DE4143373C2 - Universal ultrasonic welding machine - Google Patents

Abstract

Equipment for ultrasonically bonding together two components has at least one ultrasonic generator, converter, booster and sonotrode. This ultrasonic unit is attached on to a programmed arm so that the unit can only be operated when the arm is in its functional position, in which the whole unit is controlled by a programmed system connected electrically to the overall equipment control.

Description

The invention relates to a receiving device for a removable tool part of a tool unit, according to the The preamble of claim 1, 2 or 4.

Such a tool unit and a removable tool part are known. In the known tool units of machine tools, to replace the removable tool part, it is provided that the tool device and the removable tool part are connected to one another via receiving devices which are based on a screw connection of these two components. Such a receiving device, which enables the removable tool part to be replaced, has the disadvantage that the rotary movement required to fix or release the removable tool part is disadvantageously difficult to automate:
Such a rotary movement can only be realized by an extremely complex movement of an arm of a handling device that feeds the exchangeable tool part of the tool unit. To carry out this extremely complex assembly and disassembly movement of the handling device, not only an arm supporting several degrees of freedom is required. Rather, the sequence procedure required to control the arm movement necessitates a complicated and therefore hardware- and software-intensive procedure, which is disadvantageously reflected in high device costs.

DE 38 39 681 A1 shows a device for connecting a Tool holder with a carrier, especially one Machine tool spindle. A cone on Actuator and two clamping pieces and balls, which in can enter an annular groove, reached a transverse locking. With DE-OS 21 16 751 is the principle of resilient Widening became known in which one in one Dovetail groove longitudinally movable dovetail in different displacement positions can be clamped. From the US-PS 3,696,488 is a purely cylindrical receiving bore known.

It is therefore an object of the invention to provide a receiving device of the type mentioned in such a way that a simple and possibly automated replacement at least of the removable tool part is guaranteed.

This object is achieved by the features of Claim 1, claim 2 or claim 4 solved.  

The measures according to the invention are advantageous Way achieved that the changing process of the removable Tool part and locking and unlocking particularly easy is feasible. The change process can also be easy be automated, because for the assembly and disassembly of the Tool part no complicated rotary movement more is needed. The preferred arrangement is where at the free end of the tool unit centric, especially blind hole-like receptacle for the engaging, cone-like approach of the removable Tool part is located. However, it is also the kinematic reverse education possible.

A variant of the invention results from claim 1 Angle of rotation of the expanding mandrel mentioned therein is smaller than 90 °. 45 ° is sufficient. In the clamped position the expanding mandrel must be locked so that its Spreading effect is maintained as long as it is desired. If the friction is not sufficient, it must be done in a suitable manner appropriate security must be provided. Besides, is the expanding mandrel accessible from the outside, so that it with a suitable tool or rotary drive can be connected. The part of the expanding mandrel that engages in the slot can For example, be oval in cross-section, the short oval axis being approximately the slot width of the unexpanded slot corresponds so that the tool part in the release position can be easily removed or inserted.  

Another variant of the invention results from claim 2. The counter profile is in the release position of the clamping ring conically spread, with the narrowest part inside, and the Diameter there corresponds approximately to the pin diameter. The Saw teeth are directed so that they pull out oppose the pin from the hole, d. H. to have teeth diagonally from the inside out. By appropriate profiling the saw teeth can be achieved when the cone-like approach drawn into the receptacle and thereby the removable tool part firmly against the assigned end the tool unit is pressed.

A further development of the device or this Clamping device emerges from claim 3. So that Tension ring not over the free end of the tool unit can be pushed out is located there expediently a radially projecting collar. At appropriate dimensioning of all parts can be achieved that the clamping ring at maximum clamping force on this outer collar is just coming to the plant.

A third variant of the invention results from claim 4. In this case, the tool unit is held one narrowing like a paragraph from the outside to the inside centric bore, the larger diameter of the Outside diameter of the mounting ring, and the smaller one Diameter corresponds to the pin diameter of the approach.  

A further development of the third embodiment of the Clamping device results from claim 5. The one mentioned there cam-like approach can be formed, for example, that one has two notches on the outside of the second ring at circumferential spacing attaches. The cam-like approach is then over the scope of the second ring.

An advantageous development of the invention according to claim 6 sees the use of the recording device according to the invention with a tool unit that functions as an ultrasonic unit is formed, which is a converter, preferably one Booster and a sonotrode. In an analogous way to Connection of tool unit and removable tool part the situation with regard to cones and admission can also be kinematically reversed here.

The invention will now be described with reference to the drawing explained. The drawing shows different ones  Embodiments of the invention. Here represent:

Fig. 1 shows schematically a side view of the entire device,

Also seen Fig. 2 shows a further developed variant of the device according to Fig. 1 shows schematically from the side,

Fig canceled. 3 and partly in longitudinal section, a first embodiment of a clamping device

Fig. 4 shows a section according to line IV-IV of Fig. 3,

Fig. 5 a of Fig. 3 corresponding view rotated 90 °, wherein Figs 3 to 5 show. The change position,

FIGS. 6 through 8, the working position of the clamping device according to FIGS. 3 to 5,

Fig. 9 shows a broken half-section through a second embodiment of a clamping device,

Fig. 10 shows a section according to the line XX, with the Figures 9 and 10 show. The change position,

Fig. 11 and 12, the working position of these clamping means in accordance with the illustrations according to FIGS. 9 and 10,

Fig. 13 is a fragmentary, partially longitudinally sectioned view of a third clamping means,

Fig. 14 shows a section according to line XIV-XIV of FIG. 13, FIGS. 13 and 14, the change position show

FIGS. 15 and 16 views corresponding to FIGS. 13 and 14 in the working position of these clamping means,

Is a front view of the ultrasonic unit without the converter, partly in section. 17 in the longitudinal direction,

Fig. 18 is a side view of Fig. 17.

Figs. 1 and 2 show a handling device 1, on the arm 3, an ultrasonic unit 2 is maintained. The control device 1 includes a control 4 , which can be a conventional, known robot control so that it need not be explained in more detail. In addition, the device also has a process controller 5 , which is electrically connected to the controller 4 of the handling device 1 in the manner described below.

The ultrasound unit 2 includes an ultrasound generator 6 , a converter 7 , a booster 8 and a sonotrode 9 . To this extent, these are known elements that do not have to be explained to the person skilled in the art.

The ultrasound unit 2 is detachably held on the handling device 1 or its arm 3 by means of a coupling device 10 . The parting plane of this coupling device is designated 11 . With the aid of a pneumatic cylinder 12 , the unit consisting of converter 7 , booster 8 and sonotrode 9 can be moved back and forth in the sense of the double arrow 13 relative to a base unit 14 of the ultrasound unit 2 , or up and down in FIGS. 1 and 2 . As a result, the sonotrode or its detachable tool part 15 attached to the free end can be approximated to the associated component (not shown) or can be lifted off the latter. In the exemplary embodiment according to FIG. 1, the components to be connected to one another by ultrasound rest on the stationary counter-holder 16 . Otherwise, the control 4 , the ultrasound generator 6 and the process control 5 are not shown in FIG. 1 for the sake of clarity.

In the exemplary embodiment according to FIG. 2, the ultrasound unit 2 is equipped with an adjustable support arm 17 for a counter-holder 18 , at least the adjustment device for the support arm being electrically connected to the process controller 5 . The counter bracket 18 is removably attached to the support arm 17 so that it can be exchanged for another or a new one. The support arm 17 can be moved and locked at least in the direction of the double arrow 13 .

In the exemplary embodiment, the ultrasound unit 2 carries a small-parts storage device 19 , the outlet of which can be assigned directly to the working area between the removable tool part 15 and the counter-holder 18 . In the exemplary embodiment according to FIG. 2, however, the outlet of the small parts memory 19 is assigned to a positioning device 20 with a parts gripper 21 . The positioning device 20 can be controlled by the process control 5 as well as its parts gripper 21 . The latter removes the parts individually from the outlet of the small parts store or an intermediate storage location located there, the parts each already being in the correct position so that they can be placed directly on the lower component.

As already indicated, the ultrasound unit 2 is held on a slide 22 which can be moved up and down relative to the base device 14 with the aid of a servomotor, in particular the pneumatic cylinder 12 . A first displacement measuring device 23 , not shown, is connected between the base device and the carriage 22 and can also be designed in a known manner. As is known per se, it is connected to the process controller 5 , so that the latter can be transferred to the respective position of the carriage 2 . In addition, a first force measuring device 24, which is only indicated schematically, is located in this area. It determines the sonotrode contact pressure and monitors compliance with the setpoint while working. As a result, it is also electrically connected to the process controller 5 . It can be a load cell or another known force measuring device.

A second, also electrically connected with the process controller 5 force measuring device 25 is arranged of the support arm 17 in the region of a displaceable holder 26th It is used to determine the counter support system pressure on the assigned or lower component. Instead, a third force measuring device 27 can also be attached directly in the area of the counter holder. In addition, in the area of the second force measuring device 25 , if there is one, a second distance measuring device 28 , which is also not shown but is known per se, is installed. It serves to determine and monitor the displacement movement of the holder 26 with the support arm 17 and the counter-holder 18 . Both the second path measuring device 28 and the third force measuring device 27 are of course electrically connected to the process controller 5 .

From the foregoing it becomes clear that the process control 5 in conjunction with the sensor system consisting of force and displacement sensors can be used to regulate and monitor the joining or connecting process of the two components to be connected to one another. This also allows a statement about the quality of the connection. Both the path and the infeed speed and / or the acceleration of the displaceable device parts can be determined and regulated by suitable controllers. Known monitoring and control devices are used. All movements, in particular the displacement movements, are controlled or continuously regulated by the process control 5 . The process control has an integrated quality control for checking and logging the quality of the connection. The modular structure of the control and the ultrasound unit allows it to be used on a wide variety of handling devices.

As far as displacement movements take place, these are preferably effected by means of pneumatic working cylinders. Of course, hydraulic or electric drives can also be used instead. In the case of a pneumatic drive, for example the pneumatic cylinder 12 in connection with a removable ultrasound unit, there is also a suitable plug-in coupling for the pneumatic medium at the separation point 11 of the coupling device 10 . In addition, there are electrical plug-in couplings of a known type in order to be able to transmit the radio-frequency energy and the required electrical current, for example control current, from the docking element 29 held on the arm 3 of the handling device to the ultrasound unit 2 . Such an electrical line leads, for example, to a limit switch which, when the sonotrode 9 or its removable tool part 15 strikes the upper component, switches the ultrasound generator on or at least releases it via a switching operation. The feed drive for the sonotrode against the component is then switched on or released by this switch or another at the same time or a little later. In addition, all process parameters such as stroke, force, speed, joining time and frequency can be freely programmed. A wide variety of sizes and shapes of the components can also be recorded via the program.

The controller 4 of the handling device 1 sends an identification signal to the process controller 5 after the working position relevant for the connection of the components has been reached. Based on the knowledge of the component geometry, the materials and the joining process, this then in turn sends control signals to the ultrasound generator 5 and the various drives.

In order to enable simple and possibly also automated replacement of the removable tool part 15 from the sonotrode 9 , various clamping devices are proposed, which are shown in FIGS . 3ff. For this purpose, a central, axial receptacle 30 , which in the exemplary embodiments is open at the bottom, is provided on the end of the sonotrode 9 which carries the removable tool part 15 and is preferably designed in the manner of a blind hole. A pin-like extension 31 of the removable tool part 15 engages in each of these receptacles. At least a non-positive locking is effected by means of a tensioning device 32 .

Referring to FIG. 3, the pin-like projection is slit 31a of the removable tool part 15 on almost its entire length in the longitudinal direction, wherein the central longitudinal slot 33 is open at the edge towards the free pin end. This creates a fork-like end. The receptacle 30 a consists in this case of a central, axial, conically widening bore, the smallest diameter of which corresponds approximately to the diameter of the pin-like projection 31 a. An expanding mandrel 34 is rotatably mounted on the sonotrode in the region of the receptacle 30 a. It is rotatable but held axially immovable and can be rotated to a limited extent using a suitable tool or a device. For this purpose, it has, for example, a polygon 35 on the outside. The expanding mandrel passes through the longitudinal slot 33 of the peg-like extension 31 , ie its longitudinal and rotational axes run perpendicular to the geometric axis of the peg-like extension 31 . A central region 36 of the expanding mandrel 34 is oval. The short transverse axis of this oval corresponds approximately to the width of the longitudinal slot 33 , as can be seen in FIG. 3 of the drawing. If one now rotates as shown in FIG. 6, the expanding mandrel 34 by, for example, about 45 °, as the central portion 36 presses the two prongs elastically apart so that they bear against the conical seat 30 a fill. This creates a non-positive and positive connection of the peg-like extension to the sonotrode 9 .

In the second exemplary embodiment ( FIGS. 9 to 12), the peg-like extension 31 b of the removable tool part 15 has a plurality of circumferential grooves 37 lying one behind the other in the axial direction, which give a sawtooth-like longitudinal profile ( FIG. 9). The receptacle 30 b has a corresponding counter profile 38 , ie it is also equipped with circumferential grooves lying one behind the other in the axial direction, which correspond exactly to the circumferential grooves 37 of the peg-like extension 31 b in the working position ( FIG. 11).

The free sonotrode Fig mutandis. 10 b in the region of the receptacle 30 with three radial longitudinal slits 39 to 41. This creates a collet-like structure. However, the three clamping jaws 42 to 44 do not run exactly in the axial direction, rather they are slightly bent outwards according to FIG. 9. As a result, the sonotrode has an essentially conical outer surface 46 in the area of the longitudinal slots.

If you move the clamping ring 45 in the direction of arrow 47 from its changing position ( Fig. 9) to its working position ( Fig. 11), it presses the three clamping jaws 42 to 44 resiliently inwards, so that the counter profile 38 is tired of that Profile of the cone-like approach 31 b creates. The sawtooth-like profile prevents the removable tool part 15 from being pulled out of the sonotrode 9 . A small counter cone underneath each saw tooth, together with the counter profile, causes the pin-like extension 31 b to be drawn into the receptacle 30 b.

In order that the clamping ring 45 maintains its working position, it is equipped with locking grooves 48 lying one behind the other in the axial direction. Corresponding counter-grooves 49 are located on the outer casing 46 , which engage with the locking grooves 48 in a spring-elastic manner when the working position is brought about. An outer collar 50 at the free end of the sonotrode 9 limits the displacement of the clamping ring 45 in the direction of arrow 47 . In this variant, the tensioning device is designated 32 b.

A tensioning device 32 c of a third exemplary embodiment results from FIGS . 13 to 16. For assembly reasons, the receptacle 30 c is designed as a shoulder-like enlarged bore. A mounting ring 51 is inserted into the wide bore part and held in a suitable manner. Its inner diameter corresponds to that of the narrow bore part of the receptacle 30 c and at the same time also the diameter of the pin-like extension 31 c. Because the mounting ring 51 is shorter than the wide bore part, a receiving groove 52 is created for the second ring 54 surrounding a first ring 53 .

The first ring 53 engages in a circumferential groove 55 of variable depth provided on the pin-like extension 31 c. Due to the variable depth, an eccentric pin 56 is created . The first ring 53 has an eccentric bore, ie its wall thickness changes continuously over the circumference. In the alternating position of the removable tool part 15 , the outer contour of the first ring 53 runs flush with the outer contour of the pin-like extension 31 c, on both sides and beyond the circumferential groove 55 . It is easy to see that in this changing position the pin-like extension 31 c together with the first ring 53 in the direction of arrow 57 can be pulled out of the receptacle 30 c or the mounting ring 51 and the second ring 54 .

However, if the second ring 54 is rotated with the aid of a suitable tool, for example a plunger 58 ( FIG. 16), this also leads to a rotation of the first ring 53 on the eccentric pin 56 . As a result, the first ring according to FIG. 15 (left) radially emerges from the circumferential groove 55 , while on the opposite side the second ring 54 enters the circumferential groove 55 from the outside to a corresponding extent. However, because the second ring is still supported on the inner end face 59 , the peg-like extension can no longer be pulled out of the sonotrode in this working position, ie the tool part 15 cannot be removed.

The second ring 54 carries on its outer circumference a cam-like projection 60 , which arises from the fact that two notches 61 and 62 have been made in the circumferential distance. At this cam-like approach, two plungers 58 slidably supported in the sonotrode 9 , one of which is shown in FIG. 16. If you press the plunger 58 drawn in the direction of arrow 63 , this leads to the transfer of the tensioning device 32 c from the changing position into the working position. If one moves the other plunger, not shown, against the arrow 36 , this leads to a turning back of the second ring 54 and thus to the transfer of the tensioning device from the working position into the changing position.

In Figs. 17 and 18 of the converter 7, the booster 8, 9, the sonotrode and the removable tool portion 15 are drawn to an enlarged scale. Moreover, the clamping device 32 results from these figures a to the latches to the removable tool part 15 in the sonotrode 9 In the same manner, the sonotrode can be bolted into the booster 8. 9 A second clamping device 64 serves this purpose. It can be designed the same as the clamping device 32 a, or as the clamping device 32 b or 32 c. Expediently, however, two identical clamping devices are used on each unit. For this purpose, there is a peg-like extension 65 a at the booster end of the sonotrode 9 , which is inserted into a blind hole-like receptacle 66 a of the booster 8 and is locked therein in the manner described above.

Claims (6)

1. Receiving device for a removable tool part ( 15 ) of a tool unit ( 2 ), by means of which the removable tool part ( 15 ) can be locked in the tool unit, with a central one at a free end of the tool unit ( 2 ) or the removable tool part ( 15 ) Receptacle ( 30 ) for an engaging peg-like extension ( 31 ) of the removable tool part ( 15 ) or the tool unit ( 2 ), which can be at least non-positively locked in by means of a clamping device ( 32 ) having a clamping device ( 34 ), characterized in that the peg-like neck (31a) of the removable tool part (15), in particular an ultrasonic unit (2), the tool unit at least partially longitudinally slit, and the its cross-section adapted seat (30 a) of the tool unit (2) towards the inside continuously expanded, wherein the narrowest cross section at the free end of the tool unit ( 2 ) corresponds approximately to the pin cross section, un d that the longitudinal slot ( 33 ) is penetrated by the expanding mandrel ( 34 ) rotatably mounted on the tool unit ( 2 ). 2. Receiving device for a removable tool part ( 15 ) of a tool unit ( 2 ), by means of which the removable tool part ( 15 ) can be locked in the tool unit ( 2 ), with a free end of the tool unit ( 2 ) or of the removable tool part ( 15 ) there is a central receptacle ( 30 ) for an engaging peg-like extension ( 31 ) of the removable tool part ( 15 ) or the tool unit ( 2 ), which can be at least non-positively locked by means of a clamping device ( 32 ) having an expanding mandrel ( 34 ), characterized in that that the pin-like projection ( 31 b) of the removable tool part ( 15 ) of the tool unit ( 2 ), in particular an ultrasound unit, has a plurality of circumferential grooves ( 37 ) lying one behind the other, which produce a sawtooth-like longitudinal profile, and that the receptacle ( 30 b) has a corresponding one Has counter profile ( 38 ) and is slit longitudinally at least twice, the counter profile ( 38 ) nu r in the working position of a clamping ring ( 45 ) which is displaceable on the outside of the tool unit ( 2 , 9 ) and can be locked in the working position, bears against the profile of the pin-like extension ( 31 b). 3. Receiving device according to claim 2, characterized in that the tool unit ( 2 ) in the region of the receptacle ( 30 b) has a substantially conical outer surface ( 46 ), the cone widening towards the free end and its smallest diameter approximately corresponds to the inside diameter of the clamping ring ( 45 ), and that the bore of the clamping ring ( 45 ) is provided with locking grooves ( 48 ) lying one behind the other, which in the working or clamping position of the clamping ring ( 45 ) have counter-grooves ( 49 ) on the free end of the tool unit ( 2 ) click into place. 4. Receiving device for a removable tool part ( 15 ) of a tool unit ( 2 ), by means of which the removable tool part ( 15 ) can be locked in the tool unit ( 2 ), with a free end of the tool unit ( 2 ) or of the removable tool part ( 15 ) there is a central receptacle ( 30 ) for an engaging peg-like extension ( 31 ) of the removable tool part ( 15 ) or the tool unit ( 2 ), which can be at least non-positively locked by means of a clamping device ( 32 ) having an expanding mandrel ( 34 ), characterized in that that the peg-shaped extension ( 31 c) of the removable tool part ( 15 ) has a circumferential groove ( 55 ) of variable depth at a distance from its free end, so that the remaining cross section forms an eccentric peg ( 56 ), and that in this circumferential groove ( 55 ) a first ring ( 53 ) engages, which bears against the eccentric pin ( 56 ) and is approximately flush with the outside in an unlocked position g runs with the outer jacket of the neck ( 31 c) that also the first ring ( 53 ) is surrounded by a second, concentric ring ( 54 ) which is rotatable from the outside and with its outer surface on the top of a fixed with the tool unit ( 2 ) connected mounting ring ( 51 ), and the inner diameter of the mounting ring ( 51 ) corresponds to the diameter of the peg-shaped extension ( 31 c). 5. Receiving device according to claim 4, characterized in that the second ring ( 54 ) carries on its outer periphery a cam-like extension ( 60 ), on each side of which one in the tool unit ( 2 ) slidably mounted actuating pin ( 58 ) can be pressed alternately. 6. Recording device according to at least one of claims 1 to 5, for an ultrasonic unit ( 2 ), with a converter ( 7 ), a booster ( 8 ) and a sonotrode ( 9 ), in which the free tool part ( 15 ) can be used , characterized in that it is arranged between the booster ( 8 ) and the sonotrode ( 9 ) and / or the booster ( 8 ) and the converter ( 7 ).