Device for determining the operating point of a tool with a flat drive and use of the device in a position detection system

Abstract

A device for determining an operating point (111) of a tool (100) with a flat drive (110) and the use of the device in a position detection system (130) are described. The flat drive (110) has a rotary and / or translational adjustment mechanism (113). The device (200, 300) comprises at least a housing (201, 301), a sensor device (203, 303), and a communication device (206, 306). The housing (201, 301) is adapted to an outer contour of the flat drive (110) and / or tool (100) such that the housing (201, 301) of the device (200, 300) can be defined and fixed relative to a tool drive point (101). The sensor device (203, 303) has at least one detector element (204, 304) for determining the position of the adjustment mechanism (113). The communication device (206, 306) serves to transmit information determined in the sensor device (203, 303) to a position detection system (130).

Description

[0001] The invention relates to a device for determining an operating point of a tool with a flat drive and to the use of the device in a position detection system.

[0002] Tools that can be part of the device according to the invention, in that the device can be fixed to or is fixed to the tool, can in particular be manually operated or automatically operated tools that can be used in production or manufacturing plants. With such a tool, a worker or manipulator performs specific work tasks on a workpiece to be manufactured or processed. A manipulator is a device that enables physical interaction with the environment, i.e., the movable part of the robot assembly that performs automatically controlled mechanical work of the robot assembly. A manipulator has several parts that are movable relative to each other in order to control different spatial positions.

[0003] These work tasks can include, in particular, screwing, riveting, or drilling on the workpiece, without the invention being limited to these activities. A tool, such as a screwdriver, a riveting tool, or a drilling machine, is, in particular, an electrically, pneumatically, and / or hydraulically driven tool with a tool drive point at which the tool (possibly with a tool attachment such as a screwdriver bit as a driving tool) acts on the workpiece when actuated by the operator or an automation system (manipulator). A tool attachment is often fixed at the tool drive point, which is moved rotationally and / or translationally by the tool to perform a work task. In the case of a screwdriver, the tool attachment can, for example, be a screwdriver bit that is inserted into a rotaryally driven chuck formed at the tool's working point.When the tool (screwdriver) is operated, the screwdriver bit rotates in the chuck of the tool around a screw axis and can thus screw a screw into the workpiece or unscrew it from the workpiece.

[0004] This requires sufficient clearance in front of the workpiece in the direction of the screw axis so that the screwdriver can be positioned on the workpiece screw in such a way that it transmits a rotational movement to the screw relative to the workpiece along the screw axis. The same applies to the point of contact on the workpiece for other tools.

[0005] If the clearance at the point of application is insufficient, so-called auxiliary drives, also known as flat drives and referred to as such hereafter, are used. These are mounted on the tool's drive point to relocate the tool's working point to a different location, spatially distinct from the tool's drive point, via a drive mechanism. Relocating the tool's working point often also involves changing the orientation of an axis of application (in the case of a screwdriver: the screw axis) on the workpiece. For example, in the case of a screwdriver, the workpiece's screw axis can be reoriented, e.g., rotated by 90°, so that the tool can be aligned perpendicular to the screw axis on the workpiece, and only the flat drive needs to be positioned in a clearance in front of the screw (see also...). Fig. 1).

[0006] Such a flat drive is described, for example, in DE 100 23 857 A1. Fig. Figure 1 of DE 100 23 857 A1 shows an example of a flat drive of a screwdriver, by which the screw axis of the tool is rotated by 90°. This shows Fig. 1 a drive-side bevel gear 5, whose free (right in the illustration) end is fixed at the tool working point and in Fig. 1 is shown as a horizontally oriented screw axis. A driven-side bevel gear 6, engaging the drive-side bevel gear 5, has a bore through which a guide shaft 7 extends. At its end projecting from the angle head 2, the guide shaft 7 is supported in a bearing 9 of the flat drive 3. The guide shaft 7 transmits the drive force of the tool via several meshing gears, supported in the flat drive 3, to the end of the flat drive 3 opposite the bearing 9 of the flat drive 3 (left in the illustration). The gear located at the left end of the flat drive 3 includes a bore into which, for example, a screwdriver bit can be received, which rotates about an axis (vertical in the illustration) (working point of the tool with flat drive). Through the in Fig. In the device shown in DE 100 23 857 A1, with angled head 2 and flat drive 3 (which are also referred to collectively as the "flat drive" in the following text for simplicity), the screw axis is rotated by 90° relative to the screw axis of the tool without the flat drive. Therefore, in the direction of the screw axis of the flat drive, only a clearance is required for attaching the tool, into which the flat drive 3 can be received, but not the entire tool.

[0007] The in Fig. The flat drive shown in DE 100 23 857 A1 features a rotary adjustment mechanism for adjusting the working point of the tool with flat drive relative to the tool drive point by pivoting the actual flat drive 3 about the axis of the guide shaft 7. This changes the position of the working point of the tool with flat drive relative to the tool's working point. Corresponding flat drives with translational or combined rotary and translational adjustment mechanisms exist. US 4,171,651 discloses a comparable flat drive in which the adjustment of the working point of the tool with flat drive relative to the tool drive point is achieved via a slot in the actual flat drive and can be fixed by means of an adjusting screw.

[0008] CN 108081189 B shows a flat drive which is designed to be foldable perpendicular to the screw axis and, in a position folded down by 90°, engages the screw axis of the screwing tool with its drive mechanism, whereby the drive mechanism shifts the tool drive point on the screw axis to another point and enables screwing parallel to the screw axis.

[0009] The invention relates to a device for a tool with a flat drive, as described above by way of example, which has a rotary and / or translational adjustment mechanism. The invention is not limited to the specific example, but in principle encompasses various tools with different adjustment mechanisms.

[0010] One advantage of flat drives with an adjustment mechanism is that a worker can adjust the orientation of the flat drive relative to the tool during use. This allows the tool with the flat drive to be flexibly adapted during machining of the workpiece, ensuring optimal use of the available clearance at each machining position.

[0011] This, however, leads to new challenges when using position detection systems on the tool. Position detection systems are frequently used in the production or machining of workpieces. For this purpose, at least one position marker is defined on a tool, which is detected by the position detection system. From a detected position marker, the position detection system determines the position and orientation of the marker in space. Because the position marker is defined on the tool, the position and orientation of the tool in space are also known. Such a position detection system with position markers (also referred to as markers) is described, for example, in WO 2021 / 259523 A1. In this example, the position markers are infrared LEDs in a specific geometric arrangement, which are detected in space by a calibrated camera.The position and orientation of the position marker in space are determined from the captured image. The invention is not limited to the use of a specific position detection system. It can advantageously be used with any position detection system.

[0012] Such a position detection system is used in modern manufacturing and machining processes for tool control and / or quality assurance. For this purpose, a tool with a position identifier defined on the tool is measured beforehand in a calibration station. For each detected position and orientation of the tool, the position and orientation of the tool's operating point are also determined—for example, the position and orientation of a screwdriver bit in a screwdriver. In a manufacturing or machining process, this enables, for example, the control of the tool based on a current tool operating point and / or the logging of the tool operating point during tool actuation, as well as, if necessary, the execution of other tracking tasks depending on the tool operating point. The same applies to a tool with a flat drive and no adjustment mechanism.

[0013] With a flat drive featuring an adjustment mechanism, problems arise if the operator can adjust the flat drive during machining. As a result, the position detection system can no longer correlate a detected tool position with the actual working point of the tool with the flat drive. This actual working point depends on the position of the adjustment mechanism. Therefore, after an adjustment, the tool with the flat drive must be remeasured in a calibration station before it can be used with the position detection system. In practice, this leads to downtime in manufacturing or machining.

[0014] The object of the present invention is therefore to make it easier to determine the position and orientation of the operating point of a tool with a flat drive and adjustment mechanism.

[0015] This problem is solved by a device having the features of claim 1.

[0016] The device comprises at least a housing, a sensor device and a communication device.

[0017] The housing of the device is adapted to an outer contour of the flat drive and / or the tool in a section where the flat drive is fixed to the tool drive point. This means that the housing of the device is fixed (and non-adjustable) relative to the tool drive point on the flat drive and / or the tool, and is also fixed accordingly, at least when determining the working point of the tool with flat drive.

[0018] The sensor device has at least one detector element for determining the position of the adjustment mechanism of the flat drive.

[0019] The communication device is designed to transmit information determined in the sensor device, which in particular includes at least the position of the adjustment mechanism determined by the detector element or a quantity derived therefrom, to a position detection system.

[0020] Knowing the design of the flat drive and the position of the adjustment mechanism, the position detection system can determine the current operating point of the tool with the flat drive in its current position and thus determine and use this current operating point within the scope of position detection. Separate calibration of the tool with the current position of the adjustment mechanism is not necessary. For this, the tool with its position identifier would have to be detected by the position detection system in a calibration station, together with a probe with a position identifier positioned at the current operating point of the workpiece. The current operating point can then be described as a displacement vector relative to the detected position and orientation of the tool's position identifier.The invention enables the position detection system to directly determine, for example, calculate, the displacement vector of the flat drive, given its configuration and the position of its adjustment mechanism. This information is transmitted from the device's communication unit to the position detection system. Alternatively, instead of storing information about the position of the adjustment mechanism in a processor within the device, the current position of the operating point can also be directly determined and transmitted to the position detection system. Therefore, the device according to the invention significantly improves the usability of tools with adjustable flat drives in conjunction with position detection systems.

[0021] According to a preferred embodiment of the device according to the invention, the sensor assembly can include a magnetic detector element, and a magnet can be arranged on a part of the flat drive that is movable by the adjustment mechanism. The magnetic detector element can, for example, be a Hall sensor that can detect the orientation of the magnet's magnetic field in a technically known manner. Another possibility for magnetic detection of the position of the adjustment mechanism can be provided with coded magnetic rings, which are placed centrally above the magnetic detector element, so that the magnetic detector element recognizes the position of the coded magnetic rings. This list of magnetic detector elements and magnets for detecting the position of the adjustment mechanism is not exhaustive but is intended for illustrative purposes.It has been shown that magnetic detection is cost-effective and can therefore accurately detect the adjustment of the adjustment mechanism.

[0022] According to the invention, another or possibly supplementary sensor device can comprise an optical detector element (in particular a camera). An optical marker is arranged on a part of the flat drive that is movable by the adjustment mechanism, and its position relative to a fixed marker on the flat drive is detected by the optical detector element. Such optical detection has the advantage that it is not disturbed by possible (e.g., magnetic) interference fields and thus does not potentially lead to an erroneous detection of the position of the adjustment mechanism.

[0023] In principle, other suitable detection mechanisms using other sensor devices can also be employed with the proposed device according to the invention. The invention is not intended to be limited to specific sensor devices for detecting the position of the adjustment mechanism.

[0024] Preferably, the detector element of the sensor device can be included in the housing of the device to protect the detector element from damage.

[0025] According to a further preferred embodiment of the invention, the device, e.g., the sensor assembly, can also include tool and / or flat drive detection. According to the invention, this can particularly include identification of the tool and / or flat drive, for example, a near-field communication element for reading an RFID chip attached to the tool and / or flat drive with an identification identifier of the tool and / or flat drive. This has the advantage that the design of the flat drive, including the adjustment options of the adjustment mechanism, is known or can be determined. Preferably, this identifier can also be transmitted by the communication device. When using several tools with flat drives in the position detection system, a unique identification of the tool and / or flat drive makes it possible to assign the determined position precisely to one of the several tools.

[0026] According to one possible embodiment of the invention, the tool and / or flat drive detection and / or the communication device can also be integrated into the housing. This simplifies the matching of the flat drive tool and the fixture.

[0027] According to a further aspect of the present invention, a self-contained power supply can be provided in the housing of the device according to the invention. The self-contained power supply can, in particular, be designed as a battery or accumulator. The self-contained power supply can be designed to supply all components of the device provided in the housing with energy (current, voltage). In such an embodiment, the device with the housing can also be permanently arranged on the flat drive during operation. An operator can then actuate the adjustment mechanism of the flat drive at any time during operation. The respective set position of the flat drive is then immediately detected and transmitted to the position detection system via the communication device.In this embodiment, the communication device is preferably designed as a wireless communication device, for example via WLAN, Bluetooth, or similar radio communication. The position detection system accordingly has a communication receiver configured to receive the information transmitted by the communication device.

[0028] According to a further embodiment of the device according to the invention, a release mechanism can be provided on the housing of the device, which unlocks the adjustment mechanism of the flat drive when the housing is fixed to the flat drive. Such a lock of the adjustment mechanism of the flat drive, which is automatically unlocked when the device is fixed with the release device, ensures that any adjustment of the adjustment mechanism by the operator is detected by the device according to the invention. The detected position of the adjustment mechanism and / or a derived operating point can be transmitted to the position detection system. This system is then able to correctly detect the position of the tool's operating point at any time and use it, for example, in position tracking.

[0029] A further development of the unlocking mechanism, according to a preferred embodiment of the invention, can provide that the unlocking mechanism comprises a pin projecting from the housing of the device, which is configured to engage in a release opening in the flat drive and, by engaging the release opening, unlock a locking mechanism of the adjusting mechanism of the flat drive, thus releasing the adjustment of the adjusting mechanism. According to the invention, the pin can engage in the release opening and unlock the locking mechanism of the adjusting mechanism during the assembly of the housing of the device onto the flat drive or after actuation of an actuating device on the device, for example, by pressing an actuating button or by turning the pin.

[0030] According to a further preferred embodiment, the pin can be provided with a preferably mechanical or electronic identifier, wherein the locking mechanism of the flat drive can only be unlocked with this identifier (key-lock principle). This embodiment effectively prevents the locking mechanism of the flat drive from being unlocked by other tools and ensures that a change in the position of the adjustment mechanism is not detected. This would result in the position detection system malfunctioning, and this embodiment reliably prevents such an error from occurring.

[0031] In one possible embodiment, the device's sensor assembly can be configured with a processing unit to directly determine the tool's operating point from the position of the adjustment mechanism and transmit this information to the position detection system. This results in higher energy and space requirements for the processing unit within the device. Such an embodiment is suitable, for example, if the device is permanently mounted at a workstation (such as a production line) and an operator can only adjust the tool's flat drive mechanism at that station. In this case, the device can be equipped with a wired power supply, and the tool with the flat drive can be inserted into the housing to secure the housing to the flat drive.

[0032] According to the invention, a device without the aforementioned separate computing unit in the sensor unit can also be fixedly arranged at a station of a workstation in order to be able to adjust the adjustment mechanism of the flat drive only at that station. In this case, the calculation of the operating point would take place in the position detection system to which the position of the adjustment mechanism is transmitted as information.

[0033] According to a preferred embodiment of the invention, the device (in the sense of a system with spatially separated system components) can also include a position detection system with a processing unit in which the working point of the tool is determined from the position of the adjustment mechanism detected by the detector element and transmitted to the position detection system. In this case, the calculation can be offloaded to the position detection system, and the housing of the device can be correspondingly small and have low energy consumption. One and the same position detection system can be part of several different devices, i.e., in particular, it can be communicatively coupled with the communication devices of several different devices. This allows (e.g.,exactly) a position detection system is used to utilize the positions of several (or all) tools with their respective operating points of flat drives optionally mounted on the tools, for example in a production line in which the position detection system according to the invention can be configured to release an actuation of the tool only if the operating point of the tool is located at one (of optionally several) predefined spatial points, or to configure the tool appropriately depending on the spatial point.

[0034] According to the invention, one or more operating points of a tool with a flat drive can be determined in a calibration station, wherein a calculation rule is stored in the processing unit of the sensor device and / or the position detection system to calculate the operating point of the tool for different positions of the adjustment mechanism relative to a known operating point of the tool. Position markers for determining the position of the tool in space (and thus the operating point of the tool with or without a flat drive) are preferably fixed on the tool. The position markers can, for example, be infrared LEDs in a known geometric arrangement, which are detected by a camera calibrated in space (detector of the position detection system).The alignment of the position indicator in space (and thus of the working point of the tool in space) is carried out in a known manner by a computing unit of the position detection system.

[0035] For example, the operating point of the tool without a flat drive, which may also be referred to as the tool drive point in this text, can be measured in the measuring station and stored in a processing unit of the position detection system and / or the sensor device. Furthermore, the design data of the flat drive and its adjustment mechanism can be known or measured in the measuring station. This design data is also stored in the processing unit of the position detection system and / or the sensor device. This allows the processing unit to determine the operating point of the tool with a flat drive, depending on the position of the flat drive's adjustment mechanism.

[0036] According to the invention, the computing unit of the position detection system can be configured to perform position detection in a manner known to those skilled in the art.

[0037] To adapt the housing of the device according to the invention to the flat drive and / or the tool, the housing can be manufactured using a 3D printing process, at least in the section adapted to the outer contour of the flat drive and / or tool. This allows for simple and flexible adaptation of the housing to the outer contour of the flat drive and / or tool. According to the invention, the entire housing can be manufactured using a 3D printing process. In another embodiment, the housing can also be modular, with a section adapted to the outer contour of the flat drive as one module and a universal housing part, for example, for accommodating the sensor device and / or the communication device, as another module. These and, if applicable, further modules can together form the housing of the device.

[0038] The position detection system is preferably, insofar as it is part of the device, a separate component not integrated into the housing of the device, in the sense of a separate system component.

[0039] The invention also relates to a use of the device described above, in particular according to one of claims 1 to 10, for determining the operating point of a tool designed as a screw tool or riveting tool with a flat drive with adjustment mechanism in a position detection system, wherein position identifiers of the position detection system are fixed on the tool.

[0040] They show: Fig. 1 schematically in a side view a tool with a flat drive, on which the device according to the invention for determining the working point of the tool with the flat drive with adjustment mechanism can be used; Fig. 2 schematically in a side view a device according to an embodiment of the invention, wherein the device is attached to the flat drive of the tool according to Fig. 1 is specified; and Fig. 3 schematically in a side view a device according to a further embodiment of the invention, wherein the device is attached to the flat drive of the tool according to Fig. 1 is set.

[0041] In Fig. Figure 1 shows an electrically driven screwdriver, designated as tool 100, with a tool drive point 101. When the screwdriver 100 is actuated by the operator, the tool 100, equipped with a screwdriver bit 102 as a tool attachment, acts on a workpiece at this point. A tool attachment 102 is often fixed to the tool drive point 101 and is moved rotationally and / or translationally by the tool 100 to perform a work task. In the case of a screwdriver 100, the tool attachment is typically a screwdriver bit 102, which is inserted into a rotary chuck 103 formed at the tool drive point 101 of the screwdriver 110. When the screwdriver 100 is actuated, the screwdriver bit 102 rotates in or with the chuck 103 of the screwdriver about a screw axis 104.

[0042] Because in Fig. Since a screwdriver is described as an example of tool 100, the tool will subsequently be referred to as screwdriver 100. The characteristics explained using the example of screwdriver 100 also apply generally to other tools.

[0043] In Fig. Figure 1 shows the screwdriver bit 102 at the tool drive point 101, indicated only by a dotted line. This is to show where the screwdriver bit 102 is positioned on a screwdriver 100 without a flat drive 110. If the screwdriver 100 is to screw a screw 151 into a workpiece 150, there must be sufficient clearance in front of the screwdriver 100 so that the screwdriver can be positioned along its longitudinal direction (in the direction of the screw axis 104) within this clearance. This is the case with the screwdriver 102. Fig. The example shown is not possible.

[0044] To still enable the use of the screwdriver 100, a flat drive 110 is defined at the tool drive point in the direction of the screw axis 104 and in conjunction with the chuck 103, which connects the working point 111 of the tool 100 with flat drive 110 via a shaft received in the flat drive 110 and in Fig. 1. The drive mechanism (not shown) is relocated to a point spatially different from the tool drive point 101. For the purposes of the invention, the tool drive point 101 also refers to the working point 105 of a tool attachment 102 (here, the screwdriver bit 102 shown with dotted lines) on a tool / screwdriver 100 without a flat drive 110.

[0045] The working point 111 of the screwdriver 100 with flat drive 110 is located at the end of the flat drive 110 opposite the tool drive point 101, at the tip of the screwdriver bit 102, which is driven by the flat drive 110 and fixed around the screw axis 112 of the flat drive 110. The screwdriver 100 can also be used with the flat drive 110 for screwing the in Fig. The screw 151 shown in Figure 1 is used in the workpiece 150.

[0046] The flat drive 110 comprises a (in this example) rotary adjustment mechanism 113 for adjusting the working point 111 of the screwdriver 100 with flat drive 110 relative to the tool drive point 101. The adjustment mechanism 113, which is only schematically represented in the drawing as an adjustment arrow, allows a second part 116 of the flat drive 110, in which the driven screw shaft 112 is mounted, to be rotated about an adjustment axis 114 relative to a first part 115 of the flat drive 110, which is fixed at the tool drive point 101 of the screwdriver 110. The adjustment mechanism 113 can be operated by a worker when using the screwdriver 100.

[0047] When the adjustment mechanism 113 is actuated, the position (position and / or orientation) of the working point 111 of the screwdriver 110 with flat drive 110 also changes accordingly relative to the screwdriver 100 and relative to a previous working point 111 in a different position of the adjustment mechanism 113.

[0048] As in Fig. As shown in Figure 2, the screwdriver 100 can be used together with a position detection system 130. For this purpose, a position identifier 131 with optical markings 132 in a specific, known geometric arrangement is attached to the screwdriver 100. The optical markings 132 are captured by a calibrated camera 133 of the position detection system 130. From the image of the optical markings 132, the position detection system 130 determines the position and orientation of the position identifier 131, and thus of the screwdriver 100, in space. From a calibration, e.g., a measurement in a calibration station, the position and orientation of the tool drive point 101, or the working point 105 of the tool without a flat drive, in space is also known, because it is fixed relative to the position identifier 131.The same applies to the operating point 111 of the tool 100 with flat drive 110 in space, if the position of the adjustment mechanism 113 is known (given a known design of the flat drive 110).

[0049] If a worker manually operates the adjustment mechanism 113 and rotates the second part 116 of the flat drive 110 around the adjustment axis 114 relative to the first part 115 of the flat drive 110, the position detection system 130 can no longer determine the position and orientation of the working point 111 based on the position and orientation of the position identifier 131 on the screwdriver 100.

[0050] To make this possible, a device 200 is provided. The device 200 has a housing 201 that is adapted to an outer contour of the flat drive 110 in a section 202, in which the flat drive 101 is non-adjustably mounted on the tool drive point 101, so that the housing 201 of the device 300 is defined and non-adjustably fixed relative to the tool drive point 101 on the flat drive 110.

[0051] The device 200 further comprises a sensor assembly 203 with a (in this embodiment) magnetic detector element 204 for determining the position of the adjustment mechanism 113, which is fixedly arranged in the housing 201. The sensor assembly 203 also comprises a magnet 205, which is fixed to the second part 116 of the flat drive 110, which is movable by the adjustment mechanism 113. When the adjustment mechanism 113 is moved, magnet 205 is also moved relative to the magnetic detector element 204, resulting in another magnetic field measurement that is indicative of the position of the adjustment mechanism 113 and is used as information for the position of the adjustment mechanism 113.

[0052] The device 200 further comprises a communication device 206, such as a radio transmitter, for transmitting information determined in the sensor device 203 to the position detection system 130. The transmission can be carried out as radio transmission 207.

[0053] The device 200 is additionally equipped with a tool recognition device 208, which can read an identification 209 of the tool 100 and / or the flat drive 110 in order to uniquely identify the tool 100 and / or the flat drive 110 in the position recognition system 130 in relation to the determined position of the adjustment mechanism 113. The identification 209 can, for example, be an RFID chip and the tool recognition device 208 an NFC reader. The identification 209 can be transmitted via radio transmission 207.

[0054] In Fig. 3 is one of the previously described devices 200 according to Fig.Figure 2 shows a fundamentally comparable device 300 with a housing 301 and a section 302 of the housing 301 adapted to the outer contour of the flat drive 110. The device 300 comprises a communication device 306 for radio transmission 307 and a tool recognition device 308 for reading an identification 309 of the tool 100. In this respect, the description of the previous embodiment of the device 200 applies accordingly.

[0055] The device 300 has a different sensor device 303 with an optical detector element 304, which is designed as a camera. Instead of the magnet 205, an optical marker 305 is mounted on the movable second part 116 of the flat drive 110 or the adjustment mechanism 113, the position of which is detected and evaluated by the camera 304, which is fixed in space in the housing 301 of the device 300, as information about the position of the adjustment mechanism 113. Reference symbol list: 100 tools trained as screwdrivers 101 Tool drive point 102 tool attachment designed as a screwdriver bit 103 Feed 104 tool axis designed as a show axis 105 Working point of the tool without flat drive 110 Flat drive 111 Working point of the tool with flat drive 112 flat drive tool axis designed as a show axis 113 Adjustment mechanism 114 Adjustment axis 115 first part of the flat drive 116 second part of the flat drive 130 Position Recognition System 131 Position identifier 132 markings in a geometric arrangement 133 Camera 150 workpieces 151 screw 200 Device 201 cases 202 Section of the housing mounted on the flat drive 203 Sensor device 204 magnetic detector element 205 Magnet 206 Communication device 207 Radio transmission 208 Tool recognition 209 Identification 300 device 301 Housing 302 Section of the housing mounted on the flat drive 303 Sensor device 304 optical detector element 305 optical markers 306 Communication device 307 Radio transmission 308 Tool and / or flat drive detection 309 Identification

Claims

[1] Device for determining an operating point (111) of a tool (100) with a flat drive (110), wherein the flat drive (110) is mounted on a tool drive point (101) of the tool (100) in order to relocate the working point (111) of the tool (110) via a drive mechanism to another point spatially different from the tool drive point (101), and wherein the flat drive (110) has a rotary and / or translational adjustment mechanism (113) for adjusting the working point (111) relative to the tool drive point (101), wherein the device (200, 300) comprises at least the following components: a housing (201, 301) adapted to an outer contour of the flat drive (110) and / or the tool (100) in a section (202, 302) in which the flat drive (110) is non-adjustably mounted on the tool drive point (101), so that the housing (201, 301) of the device (200, 300) can be defined and fixed relative to the tool drive point (101) on the flat drive (110) and / or the tool (100), a sensor device (203, 303) with at least one detector element (204, 304) for determining the position of the adjustment mechanism (113), and a communication device (206, 306) for transmitting information determined in the sensor device (203, 303) to a position detection system (130). [2] Device according to claim 1, characterized by, that the sensor device (203) has a magnetic detector element (204) and a magnet (205) is arranged on a part (116) of the flat drive (110) which is movable by the adjustment mechanism (113). [3] Device according to claim 1 or 2, characterized by , that the sensor device (303) has an optical detector element (304) and an optical marker (305) is arranged on a part (116) of the flat drive (110) which is movable by the adjustment mechanism (113). [4] Device according to any one of the preceding claims, characterized by , that the detector element (204, 304) is contained in the housing (201, 301). [5] Device according to any one of the preceding claims, characterized by , that the device (200, 300) has a tool and / or flat drive detection (208, 308). [6] Device according to any one of the preceding claims, characterized by , that the housing (201, 301) is provided with an independent power supply. [7] Device according to any one of the preceding claims, characterized by , that a release mechanism is provided on the housing (201, 301) of the device (200, 300) which unlocks the adjustment mechanism (113) of the flat drive (110) when the housing (201, 301) is fixed to the flat drive (110). [8] Device according to claim 7, characterized by , that the unlocking mechanism comprises a pin projecting from the housing (201, 301) of the device (200, 300) which is designed to engage in a release opening in the flat drive (110) and, by engaging in the release opening, to unlock a locking mechanism of the adjusting mechanism (113) of the flat drive (110). [9] Device according to any one of the preceding claims, characterized by, that the device (200, 300) has a position detection system (130) with a computing unit in which the operating point (111) of the tool (100) is determined from a position of the adjustment mechanism (113) detected by the detector element (204, 204) and transmitted to the position detection system (130). [10] Device according to any one of the preceding claims, characterized by , that the housing (201, 301) is manufactured using a 3D printing process, at least in the section (202, 302) adapted to the outer contour of the flat drive (110) and / or tool (100). [11] Use of a device according to one of claims 1 to 10 for determining the working point (111) of a tool (100) designed as a screw tool, riveting tool or drilling tool with a flat drive (110) with adjustment mechanism (113) in a position detection system (130), wherein at least one position identifier (131) of the position detection system (130) is fixed on the tool (100).

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