DE19548431A1 - Device for automatic assembly of press-in elements, especially for coupling to manipulator, e.g. industrial robot - Google Patents

Abstract

For the realisation of modular type construction a base support module (100) with at least one module interchange system (110,115) is provided. A drilling or milling module is provided for forming the recesses for the press-in elements. The drilling or milling module has a blast air unit with a nozzle for blowing out swarf remaining behind in the recesses. A jointing module is provided for driving in the press-in elements.

Description

The invention relates to a device for automatic assembly of press-in elements for their introduction into a previously to be manufactured Recess a joining force is to be applied, such as wood or plastic furniture, fittings, hinges, threaded bushings, corner connectors, cover caps or similar. The device is particularly suitable for coupling to a handling device, such as an industrial robot.

The invention is suitable for all press-in elements for their assembly the following sub-steps are necessary: making a recess by Boh Ren and / or milling with suction or subsequent blowing of the resulting chips, if necessary, introducing a binder into the before the cut-out and insertion of the press-in elements into the gefer made recess with the application of a joining force.

The main area of application of such press-in elements is in the area of the entire woodworking trade, in which to manufacture of wooden frames and other wooden structures, such as a construction kitchens or housing programs, connecting elements such as accessories play any kind of dowels, carcass connections, fittings, tapes,  Hinges and similar assembly parts are used. Another one The field of application is in the field of assembly technology. Numerous ones Press elements are here according to the part mentioned above assembled steps, with the introduction of a binder in most Cases does not take place because the press-fit elements by force wise positive locking in the recesses made. At Games here are, for example, snap connections, bolts, pins, floor carrier and cover caps.

The assembly of press-in elements, such as connecting elements, fittings gen, hinges, hinges and similar assembly parts in the area of small and medium-sized businesses predominantly "traditionally" leads. As is known, the necessary recesses are made conventional drilling and milling machines. In the wide If necessary, binder is manually inserted into the Recesses are made and the assemblies are also made by hand inserted into the recesses. The traditional assembly technique is thus heavily embossed manually, thus time consuming and costly.

A mechanization solution especially in the area of the assembly of wooden dü dowels are such dowel insertion devices that consist of a hand-held Driving gun consist of a hose system with a ready unit for the wooden dowels and the wood glue are connected. The one The driving gun is suitable for driving in the wooden dowels above the previous one finished recess or hole positioned. By the Pressing the trigger on the driving gun first puts wood glue into the Injected hole and then the wooden dowel into the hole drove. With these dowel insertion devices there is no complete assembly of the Wooden dowels instead, because the holes in an upstream Ferti step must be manufactured.  

In the areas of small series and mass production there are or multi-spindle drilling or milling machines, the corresponding manual setup can perform a special manufacturing task nen. These machines are mainly used where the through the manual set up drilling or milling process on several Workpieces of the same type should take place. The subsequent insertion of the Press-in elements can be carried out using separate joining machines, which in some cases several assembly parts in the course of a joining cycle speaking recesses can use. Especially in the area of Wooden dowel assembly exist on the one hand and dowel drilling machines Machines that pour glue into the hole and connect the wooden dowel press in, on the other hand combination machines that have a com Carry out complete installation of the wooden dowel, i.e. drill the dowel hole, Pour in the glue and press in the wooden dowel. The area of application of such Machines designed to increase productivity and economy used, is mainly due to their overall construction certain assembly areas limited. Furthermore, these machines can due to the necessary and relatively high set-up effort in flexible manufacturing can hardly be used.

There are also CNC machining centers with completely separate ones Drilling modules and press-in modules, all for mounting the considered Carry out the necessary parts of the assembly parts. The CNC machining centers are mainly found in the area of mass production. After parts of these CNC-controlled machining centers are in the enormously high hen investment costs, the high conversion effort and the difficult Process monitoring. Furthermore, the use of these CNC machines in the Area of rack furniture manufacturing, where very complex spatial geometries occur, only inadequately possible.

The invention is therefore based on the object of a device for to specify automatic assembly of press-in elements for their insertion  in a recess to be made by the same device Joining force is to be applied, this device being automated and rationalization of the complete assembly of the press-in elements in the loading range from small series production to varied mass production and made to order, and while facilitating Assembly is achieved with difficult workpiece shapes that previously only by complex machines, such as stationary frame and Ge adjustable dowel machines in the area of frame furniture production or CNC-Bear processing centers can be carried out.

The object is achieved by the in the characterizing part of Features specified claim 1 solved. Advantageous configurations are specified in the subclaims.

The present invention is based on the basic idea that a Device which for a rational automatic complete assembly of Press-fit elements are preferably suitable in wood-based materials flanged to an industrial robot, a modular device line structure must have, so that both a serial assembly sequence con as well as a commission can be carried out, and with a single flexible device with different press-in elements corresponding drilling or milling modules can be installed nen.

To implement the basic considerations according to the invention, at commission-wise installation of press-in elements initially several or many cutouts in various mounting positions with one and the the same drilling or milling module and each in one Blow out the remaining chips with a blow-out unit sen. The drilling or milling module is replaced by a module system in the base support module of the device according to the invention taken. After drilling or milling the desired one  The drilling or milling module is now cut out Joining module replaced in the module changing system, whereby the joining module takes the required press-in elements from a preparation unit and with an insertion unit applying a joining movement and a joining force in the previously made recesses at different Mounting positions. The basic carrier module is used to reduce costs with a drive unit working at least as a linear unit which equips at least the front via at least one coupling unit thrust of an inserted drilling or milling module and the Joining movement of an inserted joining module causes. The monitor The fully automated assembly process is controlled and controlled an evaluation and control unit.

When coupling the device to a handling device, such as for play an industrial robot, the second time it starts up Installation position with a joining module that is exchanged in the basic module uses the repeatability of a robot, which is known to se far exceeds the positioning accuracy of a robot.

Compared to the commission by serial assembly con accept the above assembly steps, make recess, blow out sen, insert press-in element, one after the other from the device and the same assembly position. For this, the fiction appropriate device or the module carrier plate of the basic support germoduls equipped with two module changing systems. The device or their basic carrier module is at the start of assembly steps once in the assembly position - in which they then during all Sub-steps remain - in such a way that this is in a first module Exchange system Drilled or milling module in one first stop position for the selected mounting position in working position tion - now the desired cutout and chips are made are blown out - then the module carrier plate is opposite a  Base plate of the base support module that remains completely in the same position move through a linear unit in such a way that the drilling module a joining module that is changed into a second module changing system in a second stop position for the same installation location in working position tion - now the desired press-in element is inserted module used -. In the above first stop position Module carrier plate becomes the drilling or milling module and in the Above second stop position, the joining module is over ent speaking coupling units driven by the same drive unit.

The device according to the invention thus has a number of advantages:
The device according to the invention allows flexible fully automatic complete assembly of a wide variety of press-in elements. Due to the modular overall structure, the assembly can be carried out in series, on the other hand, on a commission basis. In connection with an industrial robot, the higher repeatability of a robot is used in a commissioned assembly process, while in a serial assembly process the robot positions the device according to the invention with the drilling or milling module and joining module once at the assembly site and the device during all subsequent sub-assembly steps the robot is not moved, i.e. the robot's end effector remains stationary. The working positions of the drilling or milling module and the joining module are achieved solely by moving a module carrier plate through a linear unit, which contributes significantly to the acceleration and accuracy of the assembly process.

Furthermore, the modular overall structure of the invention Device assembly of various press-in elements (Fasteners, fittings, hinges, hinges, etc.) with one zigen device, the specific adaptation to the respective  Assembly parts due to the flexible insertion of the corresponding joining module or at least its preparation unit and possibly also the drill or milling module is achieved.

The modular overall structure of the device reduces the conversion effort to a minimum.

With the complete assembly, the assembly, throughput and lie are reduced times, which can be expected to increase productivity significantly. Among other things, the device enables assembly on workpieces (for example sofa frames), which so far due to their complex shapes only with special stationary rack drilling and separate driving in machines can be carried out. The device according to the invention enables the production of recesses and the insertion of press-in elements at an oblique angle to the surface - by moving the module supports board automatically have drilling or milling module and joint module the same angle setting. This oblique mounting could So far, at most through CNC machining centers, but with different ones Machining heads are accomplished - here is the inventive device is a much cheaper solution.

A computer aided process control, process control and process Monitoring guarantees high flexibility of the device in terms of Drilling or milling task, joining task, binding agent delivery task, the module change processes, the pneumatic and Hydraulic and electrical control and motion sequences inside the device.

Developments of the invention are the subject of the dependent claims.

The module carrier plate is advantageously parallel to the base plate of the Move the basic module, perpendicular to the parallel axes of the two module change systems, the free travel is best  equal to the distance between the two parallel axes, so that in the in both stop positions, the drilling or milling module or the joint module in the working position (claims 3 and 4).

So that the exchangeable drilling or milling modules at all It is very advantageous to no longer need your own drive Drive unit on the base plate of the base support module as a linear and Form rotation unit, whose non-rotating part causes over Coupling units feed the drilling or milling module and the joining movement of the joining module, while its rotating part is over a coupling unit the rotation of the work in the working position tool holder of a drilling or milling module. Instead of a simple tool holder, the drilling or milling module also with a tool changing system for a turret Tool holder or equipped with a collet system (Claim 5).

For the introduction of binders into the previously manufactured and blown out This recess is a non-proportioned binder Dispenser module provided that releasably relate to the base support module the module carrier plate is connected. After a substitution of a joining module into a module changing system of the basic carrier module the dispenser module is pivoted over the joining module, for example by a linear unit around a pivot point. The dispenser module is advantageous usually with a binder metering device and one for example right-angle stop equipped, which towards the main axis of the inserted joining module by a linear unit on one corresponding counter stop on the joining module is pushed. This According to the invention, the counterstop on the joining modules is independent of whose geometry is arranged by the dimensions of the press-in elements. This makes it possible to position the binder metering device in this way tion that the binder by a corresponding ge at the tip  shaped glue nozzle at the front end of the binder metering device from above - if the module carrier plate of the basic carrier module extends horizontally is directed - diagonally injected into the previously made recess that can. This offers the further advantage that in this way a separa ter additional work cycle for the introduction of binder can be saved can. The binder is either a small internal or a Larger external glue store with supply hose removed. In the Assembly of pre-glued press-in elements, for example wooden dowels, with the dispenser module, only water is used as a binder savings injected (claims 6, 7, 8).

To remove debris from drilling or milling dust and is either a suction unit with bellows and brush ring or a total extraction with a fully enclosed assembly cell see (claim 9).

An insertion unit of a joining module is advantageously with a guide equipped columns, on which a plate is guided against compression springs, to which at least one plunger may be attached via connecting elements is, which inserts the press-in element into the recess made (claim 10).

When using an internal press-in element memory of a provisioning unit Unit of a joining module is, for example, one with a compression spring loaded magazine trained. When using an externally arranged Press-in element memory, the press-in elements are replaced by a memory, Organizing and separating device via a conveyor hose Press-in element slide to a preparation unit of a joining module performed (claims 11 and 12).

When using pre-portioned binder, there is a before preferred embodiment, the dispenser module with an internal memory  for encapsulated glue portions, such as glue beads, from one with one Compression spring loaded magazine, which is a delivery unit Joining module is upstream in the joining direction. When using an externally connected ordered storage for encapsulated glue portions, these are from a Storage, organization and separation device via a conveyor hose fed to a glue bead pusher, which is ready for use unit upstream of a joining module in the joining direction (claims 13 and 14).

The different storage options for A outlined above pressing elements and binders, in non-portioned and portioned form, can be combined as required, so that the user is extremely flexible Device is provided that change its individual the needs with regard to workpiece requirements and lot sizes alone by exchanging the corresponding modules and units at any time can be fitted.

So that the exchangeable drilling or milling modules and joining modules or insert units do not all have to be equipped with a separate drive unit, a drive unit 2 or 19 is provided on the base support module according to the invention, which is in engagement with the two above-mentioned modules via coupling units in the respective working position . The coupling unit between the drilling or milling module and the linear unit 2 for the feed is form-fitting by means of a coupling strut and coupling block, the coupling unit between the drilling or milling module and the linear and rotation unit 19 for the linear part or feed is also form-fitting by means of the coupling strut and a recess in the rotating part of the coupling unit 23 , and the coupling unit for the rotating part is non-positively formed by a rotating part of the coupling unit 23 to a spindle or tool holder of the drilling and milling module. The transfer of the joining movement and force to a joining module takes place from the linear unit 2 from the coupling bracket 5 to the coupling bracket 46 of an insertion unit, and from the linear and rotation unit 19 via a non-rotating part of a coupling unit 23 to a plunger mounting plate 43 of an insertion unit of a joining module ( Claims 15 and 16).

When using the device according to the invention advises on a handling device, such as an industrial robot, it is a particularly advantageous further development for a fully automatic assembly process of the press-in elements to provide module supply and storage stations 200 with corresponding interfaces as docking stations, on which, as required, entire modules or parts of which can be automatically replaced by the industrial robot: Complete drilling or milling modules or parts thereof, such as tool holder with cutting tool or tool changing system with at least one cutting tool or only cutting tools and complete joining modules with supply unit and insert unit for other press-in elements or a supply unit or only their internal magazine for the same press-in elements, filled with a press-in element. The stations 200 thus serve for the defined storage of modules or parts thereof that are not currently required and for receiving the currently required and / or for filling internal magazines (claim 19).

In an assembly cell for different press-in elements or even che press-in elements with different geometries, at least one module preparation and storage station 200 is provided for a required joining module or a required press-in element, where the stations 200 for joining modules with an internal magazine advantageously have a device for Saving, organizing, separating, for example with vibratory bowl feeders, and for magazine filling with press elements. If more pressing elements are required, several stations 200 for magazine filling with pressing elements can accelerate the assembly process by simultaneously mounting and magazine filling (claims 19 and 20).

For monitoring an automatic assembly process of the press-in Positioning sensors such as, for example, are advantageous electrical switches, inductive or capacitive sensors or light barriers ken used, which the positions of different modules, units and Elements such as correct clamping of a drilling relationship wise milling module and a joining module in the module changing systems, The presence of a cutting tool in the changed drilling cover approximately milling module, presence of a press-in element or one Glue bead, if used, in the corresponding magazine or Sliders or the positions of different linear units continuously as signals to the evaluation and control unit, which the received positions with setpoints of the current process situation ver equals and in the event of a process-abnormal situation the assembly process interrupts or interrupts and an acoustic and / or visual warning signal and / or a display of the existing error situation on a Triggers output unit for an operator (claim 21).

To control and regulate a fully automatic assembly process of the Press-fit elements are advantageously set process parameters depending ability of different input parameters by comparison with one in the Evaluation and control unit stored process parameter file determined. Then the current process parameters are then in accordance with the certain target process parameters by means of actuators and sensors provides and regulates. For example, fol Sizes in question: type and design of the press-in to be assembled elements such as corrugated or smooth dowels, material pairing Workpiece / press-in element and its moisture content, press-in element diameter and tolerance, recess diameter and depth, press fit depth and viscosity of the binder. Process parameters, such as  Feed speed, acceleration, force and speed of one Cutting tool of a drilling or milling module, insert Speed, acceleration and force of an assembly unit of a joint module, amount of binder of the dispenser module per recess, and time The sequence of sub-steps and the overall process are advantageous t adjusted and regulated (claim 22).

The dispenser module mounted on the basic carrier module can be particularly useful advantageous for the controlled application of binders to workpiece surfaces outside of recesses for press-in elements as preparation for the Gluing can be used. In particular one from an industrial robot guided device according to the invention is suitable for the application of binder for gluing wooden parts, e.g. furniture frame parts, to furniture Belgestelle, which are fixed on a robot table (claim 23).

The invention is described below without limiting the principle of solution using exemplary embodiments with reference to the drawings described by way of example, to the rest of the disclosure all details according to the invention not explained in detail in the text is expressly referred. Show it:

Fig. 1a and 1b schematically a first embodiment of a basic carrier module according to the inven tion with two module changing systems and a linear unit as a drive unit; Top view and side view.

Figs. 2a and 2b schematically shows a second embodiment of a selsystemen OF INVENTION Basic to the invention the carrier module with two module Wech and a linear and rotating unit drive unit as to; Top view and side view.

FIGS. 3 and 4 embodiment of the invention a drilling relation ship as Fräsmoduls; Top view and side view.

FIGS. 5 and 6 basic carrier module with an inserted drilling or milling module in the working position; Top view or side view.

FIGS. 7 and 8 First and second variant of a module-change system in the base module (detail A of Fig. 6).

FIGS. 9 and 10 embodiment of a joining module of the invention; Top view and side view.

Fig. 11, 12 and 13 base module with eingewechseltem joining module in the working position; Top view and two side views.

Figs. 14 and 15 base module having mounted thereon Dispensermodul; Top view and side view.

Fig. 16a, 17a and 18a basic carrier module with an inserted drilling or milling module, joining module and dispenser module with linear unit 2 as the drive unit; Top view and two side views.

Fig. 16b, 17b and 18b base support module with inserted drilling or as milling module, joining module and dispenser module with Li near- and rotation unit 19 as a drive unit; Top view and two side views.

Fig. 19 and 20 base module with drilling or milling module, joint module and Dispensermodul and exhaust unit and exhaust unit; Top view and side view.

Fig. 21a embodiment of a device according to the invention with an external binder pressure vessel.

Fig. 21b module preparation and storage stations for joining module with internal magazine, each with a device for storing, organizing and separating the press-in elements, with vibratory spiral conveyor, and for magazine filling.

Fig. 22 embodiment of a device according to the invention with joining module with external memory for press-in elements and pre-portioned binder with associated devices for storing, organizing and separating.

Fig. 23 embodiment of an assembly cell for the flexible automatic assembly of wooden dowels of different dimensions and other press-in elements, such as for example expansion sleeves, cover caps, universal connectors, snap-in connectors and carcass connectors and corresponding module supply and storage stations and a module supply and storage station for drilling or Milling modules and their parts.

For an overview, it should be mentioned at this point that exemplary embodiments of the inventive modular devices are shown in FIGS. 16 to 20. Basic carrier modules are shown in FIGS . 1 and 2, drilling or milling modules in FIGS . 3 to 6, joining modules in FIGS . 9 to 13 and dispenser modules in FIGS . 14 and 15.

FIGS. 1a and 1b show a first embodiment of a erfindungsge MAESSEN base support module 100 in plan view and side view showing the central module of the device according to the invention. On the base plate 9 of the base support module 100 , the module support plate 13 is linearly displaceably fixed by a linear unit 7 via two guides, which for example consist of the slide rails 10 and 11 , the slide carriage 10.1 and 10.2 and the stops 12 , 12 ′ necessary for limiting the linear movement, 12 '' and 12 '''can be constructed. The module carrier plate 13 can receive a drilling or milling module 120 interchangeably via a first module changing system 110 with linear unit 14 , counter bearing 15 , 15 ', recesses 16 , 16 ' and pressure plate 17 . For interchangeable mounting of a joining module 150 , the module carrier plate 13 is equipped with a second module changing system 115 with linear unit 14 ', counter bearing 15 '', 15 ''', recesses 16 '', 16 '''and pressure plate 17 '. A attached to the base plate 9 linear unit 7 , for example a piston-cylinder drive 8 is connected via a connec tion angle 8 'to the module carrier plate 13 and generates the linear relative movement in the arrow directions 7 ' and 7 '' between the base plate 9 and the module carrier plate 13 . A linear unit 2 , which guides a plate 4 with two coupling units 5 and 6 , with a plate-side coupling block 6 for a drilling or milling module 120 and a plate-side coupling block 5 for a joining module 150 , plate 9 is mounted on the base. The defined movement of the plate 4 in the arrow directions 2 'and 2 ''is carried out via the linear unit 2 , for example a spindle 3 with a motor 1st The motor of this and the other linear units works according to one of the well-known drive principles, such as electric, pneumatic or hydraulic motors. The various linear units can alternatively be driven pneumatically or hydraulically, such as a rodless pneumatic cylinder.

FIGS. 2a and 2b show a second embodiment of a erfindungsge MAESSEN base support module 100 in plan view and side view, to instead of a linear unit 2 is a linear and rotary unit 19 as to drive unit including a is the replaced drilling or milling module 120 whose rotating movement and a is the replaced Fügemo dul 150 is provided. The linear and rotary unit 19 is fixed to the mounting plate 20 and 21 with the base plate 9 . The linear and rotary unit transmits the linear and rotating movement into a coupling unit 23 via a movement element 22 . Its rotating part introduces a rotating movement into a drilling or milling module 120 , which is used to drive the drilling spindle, and a non-rotating part of coupling unit 23 introduces a linear movement into a drilling or milling module 120 , which is used for the drilling or milling module 120. or milling feed is used. The linear and rotary unit 19 thus has the great advantage that the individual interchangeable drilling or milling modules 120 no longer need to be equipped with any drive. If the module carrier plate 13 is now moved such that an inserted joining module 150 moves under the linear and rotary unit 19 instead of a drilling or milling module 120 , the linear movement of the linear and rotary unit 19 can be used for joining or inserting a press-in element in a recess to be drilled before.

FIGS. 3 and 4 show an embodiment of a drilling or Fräsmoduls 120 according to the invention in top view and side view. On a plate 35 , in addition to module change wedges 36 and 36 ', a linear guide is attached, which can be constructed, for example, from a slide rail 33 and slide 34 and 34 '. A plate 32 which is displaceable near the plate 35 carries a holding plate 24 with a holding pin 25 , a coupling unit with a coupling bracket 26 and coupling strut 27 and a motor 28 , such as an electric, pneumatic, hydraulic motor, which uses the linear and Rotation unit 19 on the base module 100 can be omitted. A cutting tool 31 , which is held in a tool holder 30 , is driven via a drilling spindle 29 by the motor 28 or alternatively via the movement element 22 and via the coupling unit 23 by the linear and rotary unit 19 . The tool holder 30 can be designed as a drill head with at least one drilling or milling tool 31 or as a tool changing system, which can be, for example, a collet system, a turret head or an assembly that manages at least one drilling or milling tool and is completely interchangeable.

Fig. 5 and 6 show a drilling or milling module 120 of FIG. 3 and 4 and switches to a base module 100 of Fig. 1a and 1b by means of a Mo dulwechselsystems 110th If the module carrier plate 13 of the basic carrier module 100 with the linear unit 7 to the right stops 12 'and 12 ''' method, as shown in Fig. 5, there is a de coupling unit, coupling block 26 with coupling strut 27 with the on the plate 4th attached coupling block 6 a positive connection to the linear unit 2 . Thus, a method of the plate 4 by the linear unit 2 causes a linear relative movement of the plate 32 relative to the base module, whereby the feed necessary for drilling or milling is effected. If the module carrier plate 13 via the linear unit 7 to the left stops 12 and 12 '' move, the Kop pelstrebe 27 loses the positive connection with the coupling block 6th In order to prevent uncontrolled movement of the upper part or the linearly movable assembly ( 34 , 34 ', 32 , 24 , 25 , 26 , 27 , 28 , 29 , 30 and 31 ) of the drilling or milling module 120 , the plate 32 a holding plate 24 with holding pin 25 is provided, which is already in a suitable L-shaped holding device 37 at the moment when the described positive connection between coupling strut 27 and coupling bracket 6 is lost and is thus held in a defined position by frictional engagement.

In Fig. 7, the detail A of the module change system 110 , 115 shown in Fig. 6 is shown enlarged. For changing a drilling or milling module 120 into a base support module 100 , wedge bearings 36 and 36 'of the plate 35 are pushed through the recesses 16 and 16 ' of the module support plate 13 until the plate 35 bears completely against the module support plate 13 . The linear unit 14 , for example a piston-cylinder drive, is actuated and presses the wedge bearing 36 on the thrust bearing 15 'via a pressure plate 17 . In the same way, the Keilla ger 36 'is pressed onto the counter bearing. This ensures that a drilling or milling module 120 is secured on the module carrier plate 13 . To replace the drilling or milling module 120 , the piston-cylinder drive 14 is switched off, as a result of which the piston moves back with the pressure plate 17 , the frictional connection is released and the drilling or milling module 120 can be released from the module carrier plate 13 . In a second embodiment of the module change system, which is shown in Fig. 8, the wedge bearings 36 and 36 'are replaced by two Füh approximately 57 bolts. Here, the guide pin 57 , which is attached to the plate 35 , pushed through a recess designed in accordance with the geometry of the guide pin 57 in the module carrier plate 13 , so that the guide pin 57 is completely centered in the recess from the module carrier plate 13 . A securing wedge 60 is now pushed by a linear unit 63 , for example by a piston-cylinder drive, into a suitably shaped recess in the guide pin via a rod 62 , which is suitably mounted in a bearing device 61 for receiving the forces and moments that occur . The old native to the wedge bearing 36 'existing guide pin 57 is used in the same way as a wedge bearing 36 ' to secure a drilling or milling module on the base support module.

FIGS. 9 and 10 show an embodiment of a Fü invention gemoduls 150 in plan view and side view, which is suitable in the illustrated embodiment, for joining or insertion of cylindrical Einpreßelementen such as wooden dowels, Spreizmuffen, for the case of game shelf supports, or sleeves. According to the invention, a joining module 150 consists of an exchangeable supply unit 160 and an insert unit 170 . The provision unit 160 shown in FIG. 9 consists of a magazine 40 , the stored and ordered press-in element supply being in a storage area 39 , for example for wooden dowels, which is pushed in the direction of the plunger 42 via a compression spring 41 . The one shown in Fig. 9 and 10, setting unit 170 consists of cylindrical clinch fasteners from a plunger 42, a plunger mounting plate 43, a connecting plate 44, a shock to the guide columns 48 and 48 'with compression springs 49 and 49' and at 50 and 50 'out plate 45 and a coupling unit from Kop pelbock 46 and coupling strut 47 . If a force now acts on the coupling strut 47 in the direction of the press-in element magazine 40 , the column-guided plate 45 moves against the spring forces of the pressure springs 49 and 49 'in the direction of the magazine 40 and at the same time moves the plunger 42 with the plunger mounting plate 43 and the connec tion plate 44 is connected to the column-guided plate 45 . The plunger 42 pushes via this linear movement a press-in element, for example a wooden dowel, stored directly under the plunger 42 in the magazine 40 , through the magazine 40 into the previously made recess or bore. Now does not apply the force acting on the coupling strut 47 , the column-guided plate 45 is by the spring forces of the compression springs 49 and 49 'to the stops 50 and 50 ', that is pushed back into their starting position. After the plunger 42 has left the magazine 40 , the press-in elements still remaining in the storage area 39 are pushed to the left by the spring force of the compression spring 41 and immediately fill the empty space in the magazine 40 created by the press-in element that has just been installed.

Fig. 11, 12 and 13 show a joining module 150 of FIG. 9 and 10 in a base module 100 of Fig. 1a and 1b by means of a module Wech selsystems substitute 115 having which has the same functionality as the module change system 110 for the drilling or milling module 120 . Is the module carrier plate 13 of the Grundträgermo module 100 , on which the joining module is interchangeably attached to the strikes 12 'and 12 ''', that is, in the right stop position, this would be the working position for a loaded drilling or milling module, the coupling block 5 , which is moved via the spindle-operated linear unit 2 , ineffectively moves past the coupling strut 47 of the insertion unit 170 of the joining module 150 . However, if the module carrier plate is moved through the linear unit 7 to the stops 12 and 12 '', that is to say in the left stop position, the joining module is in the working position, which means that the coupling unit comes into operation, the coupling block moving forward 5 takes the coupling strut 47 and presses the running on the guide columns 48 and 48 'unit in the direction of Ma magazine 40 , whereby the insertion of a press-in element, for example a wooden dowel, is achieved with appropriate positioning of the device in front of a previously made recess. The free travel of the module carrier plate between the two stop positions is advantageously equal to the distance between the main axes 121 and 171 of an inserted drilling or milling module (see Fig. 5) and an inserted joining module (see Fig. 11), so that the respective stop positions change correspond to the respective working positions of the corresponding modules.

Fig. 14 and 15 show an embodiment of a dispenser module 180 according to the invention on the module carrier plate 13 of a Grundträgermo duls detachably installed 100th A plate 54 is rotatably connected to the module carrier plate 13 via a cross strut 55 such that by retracting a linear unit 56 , a piston-cylinder drive which is rotatably fastened to the plate 54 and the module carrier plate 13, pivoting away of the plate 54 is reached by the module carrier plate 13 . In this way, the space necessary for changing a joining module 150 is created. On the plate 54 is secured against rotation, a linear unit 53 , a piston-cylinder drive, which causes a linear movement of the Leimdosierein device 52 . After a joining module 150 is inserted into the module change system 115 of the module carrier plate 13 , the plate 54 is pivoted back into a position parallel to the module carrier plate by extending the piston-cylinder drive 56 , whereupon a stop 52 'of the binary metering device 52 via the non-rotating piston Cylinder drive 53 is pushed onto a stop 52 '' of a joining module 150 (see FIGS . 15, 18a and 18b). The stop 52 '' according to the invention is attached to the different joining modules in such a way that the main front surfaces 58 and 59 of the joining module and dispenser module are aligned after the linear unit 53 has been extended , regardless of different dimensions of the press-in elements, for example different dowel lengths, and independently of different ones Geometries of the joining module. This ensures that the glue nozzle 51 , which is installed at the top of the bin demitteldosiereinrichtung 52 , is optimally positioned with regard to their glue application task over the previously made recess, for example, a dowel hole. To remove the joining module, the sub-steps just listed must be carried out in reverse order, that is, retracting the piston-cylinder drive 53 , retracting the piston-cylinder drive 56, and removing the joining module 150 .

FIG. 16a, 17a and 18a show an embodiment of a erfindungsge MAESSEN device in which Bezie in a base module 100, a drilling hung as routing module 120, a joining module 150 and a Dispensermo are used dul 180, in plan view and two side views. The Mon days operation of a press-in element begins with the module carrier plate 13 of the basic carrier module 100 through the linear unit 7 , here by a piston-cylinder drive to the right stops 12 'and 12 ''' ge. This results in a positive connection of the coupling unit with the coupling strut 27 and the coupling bracket 6 . By means of a method of the linear unit 2 , for example spindle-operated, the drilling feed necessary for producing a recess, for example a dowel hole, is generated. The cutting tool 31 is driven by the motor 28 via the tool holder 30 and the drilling spindle 29 . After the recess is made in an automated assembly in accordance with important parameters, such as drilling depth, feed force, feed speed and acceleration, and the plate 32 of the drilling or milling module 120 is again in the basic position, the module carrier plate 13 is passed through the linear unit to the left at the stops 12 and 12 '' move, the holding pin 25 , which is connected via the holding plate 26 with the linearly displaceable assembly of the drilling or milling module 120 , in a suitable holding device 37 . Due to the movement of the module carrier plate 13 , the plunger 42 of the insertion unit of the joining module 150 is now positioned directly in front of the previously made cutout, for example a dowel hole, and the dispenser module is positioned directly above the cutout. This working position for joining and dispensing module is shown in Fig. 16a Darge. The dispenser module 180 now fills the glue into, for example, a dowel hole in a suitable amount, whereupon the plunger 42 pushes the pressing element, for example the wooden dowel, into the dowel-filled dowel bore through the spindle-operated linear unit 2 . The linear movement for joining the press-in elements can be regulated with regard to important parameters, such as, for example, joining depth, joining speed and joining acceleration. Then the module carrier plate 13 is moved in preparation for the assembly of the next press-in element to the right stops 12 'and 12 '''.

In the right and left stop position of the module carrier plate 13 benge advantageously exactly the same spatial coordinates for the penetration points of the main axis 121 of drilling or milling module and the main axis 171 of the joining module each with the workpiece surface without the entire device, for example from an in industrial robots, should be moved.

Fig. 16b, 17b and 18b show a second embodiment of an OF INVENTION to the invention device, in which respect to FIG. 16a, 17a and 18a as a common driving unit for a drilling or milling module 120, and a joining module 150, a linear and rotary unit 19 instead of a linear unit 2 is provided so that the motor 28 can be saved on the respective drilling or milling modules. The module carrier plate 13 is located to the right stops 12 'and 12' '', the plate 32 is verbun a drilling or Fräsmoduls 120 via a coupling block 26.1 and a coupling strut 27.1 with the non-rotating part of a coupling unit 23, the drive unit 19, a form-fitting the. The drive unit 19 , which is connected to the base plate 9 via fastening plates 20 and 21 , generates a linear movement via a suitable movement element 22 , which moves the coupling unit 23 near, on the other hand, a rotary movement into a rotating part of the coupling unit 23 initiated. The task of the coupling unit 23 is that a first part initiates the rotation movement for driving the cutting tool 31 into the tool holder 30 during the drilling process and that a second part initiates the linear movement via coupling strut 27.1 and coupling block 26.1 on the plate 32 of a drilling or milling module, which causes the necessary drilling feed.

During the joining process (module carrier plate 13 on the left stops 12 and 12 ''), only a linear movement of the Antriebsein unit 19 and the movement element 22 is generated, which pushes the coupling unit 23 onto the plunger mounting plate 43 and thus the wooden dowel or other press-in element drives into the existing hole. In this version, the force is not applied for the joining movement via coupling strut 47 , but directly on the plunger mounting plate 43 .

In this variant, it should be noted using a linear and rotary unit 19 that the arrangement of the drive unit 19 , the movement element 22 and the coupling unit 23 constricts the module change range for drilling or milling modules and joining modules. If the module change area for special modules, for example special joining modules, is no longer sufficient, then the drive unit 19 , the loading movement element 22 and the coupling unit 23 must be attached to the base plate 9 in a suitable manner, such that they can be pushed or pivoted.

FIGS. 19 and 20 show an embodiment of an inventive device, in which an additional exhaust unit 130, and a suction unit 140 are in use. The machining process of drilling or milling in wood, for example, releases a large amount of wood chips and wood dust. So that these impurities do not lead to malfunctions in mechanical, electrical and electronic assemblies, they are removed by a suction unit 140 directly on the drilling or milling module. The delivery rate of the suction unit must be designed in accordance with the CE standards so that the maximum permissible proportion of wood dust particles per m³ of breathing air is observed. The suction unit consists of a bellows 74 with a brush ring 75 , a flexible exhaust hose 76 and a conveying fan with a separating filter that sucks in the direction of arrow 78 . The wood chips remaining in the hole should be blown out so that the press-in elements, e.g. dowels, can be driven in without any problems. For this purpose, a blow-out nozzle 77 is arranged inside the bellows 74 as a blow-out unit 130 , through which compressed air is blown into the bore after production of the bore. In this way, wood chips and wood dust are reliably blown out of the hole and conveyed out of the processing area by the suction unit. If the device is inserted within a fully encapsulated assembly cell, the extraction of, for example, wood shavings and wood dust can be replaced directly on the cutting tool by a total extraction of the fully encapsulated assembly cell. In this case, too, the bores must be blown out by a blow-out unit 130 .

Fig. 21a shows an embodiment of a device according to the invention, in which the dispenser module 180 is equipped with an external memory in the form of a binder pressure container 65, which is set up outside the device, and conveys the glue via a hose 64 to the binder dispenser 52 of the dispenser module. The joining module 150 shown in FIG. 21a contains a supply unit 160 with a magazine 40 , which has a certain supply of cylindrical press-in elements here, for example wooden dowels. After this supply is exhausted, the joining modules 150 are completely replaced or only their preparation unit 160 , depending on requirements, and are filled with pressing elements by a module preparation and storage station 200 external to the direction (see FIG. 21b). This module supply and storage stations 200 , as shown in Fig. 21b, consist of a vibratory feeder conveyor 67 or 67 'and a magazine filling device 66 or 66 '. Several of these stations 200 can be used to provide joining modules for assembling press elements of different geometries.

In the context of other embodiments supply the same Einpreßele can the joining module to Einpreßelementen at a high demand elements, for example, same wooden dowels of the same dimensions, with a suitable tube-feeding to be carried out, see Fig. 22. The deployment units 160 of the joining modules have 150 then no storage area, but a Einpreßelementeschieber 70 , for example by a rodless pneumatic cylinder 72 ben ben the press-in elements under the plunger 42 pushes. The zy linder-shaped press-in elements are for this purpose from a storage ordination and separating device, such as a Vibrationswendelförde rer 67 '', fed with a sliding mechanism via conveyor hose 68 a press-in slider. When using pre-portioned binder glue beads from a storage order and Vereinze treatment device 67 '''with a sliding mechanism via a conveyor hose 69 a glue bead slide valve 71 , which for example driven by a rodless pneumatic cylinder 73 , the glue beads in front of the plunger 42nd pushes. The joining process must be such that the glue bead slide 71 with glue bead and the press element slide 70 with press-in elements can then be found under the plunger when the plunger 42 performs the linear joining movement.

Fig. 23 shows an embodiment for an assembly cell in which a flexible and fully automatic assembly of wooden dowels and other press elements is carried out using the example of an upholstered frame. Here, the device for automatic assembly of Einpreßele elements is handled by an industrial robot. In the background there are numerous module supply and storage stations 200 with vibratory feed conveyors 67 and magazine filling devices 66 which, in addition to the joining modules for the wooden dowels of different diameters and lengths, which are necessary for the assembly of the upholstered furniture frame, also joining modules for other press-in elements, such as covers Provide caps, universal connectors, snap-in connectors, body connectors and expansion sleeves. Furthermore, a module preparation and storage station 200 for drilling or milling modules 120 is arranged in the rear cell area, which provide the drilling or milling modules required for producing the bores and their replaceable individual parts, such as cutting tools, for example. A cell computer as an evaluation and control unit takes over all tasks that occur in the context of assembly control, assembly regulation and assembly monitoring.

If one considers, for example, the assembly of a wooden dowel with the ⌀ 6 mm using the example of the upholstered furniture frame in FIG. 23, the robot moves, controlled by the cell computer, the assembly device according to the invention, which is coupled to the industrial robot, for example via a flange or a tool changing system is, with the base support module 100 first to the corresponding module preparation and storage station 200 , at which the drilling or milling module with the drilling tool with a diameter of 6 mm is received in the assembly device. To accommodate the joining module, which has, for example, stored the wooden dowels ⌀ 6 × 20 mm, the robot moves the assembly device to the corresponding module preparation and storage station 200, controlled by the cell computer. After the assembly device is suitably positioned over the upholstered furniture frame, the dowel hole is made in order to insert the wooden dowel after the binding agent has been inserted. After all wooden dowels of this type have been mounted on the upholstered furniture frame, the robot moves the mounting device to the corresponding module supply and storage station 200 , at which the joining module is replaced. Now the joining module for the type of wooden dowel to be installed next is replaced. Then the drilling or milling module clamped in the assembly device is changed back to the module preparation and storage station in order to accommodate the new drilling module. The newly configured mounting device now moves to the sofa frame in order to mount the wooden dowels × 8 × 40 mm, etc. . If a large number of identical press-in elements are installed one after the other so that the storage capacity of a joining module is insufficient, a second module preparation and storage station for the same press-in elements is advantageously provided. In this way, one joining module or its preparation unit is in use in the assembly device, while the other can be temporarily filled with press-in elements in a module preparation and storage station with magazine filling device.

Other press-in elements, such as covers, can also be used caps, universal connectors, snap-in connectors, body connectors and expansion sleeves must be installed within this assembly cell. For this the Monta device only the appropriate drilling or milling module and pick up the corresponding joining module.

As an alternative to the exemplary embodiment shown in FIG. 23, the device according to the invention can also be operated semi-automatically as a hand-guided mounting device with a support device, such as a truss guide with a fixing device. Fully automatic use within an automation system, such as a CNC machining center, is also possible.

For flexible, fully automatic installation of press-in elements advantageously monitoring. Control and regulation of the Monta process by using a cell computer to ensure a safe Ren and reliable operation of the device according to the invention len.

The following monitoring devices in the form of posi tion sensors are provided.

The correct clamping of a drilling or milling module 120 and a joining module 150 in the module changing systems 110 , 115 can be checked either by suitably mounted electrical switches or by inductive or capacitive sensors. The presence of the cutting tool 31 in the clamped and exchanged drilling or milling module 120 can be monitored either by a light barrier, the light beam of which is interrupted by the clamped drill, or by a capacitive or inductive sensor which reacts accordingly to the presence of the cutting tool.

Furthermore, a switch is to be provided in the joining model 150 within the magazine of the provision unit 160 in the region of the press-in element which is to be installed next, which determines the availability of the press-in element. This can be used to check whether the magazine is empty or whether a conveyor jam inside the magazine prevents the presence of a press-in element at its mounting position. Furthermore, magnetically operated electrical signal transmitters are to be attached to the corresponding positions of the various linear units 2 , 7 , 19 , 53 , 56 etc. or their pneumatic cylinders in order to be able to continuously check and monitor the piston rod positions during the assembly process. The dispenser module 180 is also monitored in accordance with the embodiment variant. If, for example, pre-portioned glue beads are used as binders, their availability can be determined via a light barrier or a switch at the corresponding position. If a glue bead is available, it is conveyed at the appropriate time by the rodless pneumatic cylinder 73 in front of a wooden dowel. The conveying movement of the piston rodless pneumatic cylinder 73 is also monitored via magnetically actuated electrical signal transmitters, so that the glue bead must be available in the joining direction in front of the press-in element when the process is running correctly. If unportionated white glue with an external binding medium pressure container is used as the binder, the metered injection of the white glue can be monitored by a flow meter within the delivery line of the white glue. Alternatively, a pre-chamber system can be used in the binder metering device 52 . A pre-chamber takes on the press-in-specific amount of white glue and stores it until a displacement mechanism brings the white glue from the pre-chamber through the glue nozzle into the recess.

The information of this monitoring device and positioning sensors (switches, inductive and capacitive sensors, light barriers, magnetically operated electrical switches and flow meters) are forwarded to a cell computer, continuously evaluated and compared with the current process target situation. Should this monitor system recognizes a process abnormal situation, so the Monta The process was aborted and the operator, for example, the reason for this displayed on the output device and or generates an alarm signal.

An evaluation and control unit 190 , for example a cell computer, also takes over process control and process control in addition to process monitoring. The input parameters of the assembly process to be carried out are entered as part of a control program. If, for example, wooden dowels are considered as press-in elements, the following input parameters are taken into account: dowel type (corrugated, swelling, smooth, knot dowels), pairing material: dowel material (wood: beech, mahogany; plastic: knot dowels, etc.), workpiece material (wood: Spruce, oak, ash, etc.), dowel diameter, hole diameter, hole depth, press-in depth, dowel tolerances, moisture content of the mating materials, glue bead or viscosity behavior of the binder.

Depending on the input parameters entered, are now marked with Comparison with a process parameter file stored in the cell computer Target process parameters determined. Target process parameters are, for example: Speed of the cutting tool, drilling feed speed, drilling feed thrust acceleration, drilling feed force, press-in speed, on press acceleration, press-in force, binder addition, and sequential and timing of the sub-processes and thus the overall assembly pro zesses. Then according to the determined target process parameters the current process parameters are set using actuators and sensors and regulated.  

If, for example, a servo motor is used to drive the linear unit 2 , the evaluation and control unit transfers the corresponding travel commands determined in a control program to the servo motor control. The servo motor control regulates the servo motor according to the commands given. During the motor movement, the evaluation and control unit continuously receives information from the servo motor control about the current motor speed and the current motor current. At the end of the motor movement, the servo motor control informs the evaluation and control unit whether the motor movement has been carried out correctly. This makes it possible to monitor the drilling and the press-in process with regard to its process parameters, such as travel speeds, travel accelerations and travel distances. If there is a malfunction in the traversing movement, the control program of the evaluation and control unit recognizes this and suitable measures can be taken.

If the device according to the invention is used as a robot-guided tool in used within an assembly cell, this can be with an optical Image recognition system can be equipped. With the image recognition system stem can be checked whether the workpiece to be machined exists and is available in the correct machining position. Furthermore, a optical image recognition system take over monitoring tasks, such as the presence as an alternative to a light barrier of a cutting tool or the introduction of the binder chen.

Reference list

1 engine
2 linear unit
3 spindle
4 plate
5 Coupling bracket or coupling unit
6 coupling block or coupling unit
7 linear unit
8 piston-cylinder drive
8 ′ connection angle
9 base plate
10 slide rail
10.1 Slide car
10.2 Slide car
11 slide rail
11.1 Slide car
11.2 Slide car
12 , 12 ' , 12'' , 12''' stop
13 module carrier plate
14 , 14 ′ piston-cylinder drive (= linear unit)
15 , 15 ' , 15'' , 15''' counter bearing
16 , 16 ' , 16''16''' recess
17 , 17 ' pressure plate
18th
19 linear and rotary unit (= drive unit)
19 ′ drive for linear and rotary unit
20 mounting plate
21 mounting plate
22 movement element
23 coupling unit
23.1 Cut-out in the coupling unit
24 holding plate
25 holding pins
26 coupling frame
27 , 27.1 coupling strut or coupling unit
28 engine
29 drilling spindle
30 Tool holder or change system and possibly coupling unit
31 cutting tool
32 plate
33 slide rail
34 , 34 ′ sliding car
35 plate
36 , 36 ′ , 36 ′ ′ , 36 ′ ′ ′ wedge bearings
37 holding device
38 plate
39 Storage area for cylindrical press-in elements, for example wooden dowels
40 , 40 ′ , 40 ′ ′ magazine for cylindrical press-in elements, for example wooden dowels
41 compression spring
42 plungers
43 ram mounting plate and possibly coupling
44 connecting plate
45 column-guided plate
46 coupling stand
47 coupling strut or coupling unit
48 , 48 ' guide columns
49 , 49 ′ compression springs
50 , 50 ' stop for the column-guided plate
51 glue nozzle
52 Binder dosing device
52 ′ stop at the binder metering device
52 ′ ′ counter stop on the joining module
53 non-rotating piston-cylinder drive (= linear unit)
54 plate
55 cross strut
56 piston-cylinder drive (= linear unit)
57 guide bolts
58 Front surface of the joining module
59 Dispenser module front surface
60 safety wedge
61 storage device
62 rod
63 piston-cylinder drive (= linear unit)
64 hose
65 binder pressure vessel
66 , 66 ' magazine filling device
67 , 67 ' , 67'' , 67''' vibratory bowl feeder
68 Press-in element conveyor hose
69 glue bead delivery hose
70 wooden dowel slide
71 glue bead pusher
72 rodless pneumatic cylinders
73 rodless pneumatic cylinder
74 bellows
75 brush wreath
76 Exhaust hose
77 blow-out nozzle
78 suction device of a conveyor fan, not shown
100 basic module
110 module change system
115 module change system
120 drilling or milling module
121 Main axis of the drilling or milling module
130 blow-out unit
140 suction unit
150 joining module
160 staging unit
170 insertion unit
171 main axis of inserting unit
180 dispenser module
190 evaluation and control unit
200 module supply and storage station

Claims (23)

1.Device for the automatic assembly of press-in elements, for the introduction of which into a recess to be produced beforehand, a joining force is to be applied, such as wooden or plastic dowels, fittings, hinges, threaded bushings, corner connectors, cover caps or the like, in particular for coupling to a handling device, thereby characterized in that a basic carrier module ( 100 ) with at least one module change system ( 110 , 115 ) is provided for realizing a modular structure,
that a drilling and / or milling module ( 120 ) can be accommodated by a module change system ( 110 , 115 ) from the base support module ( 100 ) for producing recesses for the press elements to be assembled,
that for blowing out the chips left in a recess, the drilling and / or milling module ( 120 ) is equipped with a blow-out unit ( 130 ) which has a blow-out nozzle ( 77 ), that for driving in the pressing-in elements, a joining module ( 150 ) by a module changing system ( 110 , 115 ) can be received by the basic support module ( 100 ),
wherein a joining module ( 150 ) has a preparation unit ( 160 ) for providing the press-in elements and an insert unit ( 170 ) for applying a joining movement and a joining force,
that the base support module ( 100 ) has at least a linear unit designed as a drive unit ( 2 , 19 ) which has at least one coupling unit ( 6 , 5 , 23 ) at least the feed rate of an inserted drilling and / or milling module ( 120 ) and the joining movement an inserted joining module ( 150 ),
and that an evaluation and control unit ( 190 ) is provided for the monitoring and control of the automatic day's workflow. 2. Device according to claim 1, characterized in that the base support module ( 100 ) has a module support plate ( 13 ) equipped with two module changing systems ( 110 , 115 ), which can be moved in this way by means of a linear unit ( 7 ) relative to a base plate ( 9 ),
that in a first stop position ( 12 , 12 '') of the module carrier plate ( 13 ) in a module changing system ( 110 ) replaced module, for. B. a drilling and / or milling module ( 120 ), by a drive unit ( 2 , 19 ) via associated coupling units ( 6/27 , 23 / 27.1 , 23/30 ) can be driven,
that in a second stop position ( 12 ', 12 ''') of the module carrier plate ( 13 ) in the other module changing system ( 115 ) a changed module, for. B. a joining module ( 150 ), can be driven by a drive unit ( 2 , 19 ) via associated coupling units ( 5/47 , 23/43 ),
and that the main axes ( 121 , 171 ) of a in the module carrier plate ( 13 ) exchanged drilling and / or milling module ( 120 ) and joining module ( 150 ) in their respective working position have the same position relative to the base plate ( 9 ). 3. Apparatus according to claim 2, characterized in that the free travel of the module carrier plate ( 13 ) perpendicular to the parallel axes of the two module changing systems ( 110 , 115 ) is equal to the distance between these axes. 4. Device according to claims 2 or 3, characterized in that the module support plate ( 13 ) of the base support module ( 100 ) is arranged parallel to the base plate ( 9 ) and can be moved. 5. Device according to one of the preceding claims, characterized in that the on the base plate ( 9 ) of the Grundträgermo module ( 100 ) arranged drive unit is designed as a linear and rotary unit ( 19 ), which via the coupling unit ( 23 ) not only the feed , but also causes the rotation of a tool holder ( 30 ) of a drilling and / or milling module ( 120 ) which is inserted into a module changing system ( 110 ) and is in the working position. 6. Device according to one of the preceding claims, characterized in that when using unportioned Bindemit tel a dispenser module ( 180 ) for introducing binder into the previously made and blown-out recess with the basic carrier module ( 100 ) is releasably connectable. 7. The device according to claim 6, characterized in that the dispenser module ( 180 ) after replacement of a joining module ( 150 ) is pivotable via such, z. B. by a linear unit ( 56 ) about a pivot point that the dispenser module ( 180 ) has a binder metering device ( 52 ) with a stop ( 52 '), which in the longitudinal direction by a linear unit ( 53 ) on a counter-stop ( 52 '') a joining module ( 150 ) can be pushed so that the binder can be introduced into the recess through a glue nozzle ( 51 ) at the front end of the binder metering device ( 52 ) by oblique injection from above, the counter-stop ( 52 '') at different joining joints duln ( 150 ) is arranged regardless of the dimensions of the press-in elements and the geometry of the joining modules. 8. The device according to claim 6 or claim 7, characterized in that in the binder metering device ( 52 ) for mounting pre-glued press-in elements, such as. B. wooden dowels, as Bin demittel water can be used. 9. Device according to one of the preceding claims, characterized in that to remove chips and dust, the drilling and / or milling module ( 120 ) has a suction unit ( 140 ) with bellows ( 74 ) and brush ring ( 75 ), or, when used a fully enclosed assembly cell, for which a total suction is provided. 10. Device according to one of the preceding claims, characterized in that an insertion unit ( 170 ) of a Fügemo module ( 150 ) has a through guide columns ( 48 , 48 ') and against Druckfe countries ( 49 , 49 ') guided plate ( 45 ), on which at least one press-in element into a recess-fitting plunger ( 42 ) is arranged. 11. Device according to one of the preceding claims, characterized in that a supply unit ( 160 ) of a Fügemo module ( 150 ) as a pressurized with a compression spring ( 41 ) Maga zin ( 40 ) is formed for the press-in elements. 12. The device according to one of claims 1 to 10, characterized in that a preparation unit ( 160 ) of a Fügemo module ( 150 ) has a press-in slide ( 70 ), which by a storage, order and separating device ( 67 '') by a conveyor hose ( 68 ) is fed with press-in elements. 13. The device according to one of claims 1 to 5 and 9 to 12, characterized in that when using pre-portioned binding agent means a dispenser module ( 180 ) as a unit Provisioning unit ( 160 ) of a joining module ( 150 ) upstream in the joining direction, with a Compressed spring loaded magazine for encapsulated glue portions, such as glue beads, is formed. 14. The device according to one of claims 1 to 5 and 9 to 12, characterized in that when using pre-portioned binding agent means a dispenser module ( 180 ) as a Provisioning unit ( 160 ) of a joining module ( 150 ) upstream in the joining direction glue bead slide ( 71 ) is formed, which is fed by a storage, organization and separation device ( 67 ''') through a conveyor hose ( 69 ) with encapsulated glue portions. 15. Device according to one of the preceding claims, characterized in that a positive connection between the drilling and / or milling module ( 120 ) and linear unit ( 2 ) by Koppeleinhei th in the form of a coupling strut ( 27 ) and a coupling bracket ( 6 ) is image bar , or that a positive connection between the drilling and / or milling module ( 120 ) and the linear and rotary unit ( 19 ) for the linear part by means of coupling units in the form of a coupling strut ( 27.1 ) and a recess ( 23.1 ) in the non-rotating part of the coupling unit ( 23 ) is formed, and that a non-positive connection between drilling and / or milling module ( 120 ) and linear and rotary unit ( 19 ) for the rotary part of a rotating part of the coupling unit ( 23 ) to a spindle or to a tool holder ( 30 ) of the drilling and / or milling module. 16. Device according to one of the preceding claims, characterized in that for the transmission of a joining movement and force to a joining module ( 150 ), the linear unit ( 2 ) a coupling block ( 5 ) or the linear and rotary unit ( 19 ) a non-rotating part of the Have coupling unit ( 23 ), which in each case bring about the introduction of force into an insertion unit ( 170 ) via a coupling block ( 46 ) or a tappet fastening plate ( 43 ). 17. The device according to one of claims 2 to 16, characterized in that in the working position of a in a module changing system ( 110 , 115 ) inserted joining module ( 150 ) for fixing the module carrier plate ( 13 ) in a stop position, a frictionally acting holding device ( 37 ) is provided with retaining pins ( 25 ). 18. Device according to one of the preceding claims, characterized in that the module changing systems ( 110 , 115 ) for Zen tration and fixation at least two wedge-shaped Ge counter bearing ( 15 , 15 ', 15 '', 15 ''') or at least two security Turkey le ( 60 ), each with linear units ( 14 , 14 ', 63 ) clamping at least two wedge bearings ( 36 , 36 ', 36 '', 36 ''') or with a recess provided guide pin ( 57 ), which with the drilling and / or milling module ( 120 ) and the Fügemo module ( 150 ) are firmly connected. 19. Device according to one of the preceding claims, characterized in that when using the device on a handling device, such as. B. an industrial robot, as required, complete drilling and / or milling modules ( 120 ) or parts thereof, such as tool holder ( 30 ) with cutting tool ( 31 ) or tool changing system ( 30 ) with at least one cutting tool ( 31 ), and complete Joining modules ( 150 ) with supply unit ( 160 ) and insert unit ( 170 ) or a supply unit ( 160 ) or only their internal magazine ( 40 ) at module supply and storage stations ( 200 ) are automatically exchangeable. 20. The apparatus according to claim 19, characterized in that a module supply and storage station ( 200 ) for the associated joining modules ( 150 ) is provided in an assembly cell for different press-in elements, the module providing and storage stations ( 200 ) for joining modules are equipped with an internal magazine with a device for storing, organizing, ver individually and for magazine filling with press-in elements. 21. Device according to one of the preceding claims, characterized in that position monitoring sensors, such as electrical switches, inductive or capacitive sensors, or light barriers, are provided for monitoring an automatic assembly process of the press-in elements,
which the positions of different modules, units and elements, such as correct clamping of a drilling and / or milling module ( 120 ) and a joining module ( 150 ) in the module changing systems ( 110 , 115 ),
Presence of a cutting tool ( 31 ) in the exchanged drilling and / or milling module ( 120 ),
Presence of a press-in element or a glue bead in the associated magazine ( 40 e.g.) or slide ( 70 , 71 ) or positions of the various linear units ( 2 , 7 , 14 , 14 ', 19 , 53 , 56 , 63 ),
as signals to the evaluation and control unit ( 190 ), which compares these positions with target values of the current process situation and, in the event of a process-abnormal situation, aborts the assembly process and an acoustic and / or visual warning signal and / or an indication of the error situation on one Triggers output unit for an operator. 22. Device according to one of the preceding claims, characterized in that various process parameters for controlling and regulating an automatic assembly sequence of the press-in elements by means of actuators and sensors,
such as feed speed, acceleration, force and speed of a cutting tool of a drilling and / or milling module ( 120 ), insertion speed, acceleration and force of an insertion unit ( 170 ) of a joining module ( 150 ), binder quantity of the dispenser module ( 180 ) per cutout, and timed sequence of sub-steps and the overall process,
depending on various input parameters,
such as type and design of the press-in elements to be assembled, material pairing of workpiece / press-in element and their moisture content, press-in element diameter and tolerance, recess diameter and depth, press-in depth and viscosity of the binder,
can be controlled by the evaluation and control unit ( 190 ) by comparison with a process parameter file stored in the evaluation and control unit. 23. Use of the device according to one of claims 1 to 12 and 15 to 22, in particular the dispenser module ( 180 ) mounted on the base support module ( 100 ), for controlled binding agent application to workpiece surfaces outside recesses for press-in elements as preparation for the gluing.