaft seal

11.8

camp

11.9

Anlaufnabe

11:10

toothed ring

11:11

Slip or ball coupling

11.11.1

clutch

11.11.2

Bullet

11.11.3

compression spring

11.11.4

Rifle

11:12

lug plate

12

turnout device

12.1

soft unit

12.1.1

hub seat

12.1.2

turntable

12.1.3

guide disc

12.2

soft unit

12.2.1

hub seat

12.2.2

turntable

12.2.3

guide disc

12.3

Soft-output port

12.4

Soft body

12.5

Soft body cover

12.6

mounting elements

13

drive unit

13.1

drive

13.2

drive rod

13.3

drive lever

13.3.1

Rifle

13.4

Soft-rotation control unit

13.4.1

Lagerflansch

13.4.2

camp

13.4.3

Shaft seal

13.4.4

grommet

13.4.5

rotary shaft

14

mounting handle

15

refueling opening

15.1

closing plate

15.2

pivot shaft

15.3

Pivot shafts bearing flange

15.4

camp

15.5

pivoting boss

16

jam sensor

17

docking

17.1

external storage

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102008051489 A1 [0003]

Claims (15)

Joining element providing device (1), in particular rivet provisioning device and / or Nietvereinzelner, for supplying a joining elements (3) by means of a joining elements setting device (5), in particular a rivet setting device-processing robot device (2), in particular a rivet-processing robot apparatus, comprising a the joining elements, in particular rivets, before rate ligand in the form of bulk material, the first memory (4) and a first memory means of a connecting cable (5.1) of the joining elements setting device connecting conveyor unit (6) for the joining elements, characterized in that the first main memory (4) is adapted to be attached to a robot arm (7) of the robot device (2), in particular to the same robot arm (7) as the joining element setting device (5). Joining element providing device Claim 1 , characterized in that a sorting device (11) is provided for the joining elements, in particular a sorting device which has a relative to the first working memory (14) rotatable sorting unit (11.1) for receiving individual of the joining elements in at least one sorting receiving opening (11.2) which is open in at least one rotational position in the direction of the first main memory (4) so that a joining element (3) stored in the first main memory can fall into the at least one sorting receiving opening (11.2), in particular fall. Joining element supply device according to one of the preceding claims, characterized in that the sorting receiving opening (11.2) on a sorting wheel (11.3) is formed, for. B. on a hole or gear. Joining element provision device according to one of the preceding claims, characterized in that a separating device (11.5) for separating the bulk material in the working memory held joining elements of the sorted in the receiving openings (11.2) and sorted in the conveying direction subsequent conveyor section sorted to be transferred joining elements is. Joining element supply device according to one of the preceding claims, characterized in that the sorting device comprises a ball coupling and / or slip clutch (11.11), in particular a bobble trained ball coupling and / or slip clutch. Joining element supply device according to one of the preceding claims, characterized in that a congestion sensor (16) is provided for the joining elements, in particular for conveyor monitoring on a sorting lug which receives the joining elements. Joining element supply device according to one of the preceding claims, characterized in that an abrasion discharge opening (6.3) is provided for discharging joining element abrasion and / or other contaminants. Joining element provision device according to one of the preceding claims, characterized in that a closable refueling opening (15) is provided for filling the working storage with joining elements (3). Joining element supply device according to one of the preceding claims, characterized in that a second main memory (4 ') for storing the joining elements (3), in particular for storing the rivets, is provided in the form of bulk material, wherein the second main memory particularly preferably for receiving of joining elements (3 ') is formed, which are formed differently by the in the first working memory (4) held joining elements (3), in particular with respect. Form and / or size and / or material. Joining element supply device according to one of the preceding claims, characterized in that a switch device (12) which can be connected to the delivery unit (6) is provided for providing a connection for the first and / or second main memory (4, 4 '). Joining element-providing device according to one of the preceding claims, characterized in that the first and / or the second working memory and / or the separating device and / or the switching device is or are designed as a separately replaceable unit. Joining element supply device according to one of the preceding claims, characterized in that the first and / or the second random access memory and / or the separating device comprise a coupling element (8) for rapid connection to the robot device, for. B. a ball lock pin. Robotic device (2) comprising a movable robot arm (7) and a joining element setting device (5), in particular a rivet setting device, characterized in that the robot device comprises a joining element providing device (1) according to one of the preceding Claims, which is arranged in particular on the same robot arm (7) as the joining element-setting device. Robot device after Claim 13 , characterized in that the joining element providing device (1) is mounted on the movable robot arm (7) so that the movement of the robot arm can be transferred to the joining elements stored in the working memory (4; 4 ') as bulk material and thereby the Joining elements (3, 3 ') can perform a relative movement to the working memory. Robot device after Claim 14 , characterized in that a docking device (17) for receiving the first and / or the second main memory (4, 4 ') in the form of bulk material to be supplied joining elements, in particular rivets, is provided.

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