Setting tool and industrial robot for automated setting of assembly components

Abstract

Setting tool (200; 300; 400) for the automated setting of assembly components (271; 371; 471), in particular for the automated setting of assembly plugs in body openings of a vehicle, comprising: • a drive frame (210; 310; 410), • a control sleeve (240; 340; 440), • a magazine (270; 370; 470) for providing a plurality of components (271; 371; 471) to be set, which magazine is arranged immovably in relation to the control sleeve; wherein the drive frame (210; 310; 410) is arranged movably, preferably linearly, on the control sleeve (240; 340; 440) and is movable relative to the control sleeve between a starting position and a setting position in which a component is set, and wherein the setting tool (200; 300; 400) further comprises separating means (242; 342; 442) for removing the components from the magazine, which are arranged to be actuated when the drive frame is moved from the starting position to the setting position.

Description

1. Field of the invention

[0001] The invention relates to a setting tool for the automated setting of assembly components, such as in particular the setting of assembly plugs in body openings of a vehicle, as well as to an industrial robot equipped with such a setting tool. 2. Background

[0002] In many industrial assembly and manufacturing processes, it is necessary to install a large number of similar assembly components, such as plugs to cover or close openings in a component. The self-supporting bodies of modern cars, in particular, have numerous cavities due to their manufacturing processes that must be sealed with assembly plugs. In the past, the assembly plugs were usually installed manually. This is not cost-effective for many applications.

[0003] DE 44 29 737 A1 relates to a setting head or a method for inserting elements consisting of head and shaft parts into pre-drilled workpieces and is concerned primarily, but not exclusively, with the insertion of bolt elements into sheet metal parts, wherein the bolt elements are fastened to the sheet metal parts by means of a rivet connection.

[0004] DE 10 2004 004 285 B4 is directed to a master cylinder provided with a ring seal member having an annular recess with a U-shaped cross section formed on one end side thereof, and with a substantially annular seal holder for restricting at least an axial movement of the seal member, and including a substantially annular raised wall portion formed to extend axially into the U-shaped annular recess of the seal member, and a substantially annular step portion formed on an inner periphery of the raised wall portion to contact an open end side of the seal member.

[0005] DE 10 2007 036 666 A1 relates to a method for foaming a hollow body of a vehicle body having at least two openings. In this method, a foaming material is introduced into the hollow body through a first opening, and the second opening must be at least temporarily sealed. According to this document, vehicle bodies, in particular, have a plurality of openings, which are provided, for example, for the use of welding guns on both sides for connecting the individual structural panels of the vehicle body. These openings are usually manually sealed using foils or plugs, namely so-called paint or assembly plugs. The attachment of such elements is time-consuming and labor-intensive, as well as cumbersome.As a solution, this document proposes temporarily covering the openings to be closed with a large-area cover element, which is then removed from the body when no longer needed, instead of manually applying a large number of individual mounting plugs. Instead of manually applying a large number of mounting plugs, this solution only requires the attachment of a single, large cover element. The disadvantage of this solution, however, is that the cover elements must be specifically adapted to the respective structural components or geometries of the body, meaning that a large number of correspondingly shaped cover elements must be kept on hand for a single vehicle body. This solution also appears less suitable for widely distributed openings or for openings located in hard-to-reach places.

[0006] It is therefore the object of the present invention to provide a setting tool for the automated setting of assembly components, such as, in particular, assembly plugs in body openings of a vehicle, which, in particular, enables automated setting by means of an industrial robot. This object is achieved with a setting tool according to claim 1 and an industrial robot according to claim 14. 3. Detailed description of the invention

[0007] The setting tool according to the invention for the automated setting of assembly components is particularly intended for using a robot to attach assembly plugs to body openings of a vehicle. However, it is also suitable for a variety of other industrial applications in which a large number of components have to be set. The setting tool has a drive frame, a control sleeve and a magazine for providing a plurality of components to be set. The magazine is immovable in relation to the control sleeve and is releasably attached thereto, for example. The drive frame is preferably arranged so as to be linearly movable on the control sleeve and is movable relative to the control sleeve between a starting position and a setting position in which a component is set. When using the setting tool, the control sleeve is usually placed against the device to be provided with the component, i.e. brought into contact with it.The drive frame is then moved in relation to the control sleeve and in particular in a linear direction to the device to be provided with a component. The device, such as the body or a body part of a vehicle, thus serves as a stop or abutment for the control sleeve and the components located in the magazine can be set one by one via the relative movement of the drive frame to the control sleeve. For this purpose, the setting tool further comprises separating means for removing the components from the magazine, which are designed such that they are actuated when the drive frame is moved from the starting position to the setting position. For example, the separating means themselves can be provided on the drive frame, e.g.in the form of spring clips which, when the drive frame moves from the starting position to the setting position, grip a single component at the opening of the magazine and move it to the setting position.

[0008] Preferably, the setting tool further comprises a stamping element configured to apply a pressing force to the components to be set when the drive frame is in the setting position. The stamping element can, for example, be a part of the drive frame, which, in the setting position, engages with the previously separated component and presses it into the desired position. In the case of the assembly plugs mentioned above, the stamping element, for example, presses the plug into the corresponding body opening of a vehicle.

[0009] In preferred embodiments, the setting tool has a guide rail between the drive frame and the control sleeve, which comprises at least one control rail and an associated sliding block guided in the control sleeve. Particularly preferably, in all embodiments according to the invention, the control rail is assigned to the control sleeve, and the associated sliding block is assigned to the drive frame. Upon movement of the drive frame relative to the control sleeve, the sliding block follows the control rail, so that the—generally linear—movement of the drive frame relative to the control sleeve via the control rail can be used to actuate or move the various elements of the setting tool, such as, in particular, the separating means or the advantageous stamping elements mentioned above.

[0010] Preferably, the drive frame moves linearly relative to the control sleeve, and the control sleeve and / or the drive frame have guide means for this purpose that guide the drive frame linearly. Particularly preferred guide means can be, for example, cylindrical bushings or rings provided on the control sleeve or the drive frame, in which the drive frame or the control sleeve is at least partially received and guided.

[0011] The setting tool according to the invention has the advantage, among other things, that it can be used without the need for additional energy sources or actuators, since the setting tool can operate or be operated exclusively via the relative movement between the drive frame and the control sleeve. This relative movement is initiated in particular by the robot arm, to which the drive frame is preferably attached.

[0012] To ensure that the drive frame automatically returns to its original position after it has been moved into the setting position to install a mounting plug, spring elements are preferably installed between the drive frame and the control sleeve. These preload the drive frame into its original position, so that the movement of the drive frame from the original position to the setting position occurs against the force of the springs. When, after a successful setting process, the setting tool is moved away from the body or the device on which the component was installed, the springs force the drive frame back from the setting position to its original position (or move the control sleeve accordingly in relation to the drive frame), without the need for any further external force.

[0013] In an advantageous development, the drive frame has a gripping device for gripping the components to be placed from the magazine. The gripping device is designed such that components are gripped in the starting position of the drive frame, which can be done, for example, using spring clips that come into clamping engagement with the first component at the exit of the magazine as soon as the drive frame is in its starting position. When the drive frame is then moved into the setting position, it removes the component to be placed from the magazine and carries it to the setting position. In principle, such a gripping device can be provided in addition to the separating means of the setting tool, but the gripping device itself can also be the separating means. In other words, by removing the component to be placed using the gripping device, it can also be separated.Alternatively, the separating means(s) can also be a separate component from the gripping device, in which case the component to be placed is separated from the magazine in a first step and only picked up and positioned by a gripping device in a second step. This is explained in more detail below with reference to the figures.

[0014] The present invention also relates to an industrial robot comprising at least one robot arm and a setting tool according to the invention. According to the invention, the drive frame of the setting tool is firmly connected to the robot arm. During operation, the robot arm guides the setting tool, for example, to a body opening until the control sleeve of the setting tool touches the body. The body forms a stop, so to speak, for the setting tool or the control sleeve. When the robot arm then moves the drive frame further, the relative displacement of the drive frame to the control sleeve occurs, and this movement and the associated drive or kinetic energy of the robot arm can be used to automate the desired setting process, in particular without the need for additional error-prone and expensive energy sources or electrical actuating devices or the like.

[0015] The setting tool according to the invention is preferably purely mechanical. The setting tool according to the invention preferably has no electrical, hydraulic, or pneumatic actuators. 4. Description of preferred embodiments

[0016] The invention is explained in more detail below with reference to the accompanying figures. Herein: Fig. 1 a setting tool according to the invention in a three-dimensional schematic view; Fig. 2a / b the setting tool of Fig. 1 in a sectioned side view; Fig. 3 a detail of the setting tool of Fig. 1 in a three-dimensional, schematic and partially sectioned view; Fig. 4 the detailed view of Fig. 3 from a different perspective; Fig. 5 the work process of the setting device of Fig. 1; Fig. 6 an interchangeable magazine for components to be placed; Fig. 7a a three-dimensional, schematic, partially sectioned view of a second embodiment of a setting tool according to the invention; Fig. 7b is a sectional side view of the embodiment of Fig. 7a; Fig. 8a- 8d are sectioned side views showing details of the device of the Fig. 7a; Fig. 9 shows a third embodiment of a setting tool according to the invention in a schematic, three-dimensional, partially sectioned view; Fig. 10a / b two side views of the setting tool of Fig. 9; Fig. 11a / b sectioned side views of the separating and gripping devices of the embodiment of Fig. 9; Fig. 12 is a schematic, three-dimensional, partially sectioned view of an interchangeable magazine for the third embodiment; and Fig. 13 a three-dimensional, schematic, partially sectioned detailed view of the third embodiment.

[0017] Fig. Figure 1 shows a three-dimensional schematic view of a setting tool 200 according to the invention, with some of the contours shown transparent (partially sectioned) to facilitate the explanation of the function of the setting tool. The setting tool 200 is used for the automated setting of assembly components and can be attached via a mounting flange 204 to an arm of an industrial robot or the like that operates the setting tool. The core components are a drive frame 210, which is provided with the mounting flange 204, and a control sleeve 240. The drive frame 210 is arranged on the control sleeve 240 for linear movement. For this purpose, the drive frame 210 has a cylindrical guide bushing 211 in which the control sleeve 240 is received. Fig. 1, the drive frame is shown in its initial position. Between the drive frame 210 and the control sleeve 240, four spring elements 202 are provided, which are compressed when the drive frame 210 is moved into the set position. The drive frame is thus in the initial position shown. Fig. 1 is preloaded against the control sleeve 240. The spring elements 202 are sufficiently strong so that they can move the drive frame 210 back from the setting position to the starting position without external force, or can move the control sleeve 240 in relation to the drive frame 210 so that the drive frame 210 (in relation to the control sleeve) is back in the starting position. An interchangeable magazine 270 is arranged inside the control sleeve 240, which serves to provide a plurality of components to be set. The magazine 270 is designed to be interchangeable and is fixed in relation to the control sleeve via a bayonet lock 275.

[0018] The drive frame 210 further comprises an actuating bracket 244, with which the separating means 242 can be actuated when the drive frame 210 moves from the shown starting position to the setting position. At the setting or insertion end of the control sleeve 240, two control links 250 are also provided, which interact with an associated sliding block assigned to the drive frame. These parts are described below with reference to the Fig. 3 and Fig. 4 is explained in more detail.

[0019] Referring to Fig. 2a and Fig. 2b is the setting tool 200 of the Fig. 1 in a sectioned side view. Based on the Fig. 2a and Fig. 2b explains in more detail the separation of the components to be placed and the gripping of these. In the sectional view of the Fig. 2 clearly shows how the control sleeve 240 is configured to be movable relative to the drive frame 210 and is guided in the guide bushing 211 of the drive frame 210 provided for this purpose (a person skilled in the art will appreciate that the relative movement between the drive frame and the control sleeve does not depend on which part is actually moved). The control sleeve 240 is mounted on a body 100 such that the two control links 250 on the left and right of the body opening 110 are in contact with the body 100. A person skilled in the art will appreciate that if, in this position, for example, the robot arm moves the drive frame 210 downwards towards the body 100 via the fastening flange 204, a relative movement occurs between the drive frame 210 and the control sleeve 240 without the need for power-driven actuating means or external drive influences.

[0020] The control sleeve 240 accommodates the magazine 270 within it. The magazine 270 contains a plurality of mounting plugs 271, which are pressed toward the magazine exit by a magazine spring 273. To prevent the mounting plugs 271 from being accidentally pushed out of the magazine 270, a separating means 242 in the form of two pivotally mounted clamps is provided. The two clamps are identical, so their function will be explained below using only one of the clamps. Fig. 2b shows that a nose 247 of the separating means 242 holds the assembly plug 271 at the exit of the magazine. In order to remove the assembly plug 271, ie to separate it from the magazine supply, the separating means 242 must be inserted into the Fig. 2a. This rotational movement is effected via the rotary joint 248 of the separating means and a projection 245 of the separating means. By means of the rotary joint 248, the separating means 242 is rotatably mounted on the control sleeve 240. When the drive frame 210 is in the position shown in Fig. 2a, the actuating bracket 244 acts on the projection 245, so that the separating means 242 is in the position shown in Fig. 2a is rotated or is rotated into the open position shown. At the same time, a stamping element 220 of the drive frame 210 presses against the first mounting plug 271 located at the magazine exit and a gripping device 222 in the form of four spring clips (see Fig. 4) grips the peripheral edge of the mounting plug 271. In the Fig. 2a, the first assembly plug 271 at the exit of the magazine is thus gripped by the gripping device provided on the drive frame 210 and at the same time, in the starting position of the drive frame shown, the separating means 242 is actuated by the drive frame 210 in such a way that the first assembly plug 271 is free, ie separated.

[0021] In Fig. 2b, the drive frame 210 is shown halfway between its starting position and its set position. The separating means 242 are guided back into their holding position via their springs 246, in which they prevent the magazine spring 273 from pushing the mounting plugs 271 out of the magazine. The separated mounting plug 271 is received by the drive frame 210 via the spring clips 222 and rotated by 90 degrees by means of the carrier 224. How this rotational movement is effected is explained below with reference to the Fig. 3 and Fig. 4 explained.

[0022] The Fig. 3 shows a three-dimensional schematic view, in particular of the control links 250 and their mode of operation. The drive frame 210 has a carrier 224, which carries the punch 220 and the gripping device 222 in the form of the four spring clips. The carrier 224 is rotatably held on the drive frame 210 via a rotation axis 225. The rotation axis is guided in the control link 250 and can therefore also be regarded as a sliding block. Fixedly connected to the carrier 224, or formed integrally, are two T-shaped control elements 226 on each side of the carrier. These T-shaped elements 226 interact with a control unit 251 of the control link 250. As the person skilled in the art will understand from examining the Fig. 3 and Fig. 4, an element of the T-shaped control element 226 engages with the control unit 251 when the drive frame 210 is in Fig. 3 is moved downwards. If the movement of the drive frame 210 continues downwards, this contact causes the carrier 224 to rotate counterclockwise in the direction shown in Fig. 3. At the end of the movement, ie, when the drive frame is in its set position, the carrier 224 is rotated 180 degrees and the gripped mounting plug 271 is pressed into the body opening 110.

[0023] In Fig. 4 clearly shows that the stamping element 220 rests against the mounting plug 271 and how the spring clips 222 have gripped the mounting plug 271 at its peripheral edge. The separating means 242 is rotated into the open position by means of the bracket 244, so that it is possible to remove the first mounting plug 271 at the exit of the magazine by means of the gripping device. Fig. 3 and Fig. 4 thus show the same position (initial position) of the drive frame 210 as the Fig. 2a.

[0024] In Fig. 5, the setting process is schematically illustrated. In I, the setting tool 200 is guided, for example by a robot, to the body opening 110 of a body panel of a body 100. The drive frame 210 is in its starting position relative to the control sleeve 240. In II, the end of the control sleeve 240 is pressed against the body and a further movement of the setting tool in the direction of the body opening 110 now causes a relative movement of the drive frame 210 to the control sleeve 240. In III, the drive frame 210 is shown halfway between its starting position and the setting position. The arrangement shown in III corresponds to that of Fig. 2b. At IV, the movement sequence is completed, ie the drive frame is guided into the setting position and the removed assembly plug 271 is inserted into the opening 110. The stamping element 220 causes a firm pressing or pressing of the assembly plug into the opening. At V, the setting tool 200 is again removed from the body opening 110. Since the setting tool is guided or moved on the fastening flange 204 of the drive frame 210, the control sleeve 240 initially remains in contact with the body, since the spring elements 202 are arranged in such a way that the setting tool 200 always strives to Fig. 1 shown configuration. At VI, the starting position has not yet been reached, which can be recognized by the fact that the actuating bracket 244 is not yet in contact with the projection 245 of the separating means 242. In the position shown in VII and VIII, the drive frame 210 is back in its starting position and the actuating bracket 244 has moved the separating means 242 back into the Fig. 2a shown open position. The carrier 224 is again in the position shown in Fig. 1 or 2a and has gripped the next, now separated, assembly plug 271. The tool is now ready for the next use, and the process begins again at I at the next body opening to be closed. The setting tool shown therefore advantageously operates purely mechanically and therefore requires no electrical, hydraulic, or pneumatic actuators or the like.

[0025] Fig. Figure 6 shows a schematic three-dimensional view of an interchangeable magazine 270 which is provided with the setting tool of the embodiment of the Fig. 1 can interact.

[0026] In the Fig. Figure 7a shows a second embodiment of a setting tool 300 according to the invention. The basic functionality of the setting tool 300 corresponds to that of the first embodiment. However, some design changes are provided, in particular the setting tool 300 does not have a rotatable carrier with which the mounting plugs could be rotated by 180°. Rotating the mounting plugs is advantageous for certain types of components to be set, namely components that can only be easily inserted into or removed from the magazine in one specific direction. The setting tool 300 has a drive frame 310 having a mounting flange 304. The drive frame 310 can thus be connected to a robot arm, which moves the drive frame 310 and thus the entire setting tool 300.The setting tool 300 further comprises a control sleeve 340 provided with a guide bushing 311 in which the drive frame 310 is received and mounted for linear movement. The control sleeve 340 further comprises two control guides 350 on opposite sides, which interact with the associated sliding blocks 351 of the drive element 310.

[0027] As in the first embodiment, the drive frame and control sleeve are pre-tensioned against each other by a spring element 302. This spring element 302 is designed in such a way that it always keeps the drive frame 310 in the Fig. 7a, if, for example, the guide bushing 311 is held and no external forces are acting. The person skilled in the art will recognize that this return to the starting position of the drive frame in practice is usually achieved by the spring element 302 moving the control sleeve 340 until the relative arrangement of the drive frame and the control sleeve of the Fig. 7a is reached. A rotatably mounted stamping element 320 is assigned to the drive frame 310, by means of which the components to be set are forced into the setting position. This is explained below using the Fig. 8 explained.

[0028] In Fig. 7b is the setting tool 300 of the Fig. 7a is shown in a sectional view. It can be seen how the drive frame 310 is guided in the guide bushing 311 of the control sleeve 340. The drive frame 310 is also sleeve-shaped so that it can accommodate the magazine 370 inside. However, the magazine 370 is immovably arranged in relation to the control sleeve so that the drive frame 310 can move relative to the control sleeve as well as to the magazine. The magazine 370 can be releasably attached immovably in relation to the control sleeve via a bayonet attachment, as is the case in the first embodiment. The operation of the stamping element 320 will now be explained with reference to Fig. 8 is explained in more detail.

[0029] Referring to Fig. 8a shows separating means 342 in the form of spring clips that are attached to the drive frame 310. The spring clips extend through corresponding openings at the output end of the magazine 370 casing and clamp the peripheral edge of the first mounting plug 371 located at the magazine output. This grips the mounting plug. When the drive frame 310 is in the position shown in Fig. 8a, it removes the mounting plug 371 and guides it to the insertion position. The magazine also has clips or a constriction at its exit that prevent the magazine spring from pushing the mounting plugs out of the magazine. However, the spring clips of the separating means 342 are stronger than the retention effect of the magazine, so they can still remove the mounting plug.

[0030] In the setting position in Fig. 8b, the stamping element 320 presses the mounting plug into the opening to be closed. For this purpose, the stamping element 320 has two levers 322 rotatably mounted on the drive frame 310. Each lever 322 is rotatably mounted on the drive frame via a pivot 323 and is moved by a spring 324 into the Fig. 8c and Fig. 7b. The lever 322 or the stamping element 320 further comprises an actuating foot 321, which comes into contact with a control edge 325 of the control sleeve when the drive frame 310 is moved into the setting position. This is shown in Fig. 8d. When the drive frame moves into the Fig. In the position shown in Figure 8d, the control edge 325 causes the lever 322 to rotate by approximately 90°, so that the lever forces the mounting plug firmly into the setting position when the drive frame is in the setting position.

[0031] The spring 324 biases the lever 322 against this shown setting position, ie without the influence of the control edge 325 on the actuating foot 321, the spring 324 forces the lever 322 back into the starting position of the Fig. 8c. A person skilled in the art will recognize that in the second embodiment, the separating means 342 in the form of spring clips simultaneously represents a gripping device for grasping the components to be inserted from the magazine. The spring clips of the separating means 342 not only separate the first assembly plug located at the magazine's exit, but they also grasp the assembly plug and carry it from the starting position to the insertion position.

[0032] In the Fig. 9-13, a third embodiment of a setting tool 400 according to the invention is shown. The basic mode of operation is the same as in the other two embodiments. Referring to Fig. 9, the setting tool 400 accordingly comprises a drive frame 410 which can be firmly connected to, for example, a robot arm via a fastening flange 404. The robot arm thus moves the drive frame 410 and, since this, in turn, is connected to the other components of the setting tool 400, the entire tool 400. The drive frame 410 is designed to be movable relative to a control sleeve 440. The control sleeve 440 has a cylindrical guide bushing 411 in which the drive frame 410 is linearly guided. Between the drive frame and the control sleeve there is a spring or a spring element 402 which is designed to move the drive frame and the control sleeve into the Fig. 10a shown starting position.

[0033] In Fig. 9, the drive frame 410 is shown in the set position. In Fig. Figure 9 also clearly shows how a mounting plug 471 is pressed into a seating position by means of the drive frame 410. The plug 471 is gripped by a gripping device 422 of the drive frame 410. The gripping device 422 essentially consists of four spring clips that engage the circumference of the round mounting plug.

[0034] A magazine 470 is also immovably mounted on the control sleeve 440. The magazine 470 is detachably attached to the control sleeve 440 so that it can be replaced when the components to be installed contained therein are used up. Similar to the magazines of the first and second embodiments, the magazine 470 also has a magazine spring 473, which forces the mounting plugs 471 to be installed toward the magazine exit.

[0035] Now referring to the Fig. 10a and Fig. 10b, the setting device 400 is shown in a side view. In Fig. 10a the drive frame is shown in its initial position and in Fig. 10b in the setting position. The drive frame is arranged linearly movable on the control sleeve and has a stamping element 420 to provide the mounting plug with a contact force when the drive frame is in the setting position of the Fig. 10b. A special guide rail is provided between the drive frame and the control sleeve. A control guide rail 450 is assigned to the control sleeve, and a sliding block 451 is assigned to the drive element, which is guided in the control guide rail. The control guide rail 450 is provided on a control rod 455, which is rotatably mounted in the control sleeve 440. The control guide rail 450 is a groove and is wound helically around the control rod 455. The person skilled in the art will recognize that in a Fig. 10, the sliding block 451 interacts with the control link 450 - due to the helical winding - in such a way that the control rod 455 rotates. The control link 450 is in turn designed such that the control rod 455 rotates 180° when the drive frame moves from the starting position to the setting position. The purpose of this construction is to separate and grip assembly plugs from the magazine 470 and to move them from the exit of the magazine 470 to the position in which they are to be set. For this purpose, a gripping device for gripping the components to be set or assembly plugs from the magazine is further arranged on the control rod, which gripping device rotates with the control rod. This is shown by the Fig. 11 below.

[0036] The Fig. 11a and Fig. 11b show sectional schematic views of a detail of the magazine and the separating means provided there. Similar to the first embodiment, the third embodiment also has separating means 442 in the form of two rotatably mounted clamps. The separating means 442 is rotatably mounted on the magazine and the control sleeve, respectively, via a pivot joint 448. It has a projection 445 pointing in the direction of exit from the magazine, as well as a protruding nose 447, which holds the first mounting plug at the magazine exit so that this and the other mounting plugs in the magazine are not pushed out by the magazine spring. In order for the first mounting plug to be separated at the magazine exit and to be grasped, the projections 445 are actuated and the separating means 442 are rotated accordingly about the pivot joint 448. As a result, the noses 447 release the mounting plug. This is shown in Fig. 11b shown.

[0037] In Fig. 11a, the separating means 442 is shown in the position it assumes when the drive frame is not in the starting position. Fig. 11b, the drive frame is in the starting position, and a conveyor frame 460, which is arranged on the control rod 455, is located below the opening of the magazine and presses the projections 445 outward via corresponding crenellations 461, so that the separating means 442 releases the first assembly plug located in the exit of the magazine. This plug then falls downwards, following gravity, onto or into the conveyor frame 460, where it is held by clamping springs 462. This state is shown in Fig. 11b. It should be noted that in the illustration of the Fig. 11b, the same mounting plug 471' is shown twice, once in the position after it has fallen into the conveyor frame 460 and the other in the position where it has been released from the separating means but has not yet fallen into the conveyor frame 460 due to gravity. This is for illustrative purposes only, and in practice, the mounting plug 471' will either be in the position shown below between the clamping springs 462 or be on its way there.

[0038] Referring to Fig. 11, it can also be seen that the separating means 442 are designed in the form of retaining clips, which in the illustrated case are rotatably mounted on the magazine 470. It is also conceivable to rotatably mount the separating means 442 on the control sleeve.

[0039] In Fig. Figure 12 shows the replaceable magazine 470 in a schematic, partially sectioned view. The magazine can be releasably attached to the control sleeve via fastening means 475 in the form of four hooks, so that it is immovable relative to the control sleeve. Also visible is the separating means 442, wherein the opposite separating means 442 is shown in the partially sectioned view. Fig. 12 is not visible.

[0040] In Fig. Figure 13 shows a detailed view in a partially sectioned state when the drive frame 410 is in its set position. It can be seen that the drive frame 410 also has gripping devices 422 in the form of four spring clips to hold the mounting plug 471 when it is pulled out of the conveyor frame 460 by the action of the drive frame downwards into Fig.13. The clamping springs 462 of the conveyor frame 460 are designed such that they only lightly hold the mounting plug so that it can be easily released from the drive frame or the piston of the drive frame and moved downwards into the opening to be closed. List of reference symbols: 200, 300, 400 setting tool 202, 302, 402 Spring elements between drive frame and control sleeve 210, 310, 410 drive frame 211, 311, 411 Guide bush of the drive frame or control sleeve 100 body 110 Body opening 204, 304, 404 Mounting flange for mounting the drive frame 220, 320, 420 stamp element 222 Gripping device (spring clips) 224 carriers 225 Axis of rotation of the carrier 226 T-shaped control element 240, 340, 440 control sleeve 242, 342, 442 Separation devices 244 Actuating bracket of the drive frame 245 Advantage of the separating agent 246 Spring of the separating device 247 Nose of the separating agent 248 Swivel joint of the separating device 250, 350, 450 control gate 251 Control unit 270, 370, 470 Magazine 275 bayonet mount 271, 371, 471 mounting plugs 273, 373, 473 magazine spring 321 Actuating foot 322 levers 323 Swivel joint 324 spring 325 Control edge of the control sleeves 351, 451 sliding block 422 Gripping device with spring clamps 455 control rod 445 Advantage of the separating agent 446 Spring of the separating device 447 Nose of the separating agent 448 Swivel joint of the separating device 460 conveyor frames 461 battlements of the conveyor frame 462 clamping springs of the conveyor frame 475 Magazine fasteners

Claims

[1] Setting tool (200; 300; 400) for the automated setting of assembly components (271; 371; 471), in particular for the automated setting of assembly plugs in body openings of a vehicle, comprising: • a drive frame (210; 310; 410), • a control sleeve (240; 340; 440), • a magazine (270; 370; 470) for providing a plurality of components (271; 371; 471) to be set, which magazine is arranged immovably in relation to the control sleeve; wherein the drive frame (210; 310; 410) is arranged movably, preferably linearly, on the control sleeve (240; 340; 440) and is movable relative to the control sleeve between a starting position and a setting position in which a component is set, and wherein the setting tool (200; 300; 400) further comprises separating means (242; 342; 442) for removing the components from the magazine, which are arranged to be actuated when the drive frame is moved from the starting position to the setting position. [2] Setting tool according to claim 1, characterized by that the setting tool (200; 300; 400) further comprises a stamping element (220; 320; 420) which is arranged to apply a contact pressure to the components to be set when the drive frame is in the setting position. [3] Setting tool according to claim 1 or 2, characterized bythat the setting tool (200; 300; 400) has a link guide between the drive frame and the control sleeve, with at least one control link (250; 350; 450) and an associated link block (351; 451) which is guided in the control link; wherein preferably the control link (250; 350; 450) is assigned to the control sleeve and the associated link block (351; 451) is assigned to the drive frame. [4] Setting tool according to one of the preceding claims, characterized by that the control sleeve (240; 340; 440) and / or the drive frame (210; 310; 410) have guide means in which the drive frame is linearly guided in relation to the control sleeve or the control sleeve is linearly guided in relation to the drive frame, in particular in the form of one or more cylindrical bushings (211; 311; 411). [5] Setting tool according to one of the preceding claims, characterized bythat spring elements (202; 302; 402) are arranged between the drive frame (210; 310; 410) and the control sleeve (240; 340; 440), which pretension the drive frame into the starting position and are preferably designed such that they can move the drive frame back from the setting position to the starting position without the application of external force. [6] Setting tool according to one of the preceding claims, characterized by that the drive frame (210; 310; 410) has a gripping device (222; 342; 422, 462) for gripping the components to be set from the magazine (270; 370; 470), and the gripping device is designed such that components are gripped in the starting position of the drive frame. [7] Setting tool according to the preceding claim, characterized bythat the gripping device (222; 342; 422, 462) consists of spring clamps which are arranged in such a way that they come into clamping engagement with a component to be set in the starting position of the drive frame. [8] Setting tool according to one of the two preceding claims, characterized by in that the gripping device (222) is rotatably mounted on the drive frame (210) and in that the setting tool (210) has a link guide (250) between the drive frame (210) and the control sleeve (240), with at least one control link (250) on the control sleeve (240) and an associated link block which is guided in the control link and is assigned to the drive frame (210), and wherein the control link (250) has a control unit (251) which cooperates with the bearing (225, 226) of the gripping device (222) on the drive frame (210) in order to bring about a rotation of the gripping device (222) when the drive frame moves from the starting position to the setting position. [9] Setting tool according to one of the preceding claims, characterized by that the separating means (342) are arranged on the drive frame (340) and are designed to separate components from the magazine when the drive frame is moved from the starting position to the setting position. [10] Setting tool according to one of the preceding claims, characterized by in that the setting tool (300) further comprises a stamping element (320) which is arranged on the drive frame (310) and comprises at least one lever (322) rotatably arranged on the drive frame, and wherein the control sleeve (340) has a control edge (349) which is arranged to come into control contact with the at least one lever (322) when the drive frame is moved from the starting position to the setting position, so that the lever (322) acts on the component to be set in order to force the component to be set into the setting position when the drive frame is in the setting position. [11] Setting tool according to the preceding claim, characterized by that the at least one lever (322) is preloaded with a spring (324). [12] Setting tool according to one of the preceding claims, characterized by in that the setting tool (400) further comprises a control rod (455) which is rotatably arranged on or in the control sleeve (440) and has a control link (450) which is arranged wound helically around the rod (455), and in that the drive frame (410) has an associated sliding block (451) so that during a linear movement of the drive frame (410) relative to the control frame (440), the sliding block (451) in the control link (450) causes a rotary movement of the rod (455), and wherein a gripping device (460) for removing the components to be set from the magazine (470) is further arranged on the control rod (455) and rotates with the control rod. [13] Setting tool according to the preceding claim, characterized by in that the separating means (422) for removing the components from the magazine (470) comprise rotatably mounted holding clamps which cooperate with the gripping device (460) and which are rotated by the gripping device (460) into a release position in order to separate a component to be placed from the magazine when the gripping device (460) is moved by means of the control rod (455) into a corresponding position at the output opening of the magazine. [14] Industrial robot comprising at least one robot arm and a setting tool according to one of the preceding claims, characterized by that the robot arm is firmly connected to the drive frame (210; 310; 410) of the setting tool (200; 300; 400).

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