DE102016124694B4 - Joining element provision device and associated robot device - Google Patents

Abstract

Joining element preparation device (1) for supplying a joining element (3) by means of a robot device (2) processing a joining element setting device (5), comprising a first working memory (4) storing the joining elements (3) in the form of bulk material and one Conveying unit (6) for the joining elements (3) connecting the first working memory (4) to the joining element setting device (5) by means of a connecting line (5.1), characterized in that the first working memory (4) is connected to a robot arm (7). the robot device (2) is designed to be attachable.

Description

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

State of the art

The use of connecting elements, in particular rivets, is known for establishing a connection between components, such as, for example, metal sheets, angles, frame and / or body elements of vehicles and the like. To increase the production speed, automated riveting devices are used in the motor vehicle industry, for example, which connect corresponding components to one another by means of a riveting device arranged on a movably driven arm by setting rivets.

E.g. describes the DE 10 2008 051 489 A1 a so-called setting device arranged on a robot arm with a magazine and a preparation module for joining elements. The magazine serves as a buffer and feed device for a certain number of pre-sorted and aligned joining elements, in particular setting bolts. These are aligned in a storage groove and are jointly movably fed to a head piece of the setting tool for processing, so that the setting tool supplied from this can process several setting bolts or rivets in succession.

The provision module for supplying or filling the magazine with appropriately pre-sorted and aligned setting bolts is formed separately from the robot device comprising the robot arm and its setting device, arranged separately therefrom and equipped with a connection module comprising a so-called pre-magazine for joining elements. For loading, the robot arm moves the setting device with the magazine arranged on the head to the preparation module in such a way that two coupling units formed on the respective unit can be connected to one another and the pre-sorted set of setting bolts can be transferred into the magazine. The robot arm then moves back into its working position to set further rivets.

Furthermore, so-called “sorters” are also known from the automotive industry. With individual separation of rivets, from a series of rivets on the robot base that are already pre-sorted from bulk goods by means of a sorting device. In such devices, the rivet is blown into the rivet pliers via a long hose with a "T" cross section. The blowing process takes about 1.5 - 3 seconds. The rivet tongs only give the command to shoot the next rivet once a rivet has been set. The blowing time thus also determines the number of rivets that can be processed per unit of time. A long T-hose that runs over several robot joints can also be damaged or torn off. It can also be twisted with other cables or media and also torn off. Replacing the "T" hose requires time during which the system is standing. The energy chain must also be opened, or the hose must be run individually under each link when the energy chain is closed. This action also means that all other robots in the cell are inevitable because each robot does part of the total work. Another disadvantage is that each robot tongs can only be filled with one rivet length, meaning that only laminated cores with a thickness can be riveted.

From the prior art, the DE 20 2008 014 885 U1 an external supply device for connecting elements for supplying an end effector to an articulated arm robot. Several different types can be stored in the supply device and can be selectively supplied to the end effector / setting device via a transport path, for example a hose. The selection of the required and supplied element type is made in the supply device and is controlled, for example, by the common robot controller.

The DE 10 2005 015 032 A1 discloses a device for feeding small parts, such as rivets, screws, welding studs or the like. to a processing device with a magazine with a plurality of chambers arranged in an endless row one behind the other for receiving the small parts and an associated device for separating and transferring the small parts the processing device.

The small parts can be fed to the magazine individually or in a row, from a filling station fixed / stationary on a stand with a feeder and a storage container in which the punch rivets are stored loosely.

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 provision 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 specified.

Accordingly, according to a first aspect, the present invention relates to a joining element provision device, in particular rivet provision device and / or rivet singler, for supplying a joining element by means of a joining element setting device, in particular a robot device processing rivet setting device, in particular a robot device processing rivets , comprising a first working memory which stores the joining elements, in particular rivets, in the form of bulk material, and a conveyor unit for the joining elements which connects the first working memory by means of a connecting line to the joining element setting device. The joining element preparation device is characterized in that the first working memory is designed to be attachable to a robot arm of the robot device, in particular on the same robot arm as the joining element setting device.

Due to the attachment of the first working memory which stores the joining elements in the form of bulk material to an arm of the robot device, such a robot device does not require a separately designed sorting device for separating and aligned feeding of the individual joining elements to the joining element setting device which processes them. A supply unit for such pre-sorted and aligned joining elements up to the robot arm of the robot device from its stand area or even from a sorting device arranged away from it is still required. Accordingly, all the disadvantages that may be associated with such units, such as the risk of damage or failure, the time required for the individual or packaged conveying of pre-sorted joining elements for the joining element setting device or a storage groove arranged upstream of this in the conveying direction, for their refilling, the robot Poorly interrupt the processing every time and must dock the filling element processing of the joining element setting device in a massively delaying manner, refill it and return to the working position on the separately designed sorting device.

In contrast, the first working storage device, designed according to the invention as a bulk goods storage device that can be attached to the robot arm, can be designed on the one hand so that it can store a significantly larger number of joining elements to be kept available than, for example, a pre-sorted and aligned joining elements that feed the joining element setting device, e.g. B. in the form of a memory groove.

On the other hand, due to the freedom in the alignment of the joining elements to be refilled, such a working memory designed as a bulk material store can also be filled overall much more quickly compared to a filling of a storage unit receiving the joining elements aligned in a specific orientation. This applies both to each individual joining element and in particular to the total number of joining elements to be refilled per unit of time. On the one hand, this means that, in the joining element preparation device according to the invention, considerably more joining elements can be refilled per filling, whereby the number of filling steps required for filling can be comparatively massively reduced. On the other hand, the significantly faster filling option due to unsorted feed compared to sorted feed can also result in an additional significant time saving per fill with regard to the provision of the joining element setting device for processing the joining elements and thus a comparatively massive productivity improvement.

In order to be able to provide correspondingly aligned joining elements to the joining element setting device, a sorting device is provided for the joining elements, in particular a sorting device that has a sorting unit that can be rotated in relation to the first working memory for receiving individual joining elements in at least one sorting receiving opening, which is arranged in at least one Rotational position in the direction of the first working memory is open, so that a joining element stored in the first working memory can get into the at least one sorting receiving opening, in particular can fall.

The provision of a sorting device on the robot arm offers the advantage according to the invention that the movement of the robot arms 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 repeatedly act against the housing of the working memory and in particular can move relative to the sorting device, and this without having to provide a drive or a drive device for this.

The sorting device is preferably arranged on the working memory in such a way that its at least one sorting receiving opening is opened towards the inside of the working memory if, during the processing of joining elements by the joining element setting device, at least temporarily, joining elements held in the memory face each other, in particular above this sorting device -Access opening are located. If a joining element is in a correspondingly suitable orientation opposite or above the sorting receiving opening is located, this joining element can get into the sorting receiving opening, in particular fall and thus be sorted. By providing several such sorting receiving openings on the rotatable sorting unit, the sorting device can accommodate several correctly aligned joining elements and transport them further to a unit downstream in the conveying direction, e.g. B. directly to the working memory connecting the joining element setting device conveyor unit and / or to a conveyor line 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, e.g. B. on a perforated or gear. By using such a sorting wheel, it can be ensured in an advantageous manner that the sorting receiving openings formed therein or thereon, due to the rotation, always come past the first working memory at the affected point, at which joining elements come out of this into a sorting receiving opening positioned opposite, in particular underneath can, if they are appropriately aligned opposite each other.

If it turns out that a joining element positioned at the corresponding position in the working memory is not correctly aligned, this can either still get caught in the sorting receiving opening and be moved from this position into the first working memory, or none at this time Joining element into the relevant sorting opening and this is moved on empty. 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 relevant point opposite the sorting receiving opening can either change their position and / or other joining elements, e.g. B. appropriately correctly aligned, can get in their place and thus get into this when passing the next sorting receiving opening and are conveyed by this behind the last sorted joining element in the conveying section following in the conveying direction until they are in turn the previously sorted Additional conveying elements are in the back of the conveying flow.

Due to a correspondingly large contact area between the sorting wheel and the interior of the working memory, a plurality of sorting receiving openings can advantageously be congruent with the inside of the memory at the same time, so that a plurality of joining elements can be positioned at the same time with respect to the relevant sorting receiving openings and can get into them with the appropriate alignment or if the alignment is not suitable, they may be displaced from their position in the working memory by snagging and may make room for another joining element. Here, too, the idea according to the invention comes into play that by corresponding further movement of the wheel, i.e. its rotation, it can be ensured that a sufficient number of sorted joining elements can be transported to the subsequent conveyor section and kept there, even if no joining elements in one the sorting receiving openings can be accommodated.

In order to ensure that only correctly aligned joining elements can be fed from the bulk material pile into the conveyor line for supplying the joining element setting device, a separating device can also be used to separate the joining elements held as bulk material in the working memory from those received in the sorting receiving openings and to them In the conveying direction, the following conveying path is to be provided in sorted order for the joining elements to be transferred. This separating device can be designed, for example, in the form of a so-called cross 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 to the subsequent conveyor line.

For a large part of the sorting situations that arise during operation, a sufficiently good separation can be achieved between the joining elements that are still unsorted as bulk goods and the joining elements already sorted in the respective sorting receiving openings, in order to prevent the moving sorting elements from jamming or getting caught.

For the cases in which the moving parts of the sorting device are nevertheless prevented in their movement in an unintended manner, in particular stopped, in particular by jamming joining elements, the sorting device can avoid damage in a development of the invention, a ball coupling and / or slip clutch have, in particular a rocking ball coupling and / or slip clutch.

A release device for releasing hooked joining elements can be provided to remedy such a clamping situation. E.g. For this purpose, the sorting wheel can be temporarily rotated backwards to counteract the jamming and / or a hooked joining element can be shaken free by means of a rockable embodiment of the ball or slip coupling.

According to a preferred embodiment, the ball or slip clutch is designed such that it can introduce such vibrations to the sorting wheel, in particular to a joining element hooked in a receiving opening, that the jammed joining element is released again from its clamping situation. E.g. For this purpose, the ball or slip clutch can comprise balls that transmit rotational forces and springs that fix them in correspondingly complementary recesses. In order to generate the vibrations required to release jammed fixing elements, either the spring forces of the springs can be correspondingly pronounced and / or the stroke of the balls when the ball or slip clutch is activated.

To avoid a jam on sorted joining elements in the feed area of the conveyor line following in the conveying direction, a jam sensor can be provided for the joining elements, in particular for monitoring the conveyance on a sorting tunnel receiving the joining elements.

In order to be able to operate the joining element preparation device as long as possible without interference, in an advantageous further development an abrasion discharge opening can be provided for discharging joining element abrasion and / or other contaminants. This can be the case both with regard to the working memory and, in particular, with regard to the sorting unit which is basically affected by the highest abrasion, as well as with particular preference with regard to the conveying path following in the conveying direction up to the joining element setting device.

In order to be able to refill the working space that is moved along with the robot arm during processing of the joining elements, for example, up to over 10,000 pieces of joining elements with a 3 mm longitudinal extension or over 5,000 pieces of joining elements with a longitudinal extension of 5 mm , this includes a refueling opening. In order to prevent the joining elements held in the working memory from unintentionally coming out of it again, in a further preferred embodiment, a closable refueling opening is provided for filling the working memory with joining elements.

With such a filling of the working memory, the joining element setting device of the robot device can be used when processing e.g. B. 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 it is still approx. 5.5 hours.

In order to further improve the productivity of robot devices processing joining elements, in a further advantageous embodiment, a second working memory can be provided in the form of bulk material for storing the joining elements, in particular for storing the rivets, the second working memory being particularly preferably designed to accommodate joining elements. which are designed differently from the joining elements held in the first working memory, in particular with regard to shape and / or size and / or material. This can either double the above-described, comparatively long processing time, without supply-related interruption, when the same types of joining elements are stored in the first and second working memories, or even open up the possibility of, for example, correspondingly different fixing requirements for components to be connected to one another To keep joining element types in the two working memories.

Furthermore, it is therefore provided to provide a corresponding control unit with which different types of joining elements can be fed into the conveyor unit to supply the joining element setting device at exactly the right time. This means that different types of joining elements can be processed without interrupting the series of joining element settlements. In other words, different joining elements can be processed in any order.

To feed joining elements from more than one working memory into the conveying path following in the conveying direction, a switch device which can be connected to the conveying unit and which provides a connection for the first and / or second working memory can be provided to further improve productivity. It is thus possible to switch between the two working memories as required, without interrupting the current at pre-sorted joining elements.

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

With regard to the shortest possible downtimes, both with regard to application-related renovation measures and, in particular, with regard to service and / or repair requirements that cannot be completely ruled out, one can further preferred embodiment of the first and / or the second working memory and / or the separating device comprise a coupling element for rapid connection to the robot device, for. 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 preparation device as described above, which is arranged in particular on the same robot arm as the joining element setting device.

The fewer parts a device comprises, the fewer parts can cause corresponding downtimes by adopting a non-operational state. Accordingly, the joining element provision device is particularly advantageously 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 bulk in the working memory, and in this way the joining elements can execute a relative movement to the working memory. As a result, the joining element preparation device can do without the drive otherwise required for sorting joining elements held in bulk.

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

Figure list

• 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 are explained in more detail below with reference to the accompanying figures. Show it:

• 1 and 2nd : an example of a perspective view of a joining element provision device, each from a different perspective,
• 3rd and 4th : each an enlarged view of the 1 respectively. 2nd ,
• 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
• 10th : Elements of a closure element of a refueling opening.

The shows in detail 1 a joining element providing device 1 for supplying a joining element shown here only schematically and as an example 3rd by means of a joining element setting device 5 manufacturing robot device 2nd . The joining element preparation device comprises the joining elements 3rd , one of which is shown schematically by way of example, in the form of bulk working first storage 4th and the main memory with a connecting cable 5.1 for joining element setting device 5 connecting conveyor unit 6 for the joining elements 3rd . According to the invention, this is the first working memory 4th trained to be on a robotic arm 7 the robot device 2nd is designed to be attachable, preferably quickly replaceable, for example by means of a coupling element which can preferably be operated without tools 8th , e.g. B. a ball lock pin. This can also be done, for example, using a robot arm 7 mounting plate to be attached 9 respectively. Such mounting plates can be prefabricated and on the robot arm 7 be preassembled for the rapid installation of joining element provision devices, particularly preferably already with correspondingly preinstalled energy and / or signal connections.

The joining element provision device furthermore comprises 1 a housing 10th , in which, for example, next to the main memory 4th to accommodate the supply of joining elements held in bulk, components for operating the joining element provision device can also be accommodated and / or arranged on the latter. E.g. Components of a sorting device 11 for sorting or separating with a correspondingly specified orientation of the joining elements held as bulk goods in the working memory. The joining elements so aligned and separated into the appropriate position are at the exit of the sorting device 11 to the conveyor unit 6 handed over (cf. 7 ). For example, in a so-called sorting tunnel formed by the latter, the cross-sectional shape of which corresponds to the contour of the joining elements to be conveyed, with a corresponding tolerance, so that the joining elements to be conveyed can slide therein safely and as smoothly as possible. Usually, the cross section will have a “T” shape, corresponding to the head and shaft shape of the joining elements to be accommodated, such as rivets.

In order to be able to keep a further working memory available, and accordingly the joining elements stored in it, if necessary, also in the manner described above for the connecting line 5.1 the joining element setting device 5 To be able to feed, the conveyor unit 6 a switch device 12 include (see a. 8th ).

Compared to 1 show the 2nd a so-called rear view of the joining element provision device 1 which by means of a coupling element 8th is attached to the mounting plate shown in the foreground. In the top view below the mounting plate is a switch device 12 shown with two switch units 12.1 and 12.2 . The switch unit 12.1 serves to inject the from the first working memory 4th appropriately aligned joining elements led out of the bulk material stock contained therein sorted 3rd into the connection line 5.1 the joining element setting device 5 .

To the switch unit 12.2 can be another conveyor unit 6 ' a second memory for 4 ' (see. 3rd ) for the introduction of joining elements that are rejected 3 ' into the connection line 5.1 be connected.

For operating the switch unit 12.1 is a drive unit 13 provided comprising a drive 13.1 , e.g. B. in the form of a pneumatic cylinder, a drive rod 13.2 as well as a drive lever actuated with their lifting movement 13.3 (see also 9 u . 8th). The same applies to the switch unit 12.2 , provided a second memory 4 ' is installed.

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

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

The 5 and 6 each show individual components of the sorting device 11 in exploded view and each assembled in the additional views 5.1 and 6.1 . Accordingly, the 5 as part of the sorting device in relation to the first working memory 4th rotating sorting unit 11.1 for receiving individual joining elements in at least one sorting reception opening 11.2 . This sorting reception opening 11.2 is at a variety of such sorting receiving openings 11.2 having sorting wheel 11.3 formed and has in the assembled state of the joining element providing device 1 towards the inside of the joining elements 3rd RAM that stores in bulk 4th . The sorting wheel 11.3 comprises a sorting disc to be received on the end of a rotatable shaft 11.3.2 and one that can be connected to it, the sorting receiving openings 11.2 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 sorting shaft that supports and rotates it 11.3.4 (see 6 ).

5 further shows the sorting wheel 11.3 with in its on the housing 10th of RAM 4th assembled side rails 11.4 . These prevent the joining elements from falling out of the working memory 4th , especially from the sorting receiving openings 11.2 . By turning the sorting wheel 11.3 compared to the working memory 4th in the sorting receiving openings 11.2 appropriately aligned joining elements taken along during the rotation of the sorting wheel and thus in the conveying direction to that between two guide strips 11.4 trained, radially outward sorting channel 11.4.1 transported on.

To prevent it from being stored as bulk material in the working memory 4th held joining elements one in incorrectly in a sorting receiving opening 11.2 recorded orientation in the sorting channel 11.4.1 can reach, includes the sorting unit 11.1 a disconnect device 11.5 . This disconnect device 11.5 is adjacent to the radially outer edge of the sorting wheel 11.3 , so that only correct in the sorting receiving openings 11.2 recorded joining elements in the conveying direction on this sorting element of the sorting unit, which is also referred to as a cross slide, 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 on it for mounting on the sorting shaft 11.3.4 , a bearing flange 11.6 with shaft seal 11.7 , Warehouse 11.8 , Spring or circlip and thrust hub 11.9 , Tooth ring 11/10 , Slip or ball coupling 11/11 with clutch hub 11.11.1 , Bullets 11.11.2 , Compression springs 11.11.3 and socket 11.11.4 , further warehouse 11.8 and washer 11/12 and other fixing elements such as feather keys and screws.

To monitor the conveyor level of the sorting unit 11.1 over the sorting channel 11.4.1 the conveyor unit following in the sorting direction 6 pent-up joining elements is a jam sensor 16 provided (see 3rd ). E.g. this can be in the transition area between the exit sorting channel 11.4.1 and the inlet area of the subsequent conveyor unit 6 be arranged. E.g. can thus be checked whether a jam on conveyed joining elements can be detected at this point and accordingly the sorting unit can be deactivated or reactivated in the event of negative detection.

The 7 shows elements of the conveyor unit in an exploded view 6 , and the 7 .1 and 7.2, assembled, in perspective from two different angles. Accordingly, the conveyor unit includes 6 two conveyor tracks 6.1 and 6.2 with conveying grooves formed in it 6.1.1 . respectively. 6.2.1 for receiving a region of the joining elements which is radially enlarged with respect to the longitudinal extent of the joining elements, such as a head section of a rivet. The two conveyor rails formed approximately in the shape of a quarter circle section 6.1 and 6.2 have a distance between them in their assembled state. In this, the shaft of the joining element to be conveyed can slide along as it is conveyed. In a further advantageous manner, this forms the two conveyor rails 6.1 and 6.2 spacing area an open to the outside, as abrasion discharge opening 6.3 acting slot (cf. 7 .1, 7.2 and. 3rd ).

Furthermore, the conveyor unit 6 a nozzle 6.4 and a mounting element that positions it 6.5 comprise, by means of which compressed air in the from the conveying grooves 6.1.1 and 6.2.1 as well as in the slot-shaped conveying groove 6.3 , which also acts as an abrasion discharge opening, can be blown in. 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 contaminants. In addition, the 7 positioning and fixing elements such as cylinder pins, screws and nuts as further components of the conveyor unit 6 .

In the 8th is a switch device 12 shown, the components of which are shown in an exploded view, and in 8th .1 in an assembled representation. Accordingly, the switch device comprises 12 a switch base 12.4 with two rotary writing seats formed in it 12.1.1 and 12.2.1 in the form of cylindrical recesses. Turntables are rotatably arranged in these 12.1.2 respectively. 12.2.2 added. These turntables each have two receiving slots arranged centrally opposite one another, for receiving the slots in the switch device 12 joining elements to be introduced. Around the joining element received in this slot in the direction of the switch output connection 12.3 to transport the turntable 12.1.2 rotated by 90 degrees so that their two slots overlap with the one in the switch body 12.4 are centrally arranged conveyor channel. The correspondingly promoted joining element then exits the turnout device via the turnout output connection into the connecting line supplying the joining element setting device 5.1 (see. 1 ).

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

In the 8th illustrated turntable 12.1.2 in turn has a cylindrical recess for receiving a guide disc 12.1.3 on which in turn is fixed in position on the switch base cover 12.5 is arranged and a congruent with the guide slot formed in the switch base guide slot for passing through the switch unit 12.2 has injected feed elements forth. This also applies to the turntable 12.1.2 is positioned rotationally so that the receiving slots formed in it are also congruent with the central conveying channel of the switch base body 12.4 are aligned. The feeding of joining elements to be conveyed from the main memory 4th or a possibly available second working memory 4 ' in the switch device 12 is thus carried out by a corresponding rotary positioning of the rotary in question 12.1.2 respectively. 12.2.2 , so that their receiving slots are congruent with the inlet slots of the conveyor unit formed laterally in the switch body 6 respectively. 6 ' are congruent. After the relevant joining element has been received in the receiving slot of the turntable, the turntable can be rotated accordingly by 90 degrees and the joining element thus repositioned can be transferred to the downstream conveyor section.

The feeding of joining elements via the switch unit 12.2 takes place in a corresponding manner, the operating state of the switch unit 12.1 must be taken into account or adjusted accordingly. The feeding of joining elements via the switch unit 12.2 can either serve to increase the total storage capacity of the joining element provision device, and / or also to provide different ones Joining elements for processing by the joining element setting device 5 .

The 8th still shows assembly elements 12.6 as well as positioning and fixing components such as parallel pins and screws.

The 9 also shows elements of the turnout control unit in an explosively arranged manner 13.4 and the 9 .1 this in a composite representation. This unit includes the drive lever already described above 13.3 , a socket assigned to this 13.3.1 , a bearing flange 13.4.1 with bearings 13.4.2 , a shaft seal 13.4.3 , a rotating shaft 13.4.5 for transferring 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, cylinder pins, a washer and a screw.

The 10th finally shows the one for closing the refueling opening 15 provided locking plate 15.1 in an exploded exploded view with components intended for their actuation: swivel 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 cylinder pins, screws and a washer. The 10th .1 shows these components in a composite representation, how they ultimately for actuating the closure plate 15.1 are required to close the refueling opening it has closed 15 for docking to the docking device 17th to open, or after filling the working memory 4th respectively. 4 ' with joining elements stored in the form of bulk goods from the external storage 17.1 for the subsequent period, especially for the processing of the joining elements, to be closed again reliably (see also 1 ).

Reference symbol list

1

Joining element provision device

2nd

Robotic device

3rd

Joining element

3 '

Joining element

4th

random access memory

4 '

random access memory

5

Joining element setting device

5.1

Connecting cable

6

Conveyor unit

6 '

Conveyor unit

6.1

Conveyor rail

6.1.1

Conveying groove

6.2

Conveyor rail

6.2.1

Conveying groove

6.3

Abrasion discharge opening

6.4

jet

6.5

Mounting element

7

Robot arm

8th

Coupling element

9

Mounting plate

10th

casing

11

Sorting device

11.1

Sorting unit

11.2

Sorting opening

11.3

Sorting wheel

11.3.1

Sorting ring

11.3.2

Sorting disc

11.3.3

Spacer ring

11.3.4

Sorting shaft

11.4

Guide bar

11.4.1

Sorting channel

11.5

Disconnecting device

11.6

Bearing flange

11.7

Shaft seal

11.8

warehouse

11.9

Starting hub

11/10

Gear ring

11/11

Slip or ball coupling

11.11.1

Clutch hub

11.11.2

Bullet

11.11.3

Compression spring

11.11.4

Rifle

11/12

Lug

12

Switch device

12.1

Switch unit

12.1.1

Turntable seat

12.1.2

turntable

12.1.3

Guide washer

12.2

Switch unit

12.2.1

Turntable seat

12.2.2

turntable

12.2.3

Guide washer

12.3

Switch output connection

12.4

Switch base body

12.5

Switch body cover

12.6

Assembly elements

13

Drive unit

13.1

drive

13.2

Drive rod

13.3

Drive lever

13.3.1

Rifle

13.4

Turnout control unit

13.4.1

Bearing flange

13.4.2

warehouse

13.4.3

Shaft seal

13.4.4

Sealing sleeve

13.4.5

Rotary shaft

14

Mounting handle

15

Refueling opening

15.1

Sealing plate

15.2

Swivel shaft

15.3

Swivel shaft bearing flange

15.4

warehouse

15.5

Swivel hub

16

Jam sensor

17th

Docking device

17.1

external storage

Claims (15)

Joining element provision device (1) for supplying a joining element (3) by means of a robot device (2) processing a joining element setting device (5), comprising a first working memory (4) storing the joining elements (3) in the form of bulk material and one Conveying unit (6) for the joining elements (3) connecting the first working memory (4) to the joining element setting device (5) by means of a connecting line (5.1), characterized in that the first working memory (4) is connected to a robot arm (7) the robot device (2) is designed to be attachable. Joining element provision device after Claim 1 , characterized in that a sorting device (11) is provided for the joining elements (3). Joining element preparation device according to one of the preceding claims, characterized in that the sorting device (11) has a sorting unit (11.1) which can be rotated in relation to the first working memory (4) for receiving individual ones of the joining elements (3) in at least one sorting receiving opening (11.2) which is open in at least one rotational position in the direction of the first working memory (4), so that a joining element (3) stored in the first working memory (4) can get into the at least one sorting receiving opening (11.2), in particular can fall. Joining element preparation device according to one of the preceding claims, characterized in that a separating device (11.5) for separating the joining elements (3) held in bulk in the working memory (4) from the joining elements accommodated in the sorting receiving openings (11.2) and to those downstream in the conveying direction Conveyed route sorted to be transferred joining elements (3) is provided. Joining element provision device according to one of the preceding Claims 2 to 4th , characterized in that the sorting device (11) has a ball coupling and / or slip clutch (11.11). Joining element preparation device according to one of the preceding claims, characterized in that a jam sensor (16) is provided for the joining elements (3). Joining element preparation device according to one of the preceding claims, characterized in that an abrasion discharge opening (6.3) is provided for the discharge of joining element abrasion and / or other contaminants. Joining element preparation device according to one of the preceding claims, characterized in that a closable refueling opening (15) is provided for filling the working memory (4) with joining elements (3). Joining element preparation device according to one of the preceding claims, characterized in that a second working memory (4 ') is provided for storing the joining elements (3) in the form of bulk material. Joining element provision device according to one of the preceding claims, characterized in that a switch device (12) which can be connected to the conveyor unit (6) is provided for providing a connection for the first and / or second working memory (4, 4 '). Joining element preparation device according to one of the preceding claims, characterized in that the first and / or the second The working memory (4, 4 ') and / or the separating device (11.5) and / or the switching device (12) is or are designed as a separately replaceable unit. Joining element preparation device according to one of the preceding claims, characterized in that the first and / or the second working memory (4, 4 ') and / or the separating device (11.5) is a coupling element (8) for rapid connection to the robot device (2 ) include. Robot device (2), comprising a movable robot arm (7) and a joining element setting device (5), characterized in that the robot device (2) comprises a joining element preparation device (1) according to one of the preceding claims. Robot device after Claim 13 , characterized in that the joining element preparation device (1) is attached to the movable robot arm (7) in such a way that the movement of the robot arm (7) can be transferred to the joining elements stored in bulk in the working memory (4, 4 ') and as a result the joining elements (3, 3 ') can execute a movement relative to the working memory (4, 4'). Robot device after Claim 14 , characterized in that a docking device (17) is provided for receiving the first and / or the second working memory (4, 4 ') in the form of bulk material to be added joining elements (3, 3').

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