EP2483026B1 - Semi-autonomously working jigsaw - Google Patents

Semi-autonomously working jigsaw Download PDF

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Publication number
EP2483026B1
EP2483026B1 EP10737581.8A EP10737581A EP2483026B1 EP 2483026 B1 EP2483026 B1 EP 2483026B1 EP 10737581 A EP10737581 A EP 10737581A EP 2483026 B1 EP2483026 B1 EP 2483026B1
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EP
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Prior art keywords
saw blade
jigsaw
working
semi
machine
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EP10737581.8A
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German (de)
French (fr)
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EP2483026A1 (en
Inventor
Thilo Koeder
Joachim Platzer
Ulli Hoffmann
Jan Koegel
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the invention relates to a semi-autonomously working jigsaw according to the preamble of claim 1 and a method for operating a semi-autonomously working jigsaw.
  • Such a jigsaw goes from the DE 102006 052 808 A1 out.
  • Machine tools especially in the form of hand-held and / or hand-held machine tools, often offer a variety of uses, combined with a variety of user-side adjustment options. This often requires user knowledge, even with good manuals. Especially with only sporadic use of such machine tools, this often results in incorrect operation.
  • machine tools are equipped with machine-side aids for the user, for example in jigsaws with guide aids, which are intended to support the user in the pursuit of prescribed working lines, in particular computer-aided, for example by guide messages displayed on a display.
  • An optional additional mechanical support in the management of a Wermaschine is from the DE 10 2006 052 808 A1 known in which a jigsaw is provided as a machine tool and the user is thereby assisted mechanically in the leadership of the machine that the tool in the form of a liftable driven saw blade is rotatable about its stroke axis and is aligned by machine to the respective working line.
  • the tools used here are machine-side-provided sensors, in particular, for example, a camera, via which the respective predetermined working line is detected, so that on the basis of the results of a downstream evaluation and arithmetic unit
  • the saw blade can be aligned in its rotational position on the working line via an adjusting device.
  • the invention has for its object to further improve a machine tool of the type mentioned in terms of assistance provided to the user on the machine side in the handling and use of the machine.
  • the machine tool is additionally provided with means for detecting the type of material of each workpiece to be machined, since then based on the type of material of the respective workpiece and a suitable selection of the placement tool the user can at least be displayed, so that an optimization of the working conditions is ensured by the correct allocation of material type, placement tool and working parameters of the machine tool.
  • corresponding identification features can also be formed by design features of the tool itself, such as saw blades by the nature of their teeth, their length or the like.
  • corresponding identification features can also be formed by codes provided on the placement tool, in particular in barcode-like form, by imprints or the like.
  • a jigsaw 2 As a machine tool 1, a jigsaw 2 is illustrated. This has a housing 3 which is slidably supported on the surface 27 of a workpiece 5 via a base plate 4.
  • the jigsaw 2 has a saw blade 8 as a placement tool 7 held in a tool holder 9.
  • the saw blade 8 is driven in a liftable manner in the direction of the arrow 10 and about its axis of rotation corresponding rotation axis 12, as indicated by the arrow 11, rotatable.
  • the respective sawing direction is specified as the working direction.
  • the indicated by the arrow 6 working direction corresponds to the straight-ahead working direction of the jigsaw 2, which coincides with untwisted saw blade 8 in the extension with the plane of the saw blade 8.
  • Fig. 1 a Regelursswolf that corresponds to the straight ahead direction of arrow 6; Furthermore, an operation of the jigsaw 2 as a so-called “scrolling Jigsaw” in which the jigsaw 2 operates in one of the determined by the respective rotational position of the saw blade 8 working direction in semi-autonomous mode of operation. In this mode of operation, the saw blade 8 is machine aligned to a given, straight or crooked working line and follows this, wherein the user essentially only supports the resulting from the working operation reaction forces and the feed of the jigsaw 2 takes over.
  • Fig. 1 Furthermore, the use of the jigsaw 2 is illustrated in a so-called pendulum stroke, in which the saw blade 8 via a pendulum drive 13 is displaced in the direction of its saw blade plane superimposed to the lifting drive pendulum.
  • the jigsaw 2 is replaceable to be equipped with different saw blades 8.
  • Various embodiments of such saw blades 8 are in Fig. 2 shown and illustrate that sometimes even by the respective design of the saw blade 8, it is possible by the shape, by the length and / or the type and shape of the teeth, a distinction and identification.
  • the saw blades 8, as illustrated by way of example for a saw blade 28, may have additional identification features 29, which may be provided in barcode-like form, for example on one or both saw blade surfaces, in particular incorporated therein.
  • Corresponding marking options for example, also offers the saw blade back, for example, by a corresponding screening.
  • Fig. 2 can be further seen that the head parts of the saw blades 8 provide sufficient opportunities for coding, especially for a mechanically detectable coding that tapped in the tool holder 9 and further processed in corresponding control commands for working parameters of the jigsaw 2, in particular stroke number of the saw blade 8 and pendulum number of the pendulum drive 13, can be implemented.
  • Corresponding processing and control devices are integrated into the jigsaw 2 received by the housing 3 and in the illustration according to Fig. 1 schematically symbolized on the front side 16 of the jigsaw 2, wherein at 21 a computing unit is shown, which responds in conjunction with a control unit 22 corresponding adjusting devices 23.
  • optical detection means 30, as they are described in FIG Fig. 1 offset in the front region 16 of the housing 3 to the front provided for saw blade 8 and aligned on the saw blade 8 and the working area of the saw blade 8 are illustrated.
  • both sensor systems 18, 24 may be formed in the form of a camera and may differ only in terms of their orientation.
  • the sensor systems 18, 24 can also overlap in the detection area, so that under certain circumstances they can be used redundantly.
  • the saw blade detection it may prove to be appropriate for the respective detection a rotational and / or stroke position of the saw blade 8, in which the saw blade 8 is spent for better observation.
  • the saw blade 8 are rotated in a transverse position to the straight-ahead working direction.
  • the upper stroke position of the saw blade 8 proves to be useful for detection and identification position, especially in this position, especially with appropriate rotation of the saw blade 8, the physical design of the saw blade 8 is particularly well recognized and any coding such as recesses and Wells and / or barcode-like markings are in a favorable observation area.
  • Fig. 3 schematically illustrates the detection of the identification features of a saw blade 8 used as a mounting tool 7 via the sensor 24 in the form of a camera and the subsequent processing of the information thus obtained in a saw blade identifier 31, for example by image comparison or by processing the coding signals, wherein the saw blade identifier 31 part of the computing unit 21 can be.
  • the control unit 22 sets the values associated with the saw blade 8 as drive parameters, in particular for the number of strokes 32 and pendulum number 33, and converts them into control commands for the actuating and drive devices 13, 23.
  • Fig. 1 illustrates that the detection of the assembly tool 7 according to the invention is expediently combined with a recognition of the material type of the workpiece 5. This makes it possible to modify the drive parameters resulting from the saw blade recognition in consideration of the respective type of material and to control correspondingly modified drive values for the saw blade 8 in terms of stroke and pendulum number.
  • the material identification is in Fig. 1 symbolically illustrated by the sensor 26, which is preferably provided in the front region of the foot plate 4 can be placed on the workpiece surface 27, which can be used for the detection of the material on known technologies.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sawing (AREA)

Description

Die Erfindung betrifft eine halbautonom arbeitende Stichsäge gemäß dem Oberbegriff des Anspruches 1 sowie ein Verfahren zum Betrieb einer halbautonom arbeitenden Stichsäge.The invention relates to a semi-autonomously working jigsaw according to the preamble of claim 1 and a method for operating a semi-autonomously working jigsaw.

Stand der TechnikState of the art

Eine derartige Stichsäge geht beispielsweise aus der DE 102006 052 808 A1 hervor.Such a jigsaw, for example, goes from the DE 102006 052 808 A1 out.

Werkzeugmaschinen, vor allem in der Form handgehaltener und/oder handgeführter Werkzeugmaschinen, bieten häufig eine Vielzahl von Einsatzmöglichkeiten, verbunden mit einer Vielzahl benutzerseitiger Einstellmöglichkeiten. Dies bedingt nicht selten benutzerseitige Vorkenntnisse, auch bei guten Bedienungsanleitungen. Vor allem bei nur sporadischer Benutzung solcher Werkzeugmaschinen ergeben sich damit nicht selten Fehlbedienungen.Machine tools, especially in the form of hand-held and / or hand-held machine tools, often offer a variety of uses, combined with a variety of user-side adjustment options. This often requires user knowledge, even with good manuals. Especially with only sporadic use of such machine tools, this often results in incorrect operation.

Grundsätzlich ändert sich hieran auch nichts, wenn die Werkzeugmaschinen mit maschinenseitigen Hilfen für den Benutzer ausgerüstet sind, so zum Beispiel bei Stichsägen mit Führungshilfen, die den Benutzer in der Verfolgung vorgegebener Arbeitslinien insbesondere rechnergestützt unterstützen sollen, beispielsweise durch auf einem Display dargestellte Führungshinweise.In principle, this also does not change if the machine tools are equipped with machine-side aids for the user, for example in jigsaws with guide aids, which are intended to support the user in the pursuit of prescribed working lines, in particular computer-aided, for example by guide messages displayed on a display.

Eine gegebenenfalls ergänzende maschinelle Unterstützung in der Führung einer WerKzeugmaschine ist aus der DE 10 2006 052 808 A1 bekannt, bei der als Werkzeugmaschine eine Stichsäge vorgesehen ist und der Benutzer dadurch in der Führung der Maschine maschinell unterstützt wird, dass das Werkzeug in Form eines hubbeweglich angetriebenen Sägeblattes um seine Hubachse drehbar ist und maschinell auf die jeweilige Arbeitslinie ausgerichtet wird.An optional additional mechanical support in the management of a Werzeugzeugmaschine is from the DE 10 2006 052 808 A1 known in which a jigsaw is provided as a machine tool and the user is thereby assisted mechanically in the leadership of the machine that the tool in the form of a liftable driven saw blade is rotatable about its stroke axis and is aligned by machine to the respective working line.

Als Hilfsmittel dienen hierbei maschinenseitig vorgesehene Sensoriken, insbesondere etwa eine Kamera, über die die jeweils vorgegebene Arbeitslinie erfasst wird, so dass auf Basis der Ergebnisse einer nachgeordneten Auswerte- und Recheneinheit über eine Stelleinrichtung das Sägeblatt in seiner Drehlage auf die Arbeitslinie ausgerichtet werden kann. Ein solcher halbautonomer Betrieb erleichtert zwar dem Benutzer die Führungsarbeit und die Vermeidung von Führungsfehlern, bedingt aber, um eine gute Arbeitsqualität zu erreichen, in der Werkzeugauswahl und in Anpassung an jeweilige werkstückseitige Gegebenheiten besondere Aufmerksamkeit.The tools used here are machine-side-provided sensors, in particular, for example, a camera, via which the respective predetermined working line is detected, so that on the basis of the results of a downstream evaluation and arithmetic unit The saw blade can be aligned in its rotational position on the working line via an adjusting device. Although such a semi-autonomous operation makes it easier for the user to guide and avoid guide errors, but in order to achieve a good quality of work, special attention in the tool selection and adaptation to respective workpiece-side conditions.

Bezogen auf solche handgeführte Werkzeugmaschinen in Form von Kreissägen, Stichsägen, Winkelschleifem oder auch Bohrern ist es aus der US 2006/0159533 A1 bekannt, unterschiedliche, bekannte Erfassungsmittel für einem jeweiligen Bestückungswerkzeug zugeordnete Identifikationsmerkmale vorzusehen. So zum Beispiel in Verbindung mit Stichsägen Sensoriken als optische Erfassungsmittel für am jeweiligen Sägeblatt vorgesehene Identifikationsmerkmale in Form geometrischer Strukturen, wie Löcher, Noppen oder dergleichen. Weiter ist es in Verbindung mit Bohrmaschinen zur Messung der axialen Distanz zwischen Bohrmaschine und vom Bohrer beaufschlagten Werkstück, also zur Erfassung von durch die Position der Bohrmaschine zum mit dem Bohrer zu beaufschlagenden Werkstück bestimmten Lagemerkmalen, bekannt, mit Sensoriken in Form von Abstandssensoren zu arbeiten. Die jeweils erfassten Werte werden unter anderem, mit der Maschinensteuerung verknüpft, genutzt, um durch Abstimmung zwischen Werkzeugmaschine und Werkzeug zu optimierten Arbeitsergebnissen bei möglichst geringem Werkzeugverschleiß zu kommen.Related to such hand-held machine tools in the form of circular saws, jigsaws, angle grinders or drills it is from the US 2006/0159533 A1 known to provide different known detection means for a respective placement tool associated identification features. For example, in connection with jigsaws sensors as optical detection means for provided on the respective saw blade identification features in the form of geometric structures, such as holes, knobs or the like. It is also known in connection with drilling machines for measuring the axial distance between the drill and acted upon by the drill workpiece, so for detecting the position of the drill to be acted upon by the drill workpiece bearing features known to work with sensors in the form of distance sensors. The values recorded in each case are used, inter alia, linked to the machine control, in order to achieve optimized work results with as little tool wear as possible by coordination between the machine tool and the tool.

Bezogen auf handgeführte Werkzeugmaschinen, vor allem Bohrmaschinen, ist es des Weiteren aus der DE 10 2006 061 581 A1 bekannt, über eine maschinenseitig vorgesehene Sensorik vom zu bearbeitenden Werkstück und/oder von der Lage der Werkzeugmaschine zum Werkstück abhängige Merkmale und/oder Größen zu erfassen, so zum Beispiel die Werkstoffart des Werkstückes oder den Abstand der Werkzeugmaschine zum Werkstück. Zur Erfassung der Werkstoffart wird beispielsweise eine spektrale Auswertung eines von der Sensorik ausgesandten Signales oder eine Phasenauswertung vorgenommen. Die Erfassung des Abstandes und damit der Lage der Werkzeugmaschine zum Werkstück erfolgt beispielsweise durch die Auswertung eines von einer Signaleinheit der Sensorik ausgesandten Hochfrequenzsignales, insbesondere eines Radarsignales. Auch die so gewonnenen Ergebnisse dienen der Abstimmung der Arbeitsgegebenheiten zwischen Werkzeugmaschine und Werkzeug zur Optimierung des Arbeitsergebnisses, zum Beispiel durch möglichst geringen Werkzeugverschleiß, durch möglichst schonende Bearbeitung des Werkstückes und/oder durch eine möglichst benutzerfreundliche Handhabbarkeit der Werkzeugmaschine.Relative to hand-held machine tools, especially drills, it is further from the DE 10 2006 061 581 A1 it is known to detect dependent on a machine side provided sensors from the workpiece to be machined and / or the position of the machine tool to the workpiece dependent features and / or sizes, such as the material type of the workpiece or the distance of the machine tool to the workpiece. To detect the type of material, for example, a spectral evaluation of a signal emitted by the sensor or a phase evaluation is made. The detection of the distance and thus the position of the machine tool to the workpiece, for example, by the evaluation of a signal from a unit of the sensor emitted high-frequency signal, in particular a radar signal. The results obtained in this way also serve to coordinate the working conditions between machine tool and tool for optimizing the work result, for example by minimizing tool wear, by machining the workpiece as gently as possible and / or by using the machine tool as user-friendly as possible.

Offenbarung der ErfindungDisclosure of the invention

Der Erfindung liegt die Aufgabe zugrunde, eine Werkzeugmaschine der eingangs genannten Art hinsichtlich der Hilfestellungen, die dem Benutzer maschinenseitig in der Handhabung und Nutzung der Maschine zur Verfügung gestellt werden, weiter zu verbessern.The invention has for its object to further improve a machine tool of the type mentioned in terms of assistance provided to the user on the machine side in the handling and use of the machine.

Erreicht wird dies mit den Merkmalen des Anspruches 1 und den Merkmalen des Anspruchs 7. Die Unteransprüche geben zweckmäßige Weiterbildungen an.This is achieved with the features of claim 1 and the features of claim 7. The dependent claims indicate expedient developments.

Durch die Identifizierung des jeweiligen Bestückungswerkzeuges wird eine automatisierte Anpassung der Arbeitsparameter der Stichsäge, also eine automatisierte Einstellung der Sägeparameter, möglich. Dies ist bei halbautonomen Stichsägen, die ohnehin mit einer bildgebenden Sensorik, insbesondere in Form einer Kamera etwa zur Erfassung von Gegebenheiten im Arbeitsumfeld des Bestückungswerkzeuges ausgerüstet sind, nahezu ohne Zusatzaufwand zu realisieren und ermöglicht damit, Fehler in der Zuordnung von Bestückungswerkzeug und für das Bestückungswerkzeug geeigneten Arbeitsparametern zu vermeiden, sowie die Umsetzung in entsprechende Maschineninformationen.By identifying the respective placement tool, an automated adaptation of the working parameters of the jigsaw, ie an automated setting of the saw parameters, becomes possible. This is in semi-autonomous jigsaws, which are equipped with an imaging sensor, in particular in the form of a camera for detecting conditions in the working environment of the placement tool to realize almost no additional effort and thus allows errors in the assignment of placement tool and suitable for the placement tool Working parameters to avoid, as well as the conversion into appropriate machine information.

Von besonderem Vorteil ist es im Rahmen der Erfindung, wenn die Werkzeugmaschine zusätzlich mit Mitteln zur Erfassung der Werkstoffart des jeweils zu bearbeitenden Werkstückes versehen ist, da dann bezogen auf die Werkstoffart des jeweiligen Werkstückes auch eine geeignete Auswahl des Bestückungswerkzeuges dem Benutzer zumindest angezeigt werden kann, so dass eine Optimierung der Arbeitsbedingungen durch die richtige Zuordnung von Werkstoffart, Bestückungswerkzeug und Arbeitsparametern der Werkzeugmaschine gewährleistet ist.It is particularly advantageous in the context of the invention, when the machine tool is additionally provided with means for detecting the type of material of each workpiece to be machined, since then based on the type of material of the respective workpiece and a suitable selection of the placement tool the user can at least be displayed, so that an optimization of the working conditions is ensured by the correct allocation of material type, placement tool and working parameters of the machine tool.

Seitens des Bestückungswerkzeuges können entsprechende Identifikationsmerkmale auch durch Gestaltungsmerkmale des Werkzeuges selbst gebildet sein, so beispielsweise bei Sägeblättern durch die Art von deren Verzahnung, deren Länge oder dergleichen. Es können entsprechende Identifikationsmerkmale aber auch durch am Bestückungswerkzeug vorgesehene Kodierungen gebildet sein, so insbesondere in barcode-ähnlicher Form, durch Prägungen oder dergleichen.On the part of the placement tool corresponding identification features can also be formed by design features of the tool itself, such as saw blades by the nature of their teeth, their length or the like. However, corresponding identification features can also be formed by codes provided on the placement tool, in particular in barcode-like form, by imprints or the like.

Durch die Ausgestaltung des Bestückungswerkzeuges mit entsprechend identifizierenden Merkmalen und die Ausgestaltung der Werkzeugmaschine mit Mitteln zur Erfassung und Verarbeitung von Informationen über das Bestückungswerkzeug, gegebenenfalls auch der Werkstoffart, in Form einer Werkzeug-, oder Werkzeug- und Werkstofferkennungseinheit sowie einer nachgeordneten Steuereinheit sind alle Voraussetzungen geschaffen, bei halbautonomer Werkzeugmaschinen die maschinenseitigen Antriebs- und Stellparameter für das Bestückungswerkzeug ohne Zutun des Benutzers sachgerecht zu wählen und einzusteuern. Hierdurch kann verfahrensmäßig ein optimierter Arbeitsbetrieb sichergestellt werden, der zumindest im Hinblick auf die an der Werkstoffart orientierte Wahl des Bestückungswerkzeuges und die bezogen auf dieses Bestückungswerkzeug sachgerechte Einstellung der Arbeitsparameter der Maschine benutzerseitige Fehler ausschließt und damit vor allem auch für Ungeübte den jeweils richtigen Einsatz der Werkzeugmaschine erleichtert.Due to the configuration of the placement tool with correspondingly identifying features and the design of the machine tool with means for detecting and processing information about the placement tool, possibly also the type of material, in the form of a tool, or tool and material detection unit and a downstream control unit all prerequisites are created to properly select and control the machine-side drive and setting parameters for the placement tool for semi-autonomous machine tools without user intervention. In this way, procedurally an optimized working operation can be ensured, which excludes user errors at least with regard to the material type oriented choice of placement tool and related to this placement tool proper adjustment of the working parameters of the machine and thus especially for inexperienced each correct use of the machine tool facilitated.

Weitere Einzelheiten und Merkmale der Erfindung ergeben sich aus den Ansprüchen, der Beschreibung und den Zeichnungen. Diese zeigen:

Fig. 1
als Beispiel einer handgehaltenen Werkzeugmaschine eine schematisierte Darstellung einer Stichsäge,
Fig. 2
eine Auswahl unterschiedlicher Sägeblätter als Bestückungswerkzeuge für die Stichsäge, und
Fig. 3
zu einer erfindungsgemäß gestalteten Stichsäge in einem Blockschaltbild die Mittel zur Erfassung und Verarbeitung der das jeweilige Bestückungswerkzeug identifizierenden Merkmale und zur Umsetzung in Steuerbefehle für den Antrieb des Bestückungswerkzeuges.
Further details and features of the invention will become apparent from the claims, the description and the drawings. These show:
Fig. 1
as an example of a hand-held machine tool a schematic representation of a jigsaw,
Fig. 2
a selection of different saw blades as mounting tools for the jigsaw, and
Fig. 3
to a jigsaw designed according to the invention in a block diagram, the means for detecting and processing of the respective placement tool identifying features and for implementation in control commands for the drive of the placement tool.

Als Werkzeugmaschine 1 ist eine Stichsäge 2 veranschaulicht. Diese weist ein Gehäuse 3 auf, das über eine Fußplatte 4 auf der Oberfläche 27 eines Werkstücks 5 verschieblich abgestützt ist. Die Stichsäge 2 weist als in einer Werkzeugaufnahme 9 gehaltenes Bestückungswerkzeug 7 ein Sägeblatt 8 auf. Das Sägeblatt 8 ist hubbeweglich in Richtung des Pfeiles 10 angetrieben und um eine seiner Hubachse entsprechende Drehachse 12, wie über den Pfeil 11 angedeutet, verdrehbar. Über die Drehlage 12 des Sägeblattes 8 ist die jeweilige Sägerichtung als Arbeitsrichtung vorgegeben. Die durch den Pfeil 6 angedeutete Arbeitsrichtung entspricht der Geradeausarbeitsrichtung der Stichsäge 2, die sich bei unverdrehtem Sägeblatt 8 in der Erstreckung mit der Ebene des Sägeblattes 8 deckt.As a machine tool 1, a jigsaw 2 is illustrated. This has a housing 3 which is slidably supported on the surface 27 of a workpiece 5 via a base plate 4. The jigsaw 2 has a saw blade 8 as a placement tool 7 held in a tool holder 9. The saw blade 8 is driven in a liftable manner in the direction of the arrow 10 and about its axis of rotation corresponding rotation axis 12, as indicated by the arrow 11, rotatable. About the rotational position 12 of the saw blade 8, the respective sawing direction is specified as the working direction. The indicated by the arrow 6 working direction corresponds to the straight-ahead working direction of the jigsaw 2, which coincides with untwisted saw blade 8 in the extension with the plane of the saw blade 8.

Veranschaulicht sind somit in Fig. 1 eine Regelarbeitsstellung, die der Geradeausarbeitsrichtung gemäß Pfeil 6 entspricht; weiter ein Betrieb der Stichsäge 2 als sogenannte "Scrolling Jigsaw", in dem die Stichsäge 2 in einer der durch die jeweilige Drehlage des Sägeblattes 8 bestimmten Arbeitsrichtung in halbautonomer Betriebsweise arbeitet. In dieser Betriebsweise wird das Sägeblatt 8 maschinell auf eine jeweils vorgegebene, gerade oder krumme Arbeitslinie ausgerichtet und folgt dieser, wobei der Benutzer im Wesentlichen nur die Abstützung der aus dem Arbeitsbetrieb resultierenden Reaktionskräfte sowie den Vorschub der Stichsäge 2 übernimmt.Illustrated are thus in Fig. 1 a Regelarbeitsstellung that corresponds to the straight ahead direction of arrow 6; Furthermore, an operation of the jigsaw 2 as a so-called "scrolling Jigsaw" in which the jigsaw 2 operates in one of the determined by the respective rotational position of the saw blade 8 working direction in semi-autonomous mode of operation. In this mode of operation, the saw blade 8 is machine aligned to a given, straight or crooked working line and follows this, wherein the user essentially only supports the resulting from the working operation reaction forces and the feed of the jigsaw 2 takes over.

In Fig. 1 ist weiter noch die Nutzung der Stichsäge 2 in einem sogenannten Pendelhubbetrieb veranschaulicht, in dem das Sägeblatt 8 über einen Pendelantrieb 13 in Richtung seiner Sägeblattebene überlagert zum Hubantrieb pendelnd verstellt wird.In Fig. 1 Furthermore, the use of the jigsaw 2 is illustrated in a so-called pendulum stroke, in which the saw blade 8 via a pendulum drive 13 is displaced in the direction of its saw blade plane superimposed to the lifting drive pendulum.

Diese verschiedenen Betriebsarten sind benutzerseitig über eine Schalteinrichtung 15 einstellbar. Das Ein- und Ausschalten der Stichsäge 2 erfolgt über eine im Griffbereich des Gehäuses 3 vorgesehene Schaltanordnung 14.These different operating modes can be adjusted by the user via a switching device 15. The switching on and off of the jigsaw 2 via a provided in the grip region of the housing 3 switching arrangement 14th

Entsprechend den jeweiligen Arbeitsanforderungen, zum Beispiel grober oder feiner Schnitt, und der jeweiligen Werkstoffart und/oder Beschaffenheit des jeweils zu bearbeitenden Werkstückes 5 ist die Stichsäge 2 auswechselbar mit unterschiedlichen Sägeblättern 8 zu bestücken. Verschiedene Ausgestaltungsformen solcher Sägeblätter 8 sind in Fig. 2 gezeigt und veranschaulichen, dass teilweise schon durch die jeweilige Gestaltung des Sägeblattes 8, sei es durch die Form, durch die Länge und/oder die Art und Form der Verzahnung, eine Unterscheidung und Identifikation möglich ist. Des Weiteren können die Sägeblätter 8, wie für ein Sägeblatt 28 beispielhaft veranschaulicht, zusätzliche Identifikationsmerkmale 29 aufweisen, die in barcode-ähnlicher Form beispielsweise auf einer oder beiden Sägeblattflachen vorgesehen, insbesondere eingearbeitet sein können. Entsprechende Markierungsmöglichkeiten bietet beispielsweise auch der Sägeblattrücken, beispielsweise durch eine entsprechende Rasterung.According to the respective work requirements, for example coarse or fine cut, and the respective material type and / or condition of the respective workpiece 5 to be machined, the jigsaw 2 is replaceable to be equipped with different saw blades 8. Various embodiments of such saw blades 8 are in Fig. 2 shown and illustrate that sometimes even by the respective design of the saw blade 8, it is possible by the shape, by the length and / or the type and shape of the teeth, a distinction and identification. Furthermore, the saw blades 8, as illustrated by way of example for a saw blade 28, may have additional identification features 29, which may be provided in barcode-like form, for example on one or both saw blade surfaces, in particular incorporated therein. Corresponding marking options, for example, also offers the saw blade back, for example, by a corresponding screening.

Fig. 2 lässt weiter erkennen, dass auch die Kopfteile der Sägeblätter 8 ausreichende Möglichkeiten für eine Codierung bieten, insbesondere für eine mechanisch erfassbare Codierung, die in der Werkzeugaufnahme 9 abgegriffen und weiter verarbeitet in entsprechende Steuerbefehle für Arbeitsparameter der Stichsäge 2, insbesondere Hubzahl des Sägeblattes 8 und Pendelzahl des Pendelantriebs 13, umgesetzt werden kann. Entsprechende Verarbeitungs- und Steuereinrichtungen sind integriert in die Stichsäge 2 von deren Gehäuse 3 aufgenommen und in der Darstellung gemäß Fig. 1 schematisiert an der Frontseite 16 der Stichsäge 2 symbolisch veranschaulicht, wobei bei 21 eine Recheneinheit dargestellt ist, die in Verbindung mit einer Steuereinheit 22 entsprechende Stelleinrichtungen 23 anspricht. Fig. 2 can be further seen that the head parts of the saw blades 8 provide sufficient opportunities for coding, especially for a mechanically detectable coding that tapped in the tool holder 9 and further processed in corresponding control commands for working parameters of the jigsaw 2, in particular stroke number of the saw blade 8 and pendulum number of the pendulum drive 13, can be implemented. Corresponding processing and control devices are integrated into the jigsaw 2 received by the housing 3 and in the illustration according to Fig. 1 schematically symbolized on the front side 16 of the jigsaw 2, wherein at 21 a computing unit is shown, which responds in conjunction with a control unit 22 corresponding adjusting devices 23.

Zur Identifikation des jeweiligen Sägeblattes 8 im Rahmen der Erfindung kommen als Mittel zur Erfassung optische Erfassungseinrichtungen 30 in Frage, wie sie in Fig. 1 im Frontbereich 16 des Gehäuses 3 nach vorne versetzt zum Sägeblatt 8 vorgesehen und auf das Sägeblatt 8 bzw. den Arbeitsbereich des Sägeblattes 8 ausgerichtet veranschaulicht sind.For the purpose of identifying the respective saw blade 8 in the context of the invention, optical detection means 30, as they are described in FIG Fig. 1 offset in the front region 16 of the housing 3 to the front provided for saw blade 8 and aligned on the saw blade 8 and the working area of the saw blade 8 are illustrated.

Durch die Ausrichtung auf den Arbeitsbereich des Sägeblattes 8 ist die Erfassung einer etwa vorgegebenen Arbeitslinie und abgeleitet davon die Drehstellungsausrichtung des Sägeblattes 8, für den Betrieb der Stichsäge als Scrolling Jigsaw möglich, und es sind dementsprechend in dieser Betriebsart zu betreibende Stichsägen 2 ohnehin bereits mit einer optischen Erfassungseinrichtung 30 versehen, über die gegebenenfalls auch weitere benutzerrelevante Informationen aus dem Arbeitsbereich des Sägeblattes 8 erfasst und für den Benutzer nutzbar gemacht werden können, beispielsweise durch Darstellung in einem ebenfalls im Frontbereich vorgesehenen Display 20. Zu diesen Hinweisen können auch Hinweise auf das jeweilige Sägeblattes 8 als Bestückungswerkzeug 7 zählen. Insbesondere werden solche Hinweise aber verarbeitet und in Steuerbefehle für den Antrieb des Sägeblattes 8 umgesetzt.By aligning the working area of the saw blade 8, the detection of an approximately predetermined working line and derived therefrom the rotational position alignment of the saw blade 8, for the operation of the jigsaw as scrolling Jigsaw possible, and are accordingly in this mode to operate jigsaws 2 already with a optical detection device 30 is provided on the optionally also other user-relevant information from the work area of the saw blade 8 can be used and made usable for the user, for example by representation in a likewise provided in the front panel display 20. These hints can also references to the respective saw blade Count 8 as mounting tool 7. In particular, however, such instructions are processed and implemented in control commands for the drive of the saw blade 8.

Im Hinblick auf die unterschiedlichen Anforderungen bezüglich der Sägeblatterkennung einerseits und der Beobachtung des Arbeitsbereiches des Sägeblattes 8 andererseits weist die optische Erfassungseinheit 30 für die genannten Zwecke erfindungsgemäß unterschiedliche Sensoriken auf, eine Sensorik 18 zur Beobachtung des Arbeitsbereiches und Erfassung einer Arbeitslinie und eine Sensorik 24 für die Sägeblatterkennung, wobei beide Sensoriken 18, 24 auch in Form einer Kamera ausgebildet sein können und sich gegebenenfalls lediglich hinsichtlich ihrer Ausrichtung unterscheiden. Gegebenenfalls können die Sensoriken 18, 24 sich auch im Erfassungsbereich überdecken, so dass sie unter Umständen redundant genutzt werden können.In view of the different requirements with respect to the saw blade detection on the one hand and the observation of the working range of the saw blade 8 on the other hand, the optical detection unit 30 according to the invention for the purposes mentioned on different sensors, a sensor 18 for observation of the work area and detection of a working line and a sensor 24 for the Saw blade detection, both sensor systems 18, 24 may be formed in the form of a camera and may differ only in terms of their orientation. Optionally, the sensor systems 18, 24 can also overlap in the detection area, so that under certain circumstances they can be used redundantly.

Bezogen auf die Sägeblatterkennung kann es sich als zweckmäßig erweisen, für die jeweilige Erfassung eine Dreh- und/oder Hubstellung des Sägeblattes 8 vorzugeben, in die das Sägeblatt 8 zur besseren Beobachtung verbracht wird. Hierzu kann beispielsweise das Sägeblatt 8 in eine Querstellung zur Geradeausarbeitsrichtung verdreht werden. Ferner erweist sich insbesondere die obere Hubstellung des Sägeblattes 8 als eine für die Erfassung und Identifikation zweckmäßige Stellung, zumal in dieser Lage, insbesondere bei entsprechender Verdrehung des Sägeblattes 8, die körperliche Gestaltung des Sägeblattes 8 besonders gut zu erkennen ist und auch etwaige Codierungen wie Aussparungen und Vertiefungen und/oder barcodeähnliche Markierungen in einem günstigen Beobachtungsbereich liegen.Based on the saw blade detection, it may prove to be appropriate for the respective detection a rotational and / or stroke position of the saw blade 8, in which the saw blade 8 is spent for better observation. For this purpose, for example, the saw blade 8 are rotated in a transverse position to the straight-ahead working direction. Furthermore, in particular, the upper stroke position of the saw blade 8 proves to be useful for detection and identification position, especially in this position, especially with appropriate rotation of the saw blade 8, the physical design of the saw blade 8 is particularly well recognized and any coding such as recesses and Wells and / or barcode-like markings are in a favorable observation area.

Fig. 3 veranschaulicht schematisiert die Erfassung der Identifikationsmerkmale eines als Bestückungswerkzeug 7 verwendeten Sägeblattes 8 über die Sensorik 24 in Form einer Kamera und die nachfolgende Verarbeitung der so gewonnenen Informationen in einer Sägeblatterkennung 31, beispielsweise durch Bildvergleich oder durch Verarbeitung der Codierungssignale, wobei die Sägeblatterkennung 31 Teil der Recheneinheit 21 sein kann. Ist das Sägeblatt 8 erkannt, so werden in einer Logik 25 der Steuereinheit 22 die dem Sägeblatt 8 als Antriebsparameter zugeordneten Werte insbesondere für die Hubzahl 32 und Pendelzahl 33 festgelegt und von der Steuereinheit 22 in Stellbefehle für die Stell- und Antriebseinrichtungen 13, 23 umgesetzt. Fig. 3 schematically illustrates the detection of the identification features of a saw blade 8 used as a mounting tool 7 via the sensor 24 in the form of a camera and the subsequent processing of the information thus obtained in a saw blade identifier 31, for example by image comparison or by processing the coding signals, wherein the saw blade identifier 31 part of the computing unit 21 can be. If the saw blade 8 is detected, the control unit 22 sets the values associated with the saw blade 8 as drive parameters, in particular for the number of strokes 32 and pendulum number 33, and converts them into control commands for the actuating and drive devices 13, 23.

In Fig. 1 ist veranschaulicht, dass die erfindungsgemäße Erkennung des Bestückungswerkzeuges 7 zweckmäßigerweise mit einer Erkennung der Werkstoffart des Werkstückes 5 kombiniert ist. Dies macht es möglich, die aus der Sägeblatterkennung sich ergebenden Antriebsparameter in Berücksichtigung der jeweiligen Werkstoffart zu modifizieren und für das Sägeblatt 8 hinsichtlich Hub- und Pendelzahl entsprechend modifizierte Antriebswerte einzusteuern.In Fig. 1 illustrates that the detection of the assembly tool 7 according to the invention is expediently combined with a recognition of the material type of the workpiece 5. This makes it possible to modify the drive parameters resulting from the saw blade recognition in consideration of the respective type of material and to control correspondingly modified drive values for the saw blade 8 in terms of stroke and pendulum number.

Die Werkstoffarterkennung ist in Fig. 1 symbolisch veranschaulicht über die Sensorik 26, die bevorzugt im Frontbereich der auf die Werkstückoberfläche 27 aufsetzbaren Fußplatte 4 vorgesehen ist, wobei für die Erkennung des Werkstoffs auf bekannte Technologien zurückgegriffen werden kann.The material identification is in Fig. 1 symbolically illustrated by the sensor 26, which is preferably provided in the front region of the foot plate 4 can be placed on the workpiece surface 27, which can be used for the detection of the material on known technologies.

Durch die Erfassung des jeweiligen Bestückungswerkzeuges 7 und die Berücksichtigung der für das jeweilige Bestückungswerkzeug 7 günstigsten Arbeitswerte auf automatisierter Basis werden die Anforderungen an den Benutzer deutlich reduziert und insbesondere fehlerhafte Zuordnungen hinsichtlich voneinander abhängiger Arbeitsparameter vermieden. Ergänzt um eine Werkstoffarterkennung für das jeweilige Werkstück ist eine weitere Verbesserung der Arbeitsqualität bei gleichzeitiger Verringerung der Anforderungen an den Benutzer zu erreichen. By capturing the respective placement tool 7 and taking into account the most favorable for the respective placement tool 7 work values on an automated basis, the requirements are significantly reduced to the user and in particular erroneous assignments with respect to interdependent working parameters avoided. Supplemented by a material type identification for the respective workpiece, a further improvement in the quality of work can be achieved while at the same time reducing the demands on the user.

Claims (8)

  1. Semi-autonomously working jigsaw (2) having a tool receptacle (9) for interchangeably fitting with a saw blade (8) which is driven in a reciprocating manner and is mechanically rotatable about its stroke axis, wherein the jigsaw (2) is intended to work in a semi-autonomous mode of operation in a working direction determined by the respective rotational position of the saw blade (8) and to orient the saw blade (8) mechanically with a working line provided in each case on the workpiece side and to follow said working line, wherein a user undertakes substantially only to support the reaction forces resulting from the working operation and to feed the jigsaw (2), and having detection means, characterized in that the detection means have a first sensor system (24) for detecting identification features (29) of the saw blade (8), the jigsaw (2) has means for processing the detected features, and the detection means have a second sensor system (18) for monitoring a working region and for detecting the predetermined working line and, derived therefrom, an orientation of the rotary position of the saw blade (8), wherein the sensor systems (18, 24) are formed by an optical detection unit (30) that detects the identification and position features.
  2. Semi-autonomously working jigsaw (2) according to Claim 1, characterized in that a rotary and/or stroke position of the jigsaw (8), into which the saw blade (8) is moved for better monitoring, is provided for the respective detection.
  3. Semi-autonomously working jigsaw (2) according to Claim 2, characterized in that the saw blade (8) is rotated into a transverse position with respect to a straight-on working direction.
  4. Semi-autonomously working jigsaw (2) according to one of the preceding claims, characterized in that the optical detection means are formed by a camera.
  5. Semi-autonomously working jigsaw (2) according to one of the preceding claims, characterized in that the jigsaw (2) is provided with means for detecting the type of material of the workpiece (5) to be machined in each case.
  6. Semi-autonomously working jigsaw (2) according to one of the preceding claims, characterized in that the means for detecting the respective saw blade (8) and the type of material of the workpiece (5) to be machined in each case have a tool and material identification unit and a downstream control unit via which the machine-side drive and/or actuating parameters for the saw blade (8) are input.
  7. Method for operating a semi-autonomously guided jigsaw (2), wherein a saw blade (8) with which the jigsaw (2) is fitted in each case is rotatable mechanically about its stroke axis and is detected optically via a first sensor system (24) of a machine-side detection unit (30), and the optical detection unit (30) is oriented with a working region of a saw blade (8), wherein the jigsaw (2) works in a semi-autonomous mode of operation in a working direction determined by the respective rotational position of the saw blade (8) and orients the saw blade (8) mechanically with the working line provided in each case on the workpiece side and follows said working line, and wherein a user undertakes substantially only to support the reaction forces resulting from the working operation and to feed the jigsaw (2), wherein the predefined working line is detected by means of a second sensor system (18) of the optical detection unit (30) and the detected values are converted by a machine-side control unit into control commands for the drive and the orientation of the saw blade (8).
  8. Method according to Claim 7, characterized in that the type of material of the workpiece (5) to be machined is detected optically via the machine-side detection unit (30) and the detected values are converted via the machine-side control unit into control commands for the drive and the orientation of the saw blade (8).
EP10737581.8A 2009-10-01 2010-08-02 Semi-autonomously working jigsaw Not-in-force EP2483026B1 (en)

Applications Claiming Priority (2)

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DE200910045235 DE102009045235A1 (en) 2009-10-01 2009-10-01 Machine tool, in particular hand-held machine tool
PCT/EP2010/061175 WO2011038953A1 (en) 2009-10-01 2010-08-02 Machine tool, in particular a hand-held machine tool

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EP2483026A1 EP2483026A1 (en) 2012-08-08
EP2483026B1 true EP2483026B1 (en) 2014-07-23

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EP2883664A1 (en) * 2013-12-16 2015-06-17 HILTI Aktiengesellschaft Tool
DE102016207883A1 (en) * 2016-05-09 2017-11-09 Robert Bosch Gmbh Coded tool and coded tool sleeve for programming an assembly tool
EP3974112A1 (en) * 2020-09-29 2022-03-30 Hilti Aktiengesellschaft Electric handheld machine tool

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DE19960824C2 (en) * 1999-12-16 2003-08-21 Hilti Ag Method and device for examining and identifying the type of subsurface
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DE102009045235A1 (en) 2011-04-28
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