Automated shrink-fitting cell

Abstract

To provide an automated shrink-fitting cell.SOLUTION: The shrink-fitting apparatus comprises: a shrink-fitting unit configured for shrink-fitting and / or removal of a tool into and / or from a tool holder; a first multiaxial handling apparatus for transferring tool holders and tools in the shrink-fitting apparatus; and a second, automatically displaceable handling apparatus such that high accuracy can be ensured for loading the tool holder with tools by way of shrink-fitting in a region of an automated overall process for automated production of workpieces. The second, automatically displaceable handling apparatus has a uniaxial linear drive. The uniaxial linear drive can automatically displace the tool along the one axis (Z axis) relative to the tool holder during the shrink-fitting and / or removal operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The invention relates to a shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder, and to a method for the automatic shrink fitting and removal of a tool into and from a tool holder. The invention also relates to a transport box for the tool holder and / or the tool. [Background technology]

[0002] In US Pat. No. 5,399,433 such a shrink fitting device and such a method for the automatic shrink fitting and removal of a tool into and from a tool holder are disclosed.

[0003] It is known by practice to heat a tool holder, which holds the shaft of a tool, in particular a rotary tool such as a drill, milling cutter or grinding tool, in a central receiving opening of the tool holder by pressing it into said opening, to widen the opening in the region of said receiving opening so that the shaft of the tool can be inserted or removed (thermal shrink fitting and / or removal, or simply shrink fitting and / or removal for short).

[0004] For this purpose, so-called shrink fitting units are usually used with an induction heating device installed there for heating the tool holder, in which eddy currents are induced in the tool holder by means of an induction coil arrangement via a transformer.

[0005] In a heating phase lasting just a few seconds, the tool holder (located in the shrink-fitting unit) is heated up to several hundred degrees Celsius in the area of ​​the receiving opening (so that the area of ​​the receiving opening of the tool holder is widened so that the shaft of the tool can be inserted therein or the tool can be removed).

[0006] In order to make the cooling phase of the tool holder shorter (and possibly to increase operational safety during the shrink fitting operation), the tool holder is cooled by blowing a stream of air onto it or by a cooling sleeve through which a coolant flows.

[0007] As industrial processes become more automated, the shrink fitting process has also been largely automated in the last few years, not only the actual shrink fitting operation by the shrink fitting unit, as exemplified here, but also the processes upstream and downstream of the actual shrink fitting operation, such as the feeding and withdrawal of the tool holder and tool into and out of the shrink fitting unit, or the cooling (of the tool holder after the shrink fitting operation), balancing and / or presetting operations, which must be integrated for automated shrink fitting in the overall process of industrial automated manufacturing.

[0008] That is, such an automatic shrink fitting apparatus (often or usually also referred to simply as an automatic shrink fitting cell, or a shrink fitting apparatus for automatic shrink fitting and removal of tools into and from a tool holder) enables automatic loading of a tool into or changing of a tool in a tool holder with substantially no manual intervention during the entire process of automatic manufacturing of a workpiece.

[0009] To clarify once again, a shrink fitting apparatus (for automatic shrink fitting and removal of a tool into and from a tool holder) or (automatic) shrink fitting cell means a complex industrial installation, i.e. in fact comprising a shrink fitting unit for the (actual) shrink fitting and removal of a tool into and from the tool holder as an absolutely essential component, but also comprising a number of various other important components, such as handling units or industrial robots / arms and / or conveyor devices / belts, which result in processes upstream and downstream of the (actual) shrink fitting operation in the shrink fitting unit and thus realise a complex automated process (total) in the form of processes that must be integrated for automatic shrink fitting in the overall process of industrial automated manufacturing.

[0010] That is to say, it is not insufficient to limit a shrink fitting apparatus (for automatic shrink fitting and removal of a tool into and from a tool holder) or an (automatic) shrink fitting cell to one or the above shrink fitting units.

[0011] Such a shrink-fitting device, or automatic shrink-fitting cell, for the automatic shrink-fitting and removal of a tool into and from a tool holder is known from the already mentioned US Pat. No. 5,399,633.

[0012] A shrink fitting apparatus for automatic shrink fitting and / or removal of a tool into and / or from a tool holder comprises a shrink fitting unit for shrink fitting and / or removal of a tool into and / or from a tool holder and in this case a number of multi-axis handling devices (grippers / robot arms) for transporting the tool holder and the tool within the shrink fitting apparatus.

[0013] In so far as this shrink fitting apparatus from (JP 2003-133666 A) provides for automation of the actual shrink fitting operation in a shrink fitting unit of the apparatus, said document contemplates that the tool can be inserted or removed automatically from the thermally widened receiving opening of the tool holder manually (or by a handling device, which is not described in more detail; only a multi-axis robot arm is mentioned in this regard).

[0014] A disadvantage of such automated shrink fitting apparatus and cells is that inserting the tool into the tool holder during the shrink fitting operation, either manually or using the aforementioned handling unit or multi-axis robotic arm, can adversely affect accuracy during the shrink fitting operation. [Prior art documents] [Patent documents]

[0015] [Patent Document 1] German Patent Application Publication No. 10 2016 208 505 A1 [Patent Document 2] German Patent Application Publication No. 10 2022 114 046.6 Summary of the Invention [Problem to be solved by the invention]

[0016] The object of the present invention is to improve the automatic shrink fitting devices or cells known from the prior art, allowing automatic shrink fitting and removal with high precision, together with high operational safety and high efficiency and effectiveness. [Means for solving the problem]

[0017] This object is achieved by a shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder, a method for the automatic shrink fitting and removal of a tool into and from a tool holder and also a transport box for the tool holder and / or the tool, which comprise the features of the respective independent claims.

[0018] Advantageous developments of the invention are the subject of the dependent claims and the following description, which refer both to units and to methods.

[0019] Any terms used, such as top, bottom, front, back, left, or right, shall be understood according to ordinary understanding with respect to the drawings herein unless expressly defined otherwise. Terms such as radial and axial, where they are used, and where not expressly defined otherwise, shall be understood with respect to the drawings herein relative to the center or axis of symmetry of the components described herein.

[0020] The term "substantially," as used, can be understood (as understood by the Supreme Court) to mean "to a practically significant degree." Thus, possible deviations from precision implied by this term can occur unintentionally (i.e., without functional basis), due to manufacturing or assembly tolerances, etc.

[0021] A shrink fitting apparatus, in particular for automatic shrink fitting and removal of a tool, such as a rotary / rotary tool like a milling cutter or a drill, into and from a tool holder, such as a shrink fitting receptacle, comprises a shrink fitting unit (sometimes referred to interchangeably as a tool receptacle in the following text) for shrink fitting and / or removal of the tool into and / or from the tool holder, and a first multi-axis handling device for transporting the tool holder and the tool within the shrink fitting apparatus.

[0022] The shrink fitting apparatus comprises a second automatically displaceable handling device which comprises a single-axis linear drive by means of which the tool can be automatically displaced along said one (defined) axis (the Z-axis) relative to the tool holder during the shrink fitting and / or removal operations.

[0023] The method for automatic shrink fitting and removal of a tool into and from a tool holder, in particular using a shrink fitting device for automatic shrink fitting and removal of a tool into and from a tool holder, provides that one or said single-axis linear drives of one or said second automatically displaceable handling devices are used to automatically displace the tool along said one axis (Z-axis) relative to the tool holder during the shrink fitting and / or removal operation.

[0024] Although only shrink fitting apparatus is discussed in the following text, the invention is equally applicable to other cells equipped with methods of clamping tools other than shrink fitting, such as collet receptacles, hydraulic expansion chucks, Weldon receptacles, or face mill arbors.

[0025] In that case, instead of the shrink-fitting unit, this concerns corresponding other units / apparatuses (or, if appropriate, other unit / apparatus(es) with in particular a different clamping method), which use another clamping method for the tool, but in particular can also be equipped with a second automatically displaceable handling device according to the invention having a single-axis linear drive (by means of which the tool can in this case also be automatically displaced along this one (defined) axis (the Z-axis) relative to the tool holder when it is inserted into the tool holder and / or when it is removed from the tool holder). One or more other units / apparatuses using another clamping method can also be implemented in the cell together with or without a shrink-fitting unit.

[0026] In particular, the other device parts involved in the actual operation of clamping or unclamping the tool can also be adapted accordingly. In particular, further handling units which can be configured similarly to the first unit and which interact with other clamping methods are suitable here.

[0027] Thus, if appropriate, in the case of a collet receptacle, a hydraulic expansion chuck, a Weldon receptacle or other units for face mill arbors, it is possible to screw or attach there automatically, by a corresponding handling unit, components such as union nuts in the case of a collet, or tighten screws, such as pressure screws in the case of a hydraulic expansion chuck or clamp screws in the case of a Weldon receptacle. The corresponding screwing device may for example be fixedly attached to the device and the chuck may be guided to the screwing device, in particular using the first handling device. Conversely, it is also possible to move the screwing device to the chuck, in particular by the first handling device. In the latter case, the screwing device may be fixedly attached to the handling device or be gripped by the handling device.

[0028] Expressed clearly and concisely, the invention in the context of the entire automated process in a shrink fitting cell, during the automatic insertion / extraction of the tool into / from the heated tool holder, i.e. during the actual shrink fitting operation, in particular uses, instead of one or the first multi-axis handling device, one or the second automatically displaceable handling device having a single-axis linear drive, which displaces the tool along this one (defined) axis (the Z-axis) during the shrink fitting operation.

[0029] The invention is based on the finding that according to the prior art, where the tool is displaced manually or by a conventional multi-axis industrial robot during the shrink-fitting operation, the precision is usually reduced and manual manipulation does not allow high or required precision to be achieved and / or in the case of a multi-axis industrial robot the axis errors add up to a larger overall error and therefore the required precision may not be achieved either. In particular, when the tool is introduced into the heated tool holder, small deviations between the axis of the tool and the axis of the receiving bore of the tool holder can already cause problems.

[0030] The present invention addresses this by a second automatically displaceable handling device provided in the case of a shrink fitting apparatus and / or shrink fitting cell and method, which by means of its single-axis linear drive can automatically displace the tool along this one axis (the Z-axis) relative to the tool holder during the shrink fitting and / or removal operations.

[0031] In the case of linear displacement, as in the case of the present invention, virtually no axis error occurs.

[0032] This allows for highly accurate positioning of the tool in the tool holder (during the shrink fitting operation) in a way that is superior to the prior art in terms of accuracy. The shrink fitting becomes much more accurate, allowing for a much higher degree of automation and without having to consider losses in automation.

[0033] According to a preferred embodiment which further increases the accuracy of the shrink fitting device, it is provided that the second, automatically displaceable handling device is equipped with a gripper head which is rotatable around one axis (the Z axis) and in particular has an angle measuring device which can be used to measure the rotational position of the gripper head.

[0034] It is also contemplated that the gripper head comprises a plurality of gripper devices for gripping the tools, in particular the plurality of gripper devices being arranged around an axis (Z axis) and in particular evenly distributed at predefinable intervals. The gripper devices may be exchangeable, in particular also automatically exchangeable.

[0035] It has proven advantageous for a multiple gripper device to be adapted to tools of predefinable diameters.

[0036] It is also advantageous if the gripper head comprises a force measuring device, which can be used to measure the tensile and / or shear forces exerted by the gripper arrangement on the tool. In this case, the force measuring device, e.g. a load cell, can be installed in the gripper head or in the gripper arrangement.

[0037] According to a preferred embodiment, it is envisaged that the or each of the gripper devices has two gripper jaws, the gripper jaws being particularly designed such that they can be moved relative to one another during the gripping operation, in particular displaced electrically, and that the gripping operation can be measured and / or monitored, in particular with regard to the gripping force.

[0038] It may also be provided that preferably one or each of the gripper jaws is provided with a stopper lug.

[0039] Such gripper jaws may also be arranged in a replaceable and / or positionally precisely clampable manner within the gripping device.

[0040] In the case of a shrink fitting device, it is also possible to provide a conveyor device for the transport of the tool holders and tools to (or from) the shrink fitting unit, for example a carriage, especially in the form of an autonomous or unmanned transport system (ATS), a pallet or a conveyor belt, especially of a circular type, especially segmented, etc. It is also possible to provide or integrate several conveyor belts with handover units for the chaining of the process sequence and the tool feed.

[0041] It may further be envisaged that the shrink-fitting unit comprises at least one, in particular a plurality of holding devices, in particular spindles, which are in particular arranged alongside one another and may be used to hold the tool holder in a clamping manner during the shrink-fitting operation. Alternatively, the holding device may be arranged in axial or radial alignment on a pivoting device or turret which is pivotable about a horizontal or vertical axis.

[0042] The shrink fitting unit may also comprise at least one induction coil arrangement, in particular a plurality of induction coil arrangements, which are in particular arranged alongside one another and / or adapted and / or adaptable to the tool holder and may be used to heat the tool holder.

[0043] Such an induction coil arrangement may be equipped with means for cooling, especially in the form of impact pre-cooling, which in particular allows optimizing the process time and achieving faster clamping of the tool holder.

[0044] Such an induction coil arrangement may also comprise a concentrator, or a stopper disk or ferrite disk, which may in particular be slotted with a gap or a clearance, in particular when a stop element, such as a stopper lug in the case of a gripper device, is located on the end face of the tool holder.

[0045] Preferably, at least one spindle of the shrink fitting unit is displaceable in the horizontal and / or vertical direction and in particular has a lifting movement monitoring device, which can be used to monitor and / or measure the vertical displacement movement during vertical displacement of the spindle.

[0046] It is also advantageous if the shrink-fit unit is equipped with a collision monitoring device, which can be used to detect a collision between the tool holder and the induction coil arrangement of the shrink-fit unit.

[0047] It is also possible to provide a reading device, which is arranged on the holder device for the tool holder, in particular on the spindle, or in particular on the first multi-axis handling device and / or is designed such that it can read a marker, in particular the tool holder code, applied to the tool holder when the tool holder is clamped to one of the spindles of the shrink fitting unit, in particular during rotation of the spindle.

[0048] It may also be suitable to provide a centering station for clamping and aligning the tool. For example, such a centering station may comprise clamping jaws which center the tool when clamped. In this case, it may be suitable to have a number of such clamping jaws, for example three or four clamping jaws, arranged symmetrically with respect to one another, which are capable of clamping and holding the tool in a clamped manner in a centered condition.

[0049] According to a preferred development, an alignment control device is also provided, which is arranged in particular in the area of ​​the centering station and can be used to determine and / or monitor the alignment of the tool, in particular removed from the centering station by the second automatically displaceable handling device. Such an alignment control device can be, for example, a laser-based measuring system.

[0050] Furthermore, measuring devices, in particular lasers, are also suitable for measuring workpieces.

[0051] It is furthermore advantageous if the first multi-axis handling device is a multi-axis articulated arm robot.

[0052] It is also preferred if the first multi-axis handling device or the multi-axis articulated arm robot is equipped with a double gripper for gripping the tool (first gripper on the one hand) and for gripping the tool holder (second gripper on the other hand).

[0053] It is also preferred to provide a cooling station for cooling the tool holder, especially if it has been heated by the shrink fitting operation.

[0054] Such a cooling station may comprise a number of holding devices, in particular spindles, which may be arranged in particular alongside one another and used to hold the tool holder during the cooling operation. Alternatively, the holding devices may be arranged in axial or radial alignment on a pivot or turret which is pivotable about a horizontal or vertical axis.

[0055] It is also preferred that the cooling station include a cooling attachment that can be attached to a tool holder held on the spindle.

[0056] The cooling attachment is preferably configured to generate a vortex cooling (cyclonic cooling) effect, such as described in the published specification of US Pat. No. 6,399,323, which is incorporated herein by reference.

[0057] In the case of a shrink fitting machine, it is also preferred to provide a switching cabinet and / or a balancing device and / or a presetting device and / or a cleaning device and / or a control computer, in which in particular a control program for the controller of the shrink fitting machine is stored, which may also comprise a monitor, an input unit (e.g. a keyboard) and a printer.

[0058] It may also be advantageous, in particular in the case of a shrink fitting apparatus, to provide a cleaning station, in particular ultrasonic cleaning means, for cleaning, particularly preferably cleaning and drying, the tool prior to the shrink fitting operation, and / or an induction coil arrangement with replaceable stopper disks.

[0059] The interchangeable stopper disks can be automatically exchanged and therefore a wide variety of (eg "very short") tool receptacles can all be shrink-fitted.

[0060] Instead of or in addition to the ultrasonic cleaning means, it is also possible to supply the nozzles with a cleaning fluid such as water, air or oil. Alternatively, the cleaning station may be provided with a brush, a wiper body, an adhesive pad or the like.

[0061] The controller may also communicate with or incorporate or be incorporated into other process systems or process programs, such as tool management programs. The controller may itself be a component, or may be incorporated into a higher level process environment or higher level process controller, for example, particularly with respect to industrial production or manufacturing of workpieces. Thus, the shrink fit cell may be an integrated component (functionally, e.g., physically) of a complex industrial process environment (overall).

[0062] In the case of a shrink fitting device it is also possible to provide a safety screen, for example in the form of a safety fence, which can in particular be used to shield a large area of ​​the shrink fitting device from the area surrounding the shrink fitting device.

[0063] Such a safety screen or such a safety fence may also comprise an aperture, for example a door, thereby allowing access to a particular area of ​​the shrink fitting apparatus. The door may in particular be automatically lockable and / or unlockable.

[0064] It is also preferred in the case of the shrink fitting device and / or in the case of the method that at least one, in particular several or all of the following method steps are carried out in the particular order mentioned: (a) loading a transport box arranged on a conveyor device with a tool and / or a tool holder (to be shrink fitted) and / or a tool holder including a tool (to be removed) or placing a transport box loaded with a tool and a tool holder (to be shrink fitted) or a tool holder including a tool (to be removed) on the conveyor device, (b) transporting a transport box loaded with the tool and the tool holder (to be shrink fitted) or with the tool holder including the tool (to be removed) by a conveyor device to a shrink fitting unit, in particular in the vicinity of a (clamping) spindle of the shrink fitting unit; (c) transferring the tool holder from the transport box to a spindle of the shrink fitting unit, using a first multi-axis handling device, in particular for transferring tool holders and tools; (d) clamping the tool holder to a spindle of a shrink-fit unit; (e) rotating the tool holder clamped on the spindle of the shrink-fitting unit, in particular around one axis (the Z axis), in particular through 360°, and reading a marker applied to the tool holder, in particular a tool holder code applied to the tool holder, (f) providing tool holder and / or tool and / or shrink fit data or parameters, in particular using markers applied to the tool holder and readable, in particular a tool holder code applied to the tool holder and readable, (g) transferring the tool (to be shrink fitted) from the transport box to a centering station, in particular using a first multi-axis handling device for transferring tool holders and tools; (h) clamping and / or aligning the tool (to be shrink fitted) in a centering station; (i) gripping the tool (to be shrink-fitted) clamped in the centering station by a second automatically displaceable handling device, in particular so that the tool (to be shrink-fitted) has a predefinable position in the tool holder after the shrink-fitting operation into the tool holder, (j) measuring the tool (to be shrink fitted) gripped by the second automatically displaceable handling device, in particular using a measurement laser, and / or measuring in particular the alignment of the tool (to be shrink fitted), in particular with respect to one axis (the Z axis), and / or measuring the length of the tool (to be shrink fitted), (k) displacing the tool holder clamped to the spindle of the shrink-fitting unit, in particular displacing the tool holder in extension of one axis (the Z-axis) below the induction coil arrangement of the shrink-fitting unit; (l) checking the lifting movement of a tool holder clamped to the spindle of the shrink-fitting unit, in particular along one axis (the Z axis), in particular using the geometry of the tool holder; (m) lifting the tool holder clamped on the spindle of the shrink-fitting unit, in particular along one axis (the Z axis), in particular until the tool holder abuts against the induction coil arrangement, in particular until it abuts against a stop disk of the induction coil arrangement; (n) monitoring the lifting operation of the tool holder clamped on the spindle of the shrink-fitting unit with respect to the lifting movement and / or collisions with the induction coil arrangement, in particular with a stop disk of the induction coil arrangement; (Remove the "old / used" tool from the tool holder and shrink fit the new tool into the tool holder) (o) heating the tool holder using an induction coil arrangement of the shrink fit unit; (p) gripping the tool (to be removed) arranged in the tool holder by a second automatically displaceable handling device and displacing the tool (to be removed) gripped by the second automatically displaceable handling device from the tool holder along one axis (the Z axis) while monitoring the displacement of the gripped tool, in particular with regard to the tensile force exerted on the tool (to be removed), (q) pivoting a gripper head of a second automatically displaceable handling device; (r) displacing (inserting) the tool (to be shrink fitted) gripped by the second automatically displaceable handling device along one axis (Z axis) relative to the tool holder into a predefinable shrink fitting position relative to the tool holder, in particular displacing the tool (to be shrink fitted) gripped by the second automatically displaceable handling device along one axis (Z axis) relative to the tool holder until the gripper lugs of the gripper head of the second automatically displaceable handling device are located on the upper end face of the tool holder or on a stopper disk of the induction coil arrangement, in particular whilst monitoring the displacement of the gripped tool with respect to the shear force exerted on the tool (to be shrink fitted) (if located on the end face of the tool holder the stopper disk may in particular be slotted with a clearance or gap), (s) temporarily holding the tool (to be shrink-fitted in the tool holder) by means of a second automatically displaceable handling device, in particular at least until the tool (to be shrink-fitted) is clamped by cooling of the tool holder, and then releasing the tool, (t) lowering the tool holder clamped to the spindle of the shrink fitting unit (and clamping the newly shrink fitted tool) in particular along one axis (the Z axis); (u) transferring the tool holder clamped to the spindle of the shrink fitting unit (and clamping the freshly shrink fitted tool) to a cooling station using a first multi-axis handling device; (v) cooling the tool holder (which clamps the freshly shrink-fitted tool), in particular using the eddy current (cyclonic) cooling effect; (w) transferring the tool holder (clamping the freshly shrink fitted tool) to a balancing and / or presetting device using a first multi-axis handling device; (x) measuring the tool holder (which clamps the freshly shrink-fitted tool), in particular in a presetting device, or a cooling station, or a balancing device, (y) displacing the (already removed) tool by means of a second automatically displaceable handling device, in particular to a transport box and / or to a centering station, (z) Transferring the (cooled) tool holder to a transport box.

[0065] It may also be expedient if the tool (to be shrink fitted) is centred and / or aligned by rotating the tool holder with the tool (to be shrink fitted) inserted in the tool holder, which may for example be provided as an alternative or even in addition to the above mentioned centreing station.

[0066] In the course of / together with the corresponding clamping or mounting method (and thus also, for example, devices for mounting a Weldon chuck or a hydraulic expansion chuck, a pressure station for mounting a chuck by pressing a tool into the chuck, or in the case of a collet, a screw tightening device for mounting the collet), a further important aspect of the present invention (which may also be the subject of a divisional application and which is also independent of the shrink fitting apparatus, i.e. independent of the specific clamping technique) is the monitoring and / or inspection of the tool in the shrink fitting apparatus and / or the monitoring and / or inspection of the tool holder.

[0067] In this regard, by definition a shrink fitting device can also be understood to be (generally) a mounting station.

[0068] The monitoring and / or inspection of the tools and / or tool holders may also in particular include measuring and / or verifying the respective components. In this regard, the components to be processed such as the tools and / or tool holders (in the shrink fitting device or in the system and / or process) are identified, for example by means of the aforementioned reading device and a code recognition thereon, so that data, values ​​etc. relating to the components to be processed are known but may be important (see also the aforementioned reading device and steps e) and f)).

[0069] Advantageously, monitoring and / or inspection of the tool and / or monitoring and / or inspection of the tool holder can take place, in particular in the following cases: (1) on the tool holder (with or without the tool) prior to the shrink fitting and / or removal operation, and / or (2) (then) with the tool to be shrink fitted, and / or (3) During shrink-fitting and / or removal of the tool into and / or from the tool holder, in which case corrections, in particular positional corrections, can be made (in / during / simultaneously with the (shrink-fit) process) based in particular on information, in particular geometrical information and / or data and values, obtained from monitoring / measuring / verification.

[0070] For this purpose, i.e. during monitoring and / or inspection of the tool and / or during monitoring and / or inspection of the tool holder (with or without a tool), it is optionally possible to provide a further measuring device, which is then used in particular or specifically for measuring the tool and / or the tool holder (with or without a tool).

[0071] During monitoring and / or inspection of the tool and / or during monitoring and / or inspection of the tool holder (with or without a tool), it is optionally possible to provide a further holding device, which may be used in particular or specifically to hold, in particular to hold in a clamping manner, the tool holder and / or the tool, in particular while a further measuring device is used to perform the inspection.

[0072] Instead of the aforementioned measuring device (e.g. laser) (or other measuring device, which may also be used in the shrink fitting device), further measuring devices can also be used in the shrink fitting device. The same applies to the further holding device with respect to the aforementioned holding device / spindle.

[0073] For example, it is possible to use further measuring devices and / or further holding devices and to replace the above-mentioned centering stations therewith.

[0074] In particular, in order to be able to provide an efficient and / or highly accurate measurement system, it appears to be preferred that the further measurement device is a transmitted or incident light measurement system or operates on the transmitted or incident light principle. It may also be possible to use a laser measurement system.

[0075] Here, it is possible in particular to achieve precision measurements measured in μm, in particular within the h6 tolerance or even more accurately.

[0076] It also seems advantageous if the further measuring device can be displaced in at least one spatial direction, in particular in two spatial directions, in particular substantially along one axis (Z axis) and / or substantially transversely to one axis (Z axis), in order to reach all measuring positions (in the case of the tool and / or the tool holder (synonymously also the tool receptacle)) and / or to be able to "scan" the entire tool and / or the entire tool and / or the entire tool (consisting of the tool and the tool holder). Correspondingly, a further holding device can also be provided, i.e. it is preferred here that the further holding device can be displaced horizontally, in particular substantially transversely to one axis (Z axis), and / or vertically, in particular substantially along one axis (Z axis). In particular, it is advantageous if the further holding device is designed in such a way that the clamping part of the tool shaft is still accessible / visible for the measurement as well.

[0077] It is also particularly advantageous if the further holding device is rotatable and / or in particular comprises a rotatable jaw chuck and / or a turntable, which is rotatable and / or movable in other spatial directions, so that the held part can be measured in particular over the entire circumference (360°), i.e. from all sides. As a result, it is also possible to measure, in particular, the roundness or cylindricity of the component (in particular during monitoring and / or inspection of the tool holder (with or without the tool) and / or during monitoring and / or inspection of the tool). In this way, other "special features" in the geometry of the component, such as the Weldon surface of the tool shaft, can also be detected particularly well. In this way, the gripping and / or holding area (on the tool shaft) can also be identified or confirmed well. For this purpose, it is also advantageous to determine the actual length of the cutting edge area, since the cylindrical shaft area available for gripping the tool is shorter, for example after resharpening the tool.

[0078] However, it is equally possible for the further measuring unit to be rotated around the component to be inspected or the tool and / or the tool holder / receptacle.

[0079] It is particularly preferred if during monitoring and / or inspection of the tool receptacle (with or without a tool) and / or during monitoring and / or inspection of the tool, the further measuring device is displaced and moved substantially along one axis (the Z-axis). This makes it possible to monitor and / or inspect and / or measure the component over its entire length, in particular also at its highest point. Other "specific" points (contour points), such as edges or protrusions, can also be monitored and / or inspected and / or measured in this way.

[0080] It is also suitable to use further measuring devices, in particular during monitoring and / or inspection of the tool receptacle (with or without the tool) and / or during monitoring and / or inspection of the tool, to measure in particular the overall length of the tool receptacle including the tool (especially verified as "OK" or "within tolerance"), the tool length, the tool diameter, the shaft length, the protruding length, the cutting edge length, the cutting slot length, the cutting edge diameter, the tool shaft diameter, the roundness or cylindricity in particular of the gripping area and / or the tool shaft (especially within the h6 shaft tolerance range), the neck-tip space, the tolerances of the components, possibly the condition of a multi-part tool (any desired tool), e.g. the presence and / or proper fit of a reversible plate or the like, the highest point and / or the length A dimension of the tool (especially verified as "OK"). Collision testing (e.g. with a gripper or a shrink-fit coil) can also be performed. Now, if such information can be measured or ascertained, it is also possible to ascertain further data / values / information about the tool and / or tool holder, such as the length, how far the tool is inserted in the tool holder and whether this length is sufficient for the operation of the tool, predictions regarding the state of the tool, in particular predictions of the tool's life, etc. In this way, it is also conceivable that polygonal tools or tool shafts, or tools with tool shafts of any shape, can be precisely oriented, fixed and / or attached in a precise position and shrink fitted.

[0081] All this can then be used to verify the tool and / or tool holder (with or without the tool).

[0082] Furthermore, particularly during monitoring and / or inspection of a tool receptacle containing a tool (or not containing a tool) and / or during monitoring and / or inspection of the tool, it may also be preferred to inspect the gripping area (in the case of a gripper), the cutting edge area, and / or the tool shaft, particularly with regard to geometrical "special features" on the tool shaft.

[0083] Furthermore, it may be preferred to comprehensively measure, inspect and / or verify the tool, particularly during monitoring and / or inspection of a tool receptacle containing (or not containing) a tool, and / or during monitoring and / or inspection of the tool (of course, the same applies to the tool holder, as mentioned above).

[0084] Furthermore, it may be preferred to monitor and / or check during / during the shrink fitting operation and / or during / during the removal operation, in particular to monitor or check whether the tool can be removed from the tool holder during the removal operation.

[0085] It also appears to be particularly advantageous here if, simultaneously with or during the monitoring and / or inspection, corrections are made during the shrink fitting and / or removal or installation operations using information obtained from the monitoring and / or inspection.

[0086] It is thus possible to modify the length of the workpiece, for example, during a shrink fitting operation.

[0087] Specifically, we would like to point out again the following points: - Monitoring and / or inspection of the tool and / or tool holder (with or without tool) is carried out, in particular using a further measuring system and / or a further holding device. - the tool receptacle (with or without a tool) may be monitored and / or inspected, in particular the further measuring system is displaced substantially along one axis (the Z axis), and / or in particular the overall length of the tool receptacle including the tool (in particular in the form "OK" or "within tolerance"), the cutting edge diameter, the tool shaft diameter (in particular within the h6 shaft tolerance) and / or the length A dimension (in particular in the form "OK") are monitored and / or inspected, and / or a collision test is performed. The tool can be monitored and / or inspected, in particular while being held and / or rotated by a further holding device. - the tool may be monitored and / or inspected, in particular further measuring systems inspect at least the top of the tool, the gripping area of ​​the tool, the tool length and / or the tool diameter or tool shaft diameter (in particular within the h6 shaft tolerance) and / or the tool is comprehensively inspected and verified and / or a collision test is carried out The tool receptacle may be monitored and / or inspected during the shrink fitting operation and / or during the removal operation, in particular whether the tool can be removed from the tool holder during the removal operation. - simultaneous with or during the monitoring and / or inspection, in particular using information gained from the monitoring and / or inspection, corrections can be made during the shrink fitting and / or removal operations; and / or - The length of the workpiece may be modified during the shrink fitting operation.

[0088] Regardless of the fact that this shrink fitting apparatus is provided with respect to the clamping technique of the shrink fitting operation, it can also be provided as an apparatus for other types of tool receptacles / chucks or clamping techniques, such as hydraulic expansion chucks, Weldon chucks, collets, face mill arbors, and / or press-fit tools, etc. What is relevant here is a corresponding different mounting apparatus, e.g. for a hydraulic expansion chuck or collet, instead of a shrink fitting unit (see above).

[0089] In particular, during monitoring and / or inspection of a tool receptacle containing a tool (or not containing a tool) and / or during monitoring and / or inspection of a tool, e.g. during scanning in this case, the corresponding different tool receptacles themselves can be identified.

[0090] By means of monitoring and / or inspection of the tool and / or monitoring and / or inspection of the tool holder, in this case process reliability and procedural safety can be maximized with respect to the shrink fitting apparatus and method.

[0091] Furthermore, this allows for increased precision in particular of the mounting of the tool or of the mounted tool as a whole.

[0092] The efficiency and also the effectiveness of the shrink fitting apparatus and method are improved.

[0093] Furthermore, it may be expedient to provide a second further measuring device and / or a second further holding apparatus, in particular with all the features and embodiments described above, which, if appropriate, can replace an existing corresponding station and / or can also be integrated into an existing station.

[0094] For example, such a second further measuring device can be provided for a particularly complete inspection of the entire finished, mounted tool (final measurement, measurement of all tool / tool ​​holder data).

[0095] Such a second further (comprehensive) measuring device therefore realises the complete functionality of a presetting unit in a shrink fitting apparatus.

[0096] Another further independent aspect of the invention, which may also be the subject of a divisional application, is a transport and / or transport box for tool holders and / or tools, which can be used or utilized for transporting tools and / or tool holders therein, in particular in the case of the above-mentioned shrink fitting device for the automatic shrink fitting and removal of tools into and from a tool holder, as well as in the case of the above-mentioned method for the automatic shrink fitting and removal of tools into and from a tool holder.

[0097] The transport box for the tool holder and / or tools comprises a body having an upper surface and a plurality of receiving openings for the tool holder or tools, the receiving openings being arranged on the upper surface and extending into the body.

[0098] Each receiving opening for a tool holder and / or a tool arranged in the body has an identical receiving opening arranged in a mirror image in the body.

[0099] Expressed clearly and concisely, all receiving openings (for tools and tool holders) are two, one in their "original" shape, the other in each case arranged in mirror image therewith and containing or being their identical mirror image.

[0100] In this case, mirror image can be understood to mean that each of the two associated receiving openings (for a particular tool holder and / or a particular tool) are arranged symmetrically or mirror-imaged to one another with respect to an axis of symmetry / mirror axis.

[0101] This can be achieved very simply, for example, if the receiving openings are arranged axially symmetrically with respect to one another.

[0102] Advantageously, the receiving opening for the tool is adapted to the tool diameter and / or the tool length, which allows a better and safer reception of the tool received in the transport box, which allows easier handling of the tool in and out of the transport box.

[0103] Furthermore, it can be provided that two associated receiving openings for the tool holder, i.e. one ("first") receiving opening for the tool holder and its ("second") identical or mirror image receiving opening, are arranged one on top of the other, which provides space savings while ensuring structural stability / receiving reliability.

[0104] It is also advantageous for process and automation reasons if the receiving opening for the tool on the one hand and the receiving opening for the tool holder on the other hand are arranged in a block within the body and / or are offset from one another.

[0105] Furthermore, it may be provided that the receiving opening for the tool and the receiving opening for the tool holder on the one hand and those same receiving openings arranged in mirror image on the other hand have markers that distinguish them.

[0106] The markers can take any desired form, for example with respect to color and / or representation. Thus, for example, if one receiving opening is used here for placing a "new" part, or tool or tool holder before a shrink fitting operation, and a mirror receiving opening is used there for placing a used part, or tool or tool holder after a shrink fitting operation, a "good / bad" character (specifically referred to as a "good side" and a "bad side") or green / red (with respect to color) may be suitable.

[0107] This makes handling of the transport box much easier and more efficient.

[0108] Finally, it may be stated that the present invention is distinguished in all its aspects, especially in terms of simplicity, efficiency and effectiveness.

[0109] The preceding description of advantageous designs of the invention includes a number of features which are expressed in the individual dependent claims, in some cases together, but which can preferably also be considered individually or combined in suitable further combinations.

[0110] Although certain terms may be used in the specification and / or claims in the singular or with a numeral in each instance, the scope of the invention is not intended to be limited to the singular or respective numerals of these terms. Furthermore, the words "a" and "an" should be understood as indefinite articles and not as numerals.

[0111] The above-mentioned characteristics, features, and advantages of the present invention, as well as the manner in which they are realized, will become more apparent and be more clearly understood in conjunction with the following description of exemplary embodiments of the invention, which are described in more detail in conjunction with the drawings / figures, in which like components and features are provided with like reference numerals.

[0112] The exemplary embodiments are used to explain the invention and not to limit the invention to the combination of features, including those related to the functional features specified therein. Moreover, for this purpose, the appropriate features of each exemplary embodiment may be explicitly considered alone, may be taken from one exemplary embodiment and introduced into another exemplary embodiment to complement it, and may be combined with any one of the claims. [Brief description of the drawings]

[0113] [Figure 1] FIG. 1 is a first diagram of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment. [Diagram 2] FIG. 2 is a second view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment. [Diagram 3] FIG. 3 is a third diagram of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment. [Figure 4] FIG. 4 is a fourth diagram of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment. [Diagram 5] FIG. 5 is a fifth diagram of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment. [Figure 6] FIG. 1 is a first view of a carrier box for transporting a tool holder and a tool according to an embodiment. [Figure 7] FIG. 2 is a second view of a carrier box for transporting a tool holder and a tool according to an embodiment. [Figure 8] FIG. 13 is a third view of a carrier box for transporting a tool holder and a tool according to an embodiment. [Figure 9] FIG. 4 is a fourth view of a carrier box for transporting tool holders and tools according to an embodiment. [Figure 10]FIG. 1 is a detailed view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder while the tool holder (with or without a tool) is being inspected according to one embodiment. [Figure 11] FIG. 1 is a detailed view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder while the tool holder (with or without a tool) is being inspected according to one embodiment. [Figure 12] FIG. 1 is a detailed view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment while the tool (to be shrink fitted) is being inspected. [Figure 13] FIG. 1 is a detailed view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment while the tool (to be shrink fitted) is being inspected. [Figure 14] FIG. 1 is a detailed view of a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder according to one embodiment while inspection is performed during the shrink fitting and / or removal operation. [Figure 15] FIG. 1 is a (perspective) view of an induction coil arrangement with replaceable stopper disks in a shrink fitting device for automatic shrink fitting and removal according to one embodiment. [Figure 16] FIG. 13 is a (top) view of an induction coil arrangement with replaceable stopper disks in a shrink fitting apparatus for automatic shrink fitting and removal according to one embodiment. [Figure 17] FIG. 13 is a (front) view of an induction coil arrangement with replaceable stopper disks in a shrink fitting apparatus for automatic shrink fitting and removal according to one embodiment. [Figure 18] FIG. 13 is a (rear) view of an induction coil arrangement with replaceable stopper disks in a shrink fitting apparatus for automatic shrink fitting and removal according to one embodiment. [Figure 19]FIG. 13 is a (cross-sectional) view of an induction coil arrangement with replaceable stopper disks in a shrink fitting device for automatic shrink fitting and removal according to one embodiment. [Figure 20] FIG. 1 illustrates a shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder, with ultrasonic cleaning facilities (for the tool and / or tool holder), according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0114] - an automatic shrink-fitting cell 2 or a shrink-fitting device 2 for automatic shrink-fitting and removal of tools into and from a tool holder (FIGS. 1 to 5 and 10 to 14) Figures 1 to 5 show in various views and details a shrink fitting apparatus 2 (in short called automatic shrink fitting cell 2 or simply shrink fitting cell 2) for the automatic shrink fitting and removal of a tool 4 into and from a tool holder 6. Figures 10 to 14 show (detailed views of) an inspection performed on the tool 4 and / or the tool holder 6 in the shrink fitting apparatus 2.

[0115] (A) Equipment / Shrink-fit cell 2 As shown in Figures 1 to 5, the compactly structured shrink fitting cell 2 comprises as essential components a conveyor belt 34, a multi-axis industrial robot / gripper arm 10, a centering station 54, an (induction) shrink fitting unit 8, a cooling station 64, as well as a switching cabinet 70 and a control computer 76, and also a safety screen 80, which are arranged in a compact structure in the illustrated form (in Figures 1 to 5) and functionally interact in the overall integrated process of loading a tool 4 into a tool holder 6 (in the course of automated industrial manufacturing).

[0116] Conveyor device 34 In terms of functionality, the conveyor device 34 is an "establishing component or element" of the installation or shrink fitting cell 2 and is in the form of a circumferential segmented conveyor belt 34 as shown in Figures 1-5.

[0117] Furthermore, each individual segment 86 of the conveyor belt 34 is designed to be able to load a transport box 200 therein (which in turn can load a tool 4 and a tool holder 6 therein) (see the following description of Figures 6 to 9).

[0118] Multi-axis Industrial Robot / Gripper Arm 10 Further, as shown in FIGS. 1 to 5, the shrink fitting cell 2 includes a multi-axis jointed arm robot 10 (first multi-axis handling device 10), which is positioned to the side of the conveyor belt .

[0119] The joint / gripper arm 88 of this multi-axis articulated arm robot 10 is designed with a double gripper 62 for gripping the tool 4 (first gripper) on one side and the tool holder 6 (second gripper) on the other side.

[0120] The position of the multi-articulated arm robot 10 (see FIGS. 1-5) and its arm geometry are provided such that the multi-articulated arm robot 10 or its double gripper 62 can reach critical areas of the shrink fit cell 2 .

[0121] (Induction) shrink fitting unit 8 with gripper tower 12 The shrink-fitting unit 8, which constitutes the central component of the shrink-fitting cell 2 (both geometrically and functionally), as shown in Figures 1 to 5, comprises various (clamping) spindles 36 (for short simply spindles 36) arranged next to one another and by means of which the tool holder 6 can be held in a fixed position in a clamping manner during the shrink-fitting operation. In this case, the spindles 36 are also rotatable about a vertical axis (here and below called Z-axis 16).

[0122] Additionally, the spindle 36 is mounted on a stage 90 that is displaceable horizontally 40 and vertically 42 (Z-axis 16), allowing the spindle to be displaced or lifted in a specified direction.

[0123] In the case of the first handling device 10, a reading device 50, in this case an optical reading device 50, is also arranged in the area of ​​the double gripper 62, which reading device 50 can be used to read markings 52, such as in particular a tool holder code 52 (see Figures 6, 7 and 9), which may be applied to the tool holder 6, in particular when the tool holder 6 clamped on one of the spindles 36 is rotated by the spindle 36 that clamps it.

[0124] The shrink-fit unit 8 also comprises a plurality of induction coil arrangements 38, which are also arranged alongside one another and spaced apart at predetermined vertical 42 intervals (Z-axis 16 intervals) above the spindle 36 and aligned with respect to a designated Z-axis 16. The induction coil arrangements 38 also have, in the relevant case here, a conventional stopper disk 92 (concentrator / ferrite disk).

[0125] If the induction coil arrangement 38 is also arranged at a constant height, as shown here, it may also be envisaged that it is arranged vertically displaceable along the Z-axis 16 .

[0126] The displacement of the stage 90 supporting the spindles 36 is set so that, on the one hand, each spindle 36 can be moved under each induction coil arrangement 38 in extension of the Z axis 16, and, on the other hand, each spindle 36 can be lifted up to each induction coil arrangement 38 along the Z axis 16.

[0127] Furthermore, means 44, 48 are provided which can be used to monitor the vertical 42 lifting movement 46 of the spindle 36 and the induction coil arrangement 38, in particular any collisions of the induction coil arrangement 38 with the stopper disc 92.

[0128] Furthermore, the shrink fitting unit 2 has a number of the aforementioned spindles 36 and induction coil arrangements 38 installed, in this case three spindles 36 and five induction coil arrangements 38 as shown, and therefore it is also possible to shrink fit an entire pallet of tools 4 and tool holders 6 when the multiple spindles 36 and induction coil arrangements 38 have different geometric dimensions.

[0129] As shown in Figures 1 to 5, the shrink fitting unit 2 also comprises a handling device 12 (a second automatically displaceable handling device 12) (for brevity in this specification, hereinafter simply referred to as the gripper tower 12), which is automatically displaceable along the Z-axis 16 by a linear drive 14.

[0130] The gripper tower 12 can also be displaced automatically in a horizontal direction 40 in a predefinable range, independently of and independent of its linear displaceability along the Z-axis 16 .

[0131] Gripper tower 12 includes a gripper head 18 that is rotatable about a Z axis 16, as shown in Figures 1-5. The rotational position of gripper head 18 can be determined by angle measurement device 20 so that its positioning can be monitored.

[0132] The gripper head 18 further includes a plurality of gripper devices 22 (clamping grippers 22) for gripping the tool 4. As particularly shown in FIG. 4, a plurality of gripper devices 22 (six in this case) are disposed on the gripper head 18 and evenly distributed around the Z axis 16.

[0133] Furthermore, the gripper head 18 is equipped with a force measuring device 24, which can be used to measure the tensile and / or shear forces exerted on the tool 4 by the gripper head 18 or the gripper arrangement 22, thereby making it possible to monitor the introduction of the tool 4 into the tool holder 6 or the withdrawal of the tool 4 from the tool holder 6 (wherein the gripper tower 12 or the gripper head 18 is displaced along the Z-axis 16).

[0134] Furthermore, such (or each) gripper device 22 is equipped with two gripper jaws 30 which can be moved and electrically displaced relative to one another during a gripping operation, the electrically displaced gripper jaws 30 then making it possible to measure and monitor the gripping operation, in particular with regard to the gripping force.

[0135] Each gripper jaw 30 is provided with a stopper lug 32 which can act as a stop element during positioning (along the Z-axis 16). The gripper jaws 30 are furthermore arranged in the gripping device 22 in an exchangeable and positionally accurately clampable manner.

[0136] To be able to grip entire pallets of tools 4 of various dimensions, the gripper device 22 is adapted to tools 4 of a predefinable diameter 26 .

[0137] Centering station 54 with alignment control function or alignment control device 58 (measurement laser 58) As also shown in Figures 1-5, the shrink fitting cell 2 also includes a centering station 54 for clamping and aligning the tool 4, located in the area between the conveyor device 34 and the shrink fitting unit 8.

[0138] The centering station 54 has, in this case shown here, three symmetrically arranged clamping jaws 56 with which the tool 4 can be centered and / or clamped and held.

[0139] Furthermore, the centering station 54 is provided with an alignment control device 58, for example in the form of a laser-based measuring system 58 (measuring laser), above the clamping jaws 56, which can be used to determine and monitor the alignment of the tool 4 removed from the centering station 54 by the gripper tower 12, in particular with respect to the Z-axis 16.

[0140] This alignment control device 58 or the laser-based measuring system 58 is also intended to make it possible to measure the geometry of the tool 4 .

[0141] Cooling Station 64 To the left alongside the shrink fitting unit 8 is a cooling station 64 for cooling the tool holder 6 heated by the shrink fitting operation within the shrink fitting cell 2, substantially as described in the published specification of (U.S. Pat. No. 5,399,323).

[0142] The cooling station 64 installed here according to Figures 1 to 5, like the shrink fitting unit 8, has several (clamping) spindles 66 (again simply spindles 66 for short), in this case three spindles 66, which are arranged next to each other and can be used to hold (and possibly rotate, if necessary) the tool holder 6 in a clamped manner during the cooling operation.

[0143] Additionally, the cooling station 64 includes a cooling attachment 68 that can be attached to the tool holder 6 held on the spindle 66 and is designed to generate an eddy current cooling (cyclonic cooling) effect.

[0144] Such a cooling attachment 68 is described, for example, in US Pat. No. 6,399,323, published application, which is incorporated herein by reference.

[0145] Balance adjustment device 72 and preset device 74 Furthermore, it is now also possible to arrange at the rear of the shrink-fitting unit 8 a balancing device 72 and possibly also a presetting device 74 (not shown).

[0146] The balancing device 72 and the presetting device 74 may for simplicity be designed conventionally (as known from the prior art).

[0147] This allows the "freshly shrink-fitted" tool holder 6 to be balanced and measured (also "as well").

[0148] Switching cabinet 70 and control computer 76 To the right alongside the shrink fitting unit 8, within the shrink fitting cell 2, as shown in Figures 1 to 5, there is a switching cabinet 70 and a control computer 76 (with monitor, input means and printer) (not shown), which receives or houses the (control) electronic / electrical system (if not installed directly in the component / element) or controller 78 (software 78) for the shrink fitting cell 2.

[0149] The shrink fitting cell 2 may be operated and / or controlled by a control computer 76 .

[0150] Safety Screen 80 / Safety Fence 80 In order to protect the shrink fit cell 2, the shrink fit cell 2 is provided with a safety screen 80, in this case in the form of a safety fence 80, which can be used to shield a large area of ​​the shrink fit cell 2 from an area 82 surrounding the shrink fit cell 2 (periphery).

[0151] As shown in particular in FIG. 4, this safety screen 80 or this safety fence 80 has two (possibly automatically lockable / unlockable) doors 84 allowing access to the area of ​​the shrink-fit cell 2 .

[0152] The safety screen 80 or safety fence 80 also leaves the "middle" area of ​​the conveyor belt 34 unobstructed, in this case allowing the conveyor belt 34 to be loaded (either manually or automatically) with, for example, transport boxes 200 (see below).

[0153] All components of the shrink fitting cell 2 are connected to each other by wiring (not shown in more detail) so that data such as control commands and geometric data (relating to the tool 4 and tool holder 6) can be transmitted to or present on the components.

[0154] (B) Process During the automatic shrink fitting and / or removal of a tool 4 into and / or from a tool holder 6 in the shrink fitting cell 2 described above, the following process is carried out. (a) loading the tool 4 (to be shrink fitted) and the tool holder 6 with the tool 4 (to be removed) into a transport box 200 arranged on a conveyor device 34; (b) transporting the transport box 200 loaded with the tool 4 (to be shrink fitted) and the tool holder 6 with the tool 4 (to be removed) by a conveyor device 34 to the shrink fitting unit 8 or in the vicinity of one of the (clamping) spindles 36 of the shrink fitting unit 8 there; (c) transferring, using the multi-axis articulated arm robot 10, the tool holder 6 (for the sake of clarity, always referred to in the following as tool holder 6 for short) with the tool 4 (to be removed) from the transport box 200 to the or one of the spindles 36 of the shrink-fitting unit 8; (d) clamping the tool holder 6 to the spindle 36 of the shrink-fit unit 8; (e) rotating the tool holder 6 clamped to the spindle 36 of the shrink fitting unit 8 around the Z axis 16 and reading the marker 52 or the tool holder code 52 applied to the tool holder 6 using the reading device 50; (f) providing tool holder, tool and shrink fit data or parameters, in particular using markers 52 or tool holder codes 52 applied to and read from the tool holder 6; (g) transferring the tool 4 (to be shrink fitted) from the transport box 200 to the centering station 54 by the multi-axis articulated arm robot 10; (h) clamping and aligning the tool 4 (to be shrink fitted) in a centering station 54; (i) gripping the tool 4 (to be shrink-fitted) clamped in the centering station 54 by the gripper tower 12 or the gripper device 22 (clamping gripper 22) therein, such that the tool 4 (to be shrink-fitted) has a predefinable position in the tool holder 6 after the shrink-fitting operation in the tool holder 6; (j) measuring the tool 4 (to be shrink fitted) gripped by the gripper tower 12 by means of a measuring system 58 to measure the alignment of the tool 4 (to be shrink fitted) with respect to the Z-axis 16 and possibly its geometry (e.g. length); (k) displacing the tool holder 6, which is clamped to the spindle 36 of the shrink-fitting unit 8, in extension of the Z-axis 16 to below an induction coil arrangement 38 (provided for the actual shrink-fitting operation) of the shrink-fitting unit 8; (l) determining the lifting travel 46 along the Z-axis 16 of the tool holder 6 clamped to the spindle 36 of the shrink-fitting unit 8, possibly also using the geometry of the tool holder 6; (m) lifting the tool holder 6 clamped to the spindle 36 of the shrink-fitting unit 8 along the Z-axis 16 until the tool holder 6 abuts against the stopper disc 92 of the induction coil arrangement 38; (n) (in the above process) monitoring the lifting operation 46 of the tool holder 6 clamped to the spindle 36 of the shrink-fitting unit 8 with respect to the lifting movement 46 (see the lifting movement monitoring device 44) and to any collisions with the induction coil arrangement 38 or with a stopper disk 92 of the induction coil arrangement 38 (see the collision monitoring device 48); (The "old / used" tool 4 is removed from the tool holder 6 and a new tool 4 is shrink-fitted into the tool holder 6) (o) heating the tool holder 6 using the induction coil arrangement 38 of the shrink fitting unit 8; (p) gripping the (to be removed) tool 4 placed in the tool holder 6 by the gripper tower 12 or the gripper device 22 (clamping gripper 22) and displacing the (to be removed) tool 4 gripped by the gripper tower 12 or the gripper device / clamping gripper 22 along the Z-axis 16 from the tool holder 6 while monitoring the displacement of the gripped tool 4 in terms of the tensile force (see force measuring device 24) exerted on the (to be removed) tool, (q) pivoting or rotating the gripper heads of the gripper tower (see angle measurement device 20); (r) displacing (inserting) the tool 4 (to be shrink-fitted) gripped by the gripper tower 12 along the Z-axis 16 relative to the tool holder 6 until the stopper lug 32 of the gripper device 22 of the gripper head 18 is located on the upper end face of the tool holder 6 (or on the stopper disk 92 of the induction coil arrangement 38), while monitoring the displacement of the gripped tool 4 in terms of the shear force (see the force measuring device 24) exerted on the tool (to be shrink-fitted); (s) temporarily holding the tool 4 (to be shrink fitted to the tool holder 6) in the gripper tower 12 at least until the tool 4 (to be shrink fitted) is clamped by cooling of the tool holder 6; (t) lowering along the Z-axis 16 the tool holder 6 clamped to the spindle 36 of the shrink fitting unit 8 (and clamping the freshly shrink fitted tool 4); (u) using the multi-axis articulated arm robot 10 to transfer the tool holder 6 clamped to the spindle 36 of the shrink fitting unit 8 (and clamping the freshly shrink fitted tool 4) to a cooling station 64 where the tool holder 6 is clamped to one of the spindles 66; (v) cooling the tool holder 6 (which clamps the freshly shrink fitted tool 4) using vortex (cyclone) cooling from a cooling attachment 68; (w) measuring the tool holder 6 (clamping the freshly shrink-fitted tool 4) in the cooling station (see measuring laser 60); (x) displacing the (just removed) tool 4 by the gripper tower 12 to the transport box 200 and loading the tool 4 into the transport box 200, or displacing the (already removed) tool 4 by the gripper tower 12 to the centering station 54 (and optionally transferring the tool 4 from there to the transport box 200); (y) transferring the (cooled) tool holder 6 to the transport box 200 by the multi-axis joint arm robot 10; (z) Transporting the loaded carrier box 200 by conveyor belt 34.

[0155] - Inspection of the tool 4 and / or the tool holder 6 in the shrink fitting device 2 (Figures 10 to 14) For these inspections, as shown in Figures 10 to 14, the shrink fitting apparatus 2 is equipped with a high-precision measuring system 94, in this case a transmitted light measuring system 94, which can be displaced within the shrink fitting apparatus 2 along the Z axis and also transversely to the Z axis.

[0156] As shown in Figures 12-13, the shrink fitting apparatus, in addition to the spindle 36 described above, also has a rotatable jaw chuck 96, which is provided for clamping the tool (in this case while the tool is being inspected) (see Figures 12 and 13), and which can also be displaced laterally relative to the Z axis.

[0157] The metrology system 94 performs three important inspections / verifications on the tool receptacle 6 or tool 4 . (1) Inspection and verification of the tool holder 6 (with or without the tool 4, into which the tool 4 should be shrink fitted) (FIGS. 10 and 11), (2) Inspection and verification of the tool 4 to be shrink fitted (Figures 12 and 13), (3) Inspection and (simultaneous) correction during shrink fitting and removal of tool 4 (Figure 14).

[0158] Integrating the measurement system 94 into the shrink fitting apparatus and into the automatic tool changing function in the shrink fitting apparatus 2 makes it possible to maximize process reliability and procedural safety, and also tool changing accuracy.

[0159] (1) Inspection and verification of the tool holder 6 (with or without the tool 4) (Figures 10 and 11) FIG. 10 shows a detail of the shrink fitting apparatus 2 while the tool holder 6 (with or without tool 4, here tool 4 is shown) is being inspected (in the first (upper) measurement position).

[0160] Here, according to FIG. 10, the measuring device 94 is positioned above the tool holder 6 (in which the tool 4 to be removed is clamped), which is held in the spindle 36, so that at least the highest point of the tool 4 protrudes into the measuring area of ​​the measuring system 94.

[0161] While the inspection is being performed, the measuring system 94 is now displaced vertically downwards along the Z axis (see the second (central) measurement position in Figure 11) so that the measurement area of ​​the measuring system 94 scans from top to bottom across the tool holder 6 (including the tool 4) so ​​that the tool holder 6 (including the clamped tool 4) can be measured (scanned) and then verified as a whole.

[0162] Here, the tool holder 6 (with tool 4) is measured or inspected, inter alia, with regard to: - Overall length (of tool holder with tool) OK or within tolerance - Cutting edge diameter - Condition of the cutting edge - Cleanliness, (adherent) dirt, e.g. cutting chips - Coating (color) and / or surface condition - Condition of possibly multi-part tools, e.g. proper fit of reversible plates - Cutting edge and gripping areas - Cylindricity in the grip or shaft area (h6 tolerance) - Tool holder. Length A dimension OK - The insertion depth of tool 4 into tool holder 6 (together with information about the overall length of the tool) - Projection length - Shaft length - For tool receptacles with screw clamping means (Weldon, hydraulic expansion, etc.), check socket width - Collision (e.g. gripper, shrink fit coil, etc.) - 6 correct tool holders / 4 correct tools - Grip area OK

[0163] On the basis of this measurement, the tool holder 6 (with tool 4) can then be verified.

[0164] During inspection, if there is a tool holder 6 without a clamped tool 4, this (i.e. the missing tool 4) can also be detected and / or identified during the measurement.

[0165] (2) Inspection and verification of tool 4 (to be shrink fitted) (Figures 12 and 13) FIG. 12 shows a detail of the shrink fitting apparatus 2 during inspection and verification of the tool 4 (to be shrink fitted) (in the first (upper) measurement position).

[0166] Here, according to FIG. 12, the measuring device 94 is positioned upwards with respect to the tool 4 , so that at least the highest point of the tool 4 projects into the measuring area of ​​the measuring system 94 .

[0167] While the inspection is being carried out, the measuring system 94 is now displaced vertically downwards along the Z axis (see the second (central) measurement position in Figure 13) so that the measurement area of ​​the measuring system 94 scans from top to bottom across the tool 4, whereby the tool 4 can be measured (scanned) and then verified as a whole.

[0168] For this, as also shown in Figures 12 and 13, the tool 4 is clamped in a rotatable jaw chuck 96 and the measurement system 94 inspects the top point of the tool 4 according to Figure 12 and then the area where the gripper receives the tool 4 for the shrink fitting operation according to Figure 13. In an advantageous embodiment, the jaw chuck 96 is configured such that the part of the tool 4 clamped in the jaw chuck 96 can also be subsequently detected and inspected or measured by the measurement system 94.

[0169] In this process, the tool 4 can be comprehensively inspected and verified by rotating the jaw chuck 94 .

[0170] It is thus possible, inter alia, to measure and check: - Tool length - Tool diameter - Tool Shaft Diameter - Tool shaft cylindricity (h6 tolerance) - Presence of a clamping surface on the tool shaft (e.g. Weldon clamping surface) - Condition of the cutting edge - Cleanliness, (adherent) dirt, e.g. cutting chips - Coating (color) and / or surface condition - Condition of possibly multi-part tools, e.g. proper fit of reversible plates - Neck tip space - Collision (collision check, e.g. gripper) - Grip area OK

[0171] (3) Inspection and (simultaneous) correction during shrink fitting and removal of tool 4 (Fig. 14) FIG. 14 shows a detail of the shrink fitting device 2 during inspection and (simultaneous) correction during shrink fitting and / or removal of the tool 4 (at the measuring position).

[0172] Here, according to FIG. 14, the measuring device 94 is positioned above the tool 4 so that at least the highest point of the tool 4 projects into the measuring area of ​​the measuring system 94 and can thus be measured "live".

[0173] Thus, the measurement system 94 monitors the process during the shrink fitting and removal operations as follows: During the shrink fitting operation, the highest point can be corrected "live" by the controller of the shrink fitting device 2, so that the length of the entire tool is corrected simultaneously. During the removal operation, monitoring is performed as to whether the tool 4 can be removed from the tool holder 6, in the process preventing the gripper from slipping into the collision area in case of problems during the removal operation. For this purpose, a comparison is made as to whether the extraction movement of the gripper corresponds to the actual movement of the tool.

[0174] - induction coil arrangement 38 with replaceable stopper disk 92 (Figs. 15-19) 15-19 show various views of one of the induction coil configurations 38 present in the shrink fit cell 2. FIG.

[0175] As already mentioned, the shrink fitting unit 2 can be used to shrink fit an entire pallet of tools 4 and tool holders 6 having different geometric dimensions, such as diameters of the tools and tool holders.

[0176] In order to allow this variety or versatility, the shrink fitting unit 2 is provided with a number of induction coil arrangements 38, in this case five, which are capable of (geometrically) shrink fitting various tool holders 6 which differ, inter alia, in their windings 104, in particular in their height and diameter, thereby differing in particular in the length of the area to be heated.

[0177] Moreover, this versatility is achieved by the fact that the various induction coil configurations 38 each have a changeable or interchangeable stopper disk 92 to accommodate the various tools 4 or their tool diameters.

[0178] If the induction coil arrangement 38 and the stopper disk 92 are each encoded with a readable code corresponding to their assignment for shrink fitting (see above for versatility or versatility), then for shrink fitting a particular tool 4 or tool holder 6, it is possible to select and "configure" the correct combination of induction coil arrangement 38 and stopper disk 92 (for this particular tool 4 or particular tool holder 6) and use this combination in the process.

[0179] 15-19 show (by way of example) various views of such an induction coil arrangement 38 with a replaceable stopper disc 92.

[0180] As shown in FIGS. 15-19, the induction coil arrangement 38 includes a coil housing 102 having an annularly wound winding body 104 received therein.

[0181] The coil housing 102 is fitted at its rear end with various plug-in connections and connection elements 110 which, when the coil housing is screwed onto a support 126 by left and right hand side screw connections 122, 124 (see FIG. 4), are connected by plug fit to complementary plug-in connections / connection elements 110 present therein, thereby enabling power to be supplied to the electrical system / electronics of the induction coil arrangement 38.

[0182] A further important component of the induction coil arrangement 38 is the aforementioned stopper disk 92, which can be slid with its upper surface into a guide-forming slot 132 therein. A latching element (not shown) in the slot 132 makes it possible to latch the stopper disk 92 in place once it has been fully slid in.

[0183] The stopper disk 92 comprises a disk-shaped disk element or ferrite body 118 received in an aluminum mount 120 .

[0184] In the centre of the ferrite disk 118 there is a circular through-opening 112, the diameter of which is adapted to the diameter of the tool 4 or even of the tool 4 to be shrink-fitted into the tool holder 6 (hence different for every ferrite disk, see above). Furthermore, opposite the circular through-opening 112 in the ferrite disk 118 there is a gap 114, which allows the clamping gripper 22 to insert the tool 4 to be shrink-fitted which it holds into the tool holder 6 through the through-opening 112 or to grip and remove the respective tool to be removed (during a removal operation) from the tool holder 6.

[0185] At the front edge of the mount 120 of the stopper disk 92 a gripping element 116 is arranged, which serves to enable the stopper disk 92 to be gripped by one of the clamping grippers 22 while the stopper disk 92 is being replaced, i.e. at least one of the gripper devices 22 / clamping grippers 22 of the gripper head 18 is intended to grip the stopper disk or to replace the stopper disk.

[0186] At the top of the induction coil arrangement 38 there is the previously mentioned generally semicircular, forwardly open slot 132 in which the stopper disk 92 can slide from front to rear. The stopper disk 92, or its mount 120, which is itself generally circular, is flattened on both sides. Correspondingly, the slot 132 extends linearly at its front end on both sides, so that the stopper disk 92 can only slide in a defined manner or is aligned accordingly in the correct position when slid in.

[0187] Two mechanical contact switches 106, 108, one on the front and one on the rear of the contact edge of the stopper disc 92 or its mount 120 on the coil housing 102, are used to monitor the sliding state or its position of the stopper disc 92. In particular, these contact switches 106, 108 identify whether the stopper disc is correctly or completely slid or positioned.

[0188] The windings 104 in the coil housing 102 are cooled by compressed air cooling to the extent that compressed air is blown into the coil housing in the area of ​​the connection / plug-in element 110 via the support 126 .

[0189] For cooling the induction coil arrangement 38 or the tool 4 or tool holder 6 received in the winding body 104 (after the shrink-fitting operation), the winding body 104 is provided with an annular duct 136, which is connected on the inside via, in this case, six evenly distributed openings 138 to the openings receiving the tool 4 and the tool holder 6. The annular duct 136 is supplied with compressed air / cooling air from the outside via a pressure line (not shown) and a connection 140 leading to the annular duct 136. Via the annular duct 136 and the openings 138, the compressed air can be blown onto the tool 4 / tool ​​holder 6.

[0190] For the induction coil arrangement 38, other cooling media (other than compressed air) may also be used as appropriate.

[0191] In the case of the induction coil arrangement 38, steam and / or gases generated during the shrink fitting operation are extracted via smoke extraction means 134. To this end, as shown in Figures 18 and 19, the coil housing 102 can be provided in its upper region with an (upper) smoke extraction duct 128 or in its lower region with a (lower) smoke extraction duct 130 through which the steam / gas escaping upwards or downwards can be extracted.

[0192] The stopper disk 92 to be replaced is stored in a replacement storage section (not shown) in the shrink-fitting cell 2 .

[0193] an automatic shrink-fitting cell 2, or shrink-fitting device 2, for the automatic shrink-fitting and removal of tools into and from tool holders, with an ultrasonic cleaning facility 300 (FIG. 20); Figure 20 shows the automatic shrink-fitting cell 2 described above. The structure and function / process have been described above. Please see the above text.

[0194] Furthermore, this shrink fitting cell 2 according to FIG. 20 comprises ultrasonic cleaning means, in this case realized by an ultrasonic cleaning facility 300 contained in an ultrasonic tank 302, and a drying facility 304, for cleaning (and drying) the tool 4 prior to the shrink fitting operation.

[0195] Correspondingly, corresponding ultrasonic cleaning means can also be used to clean the tool holder / tool ​​before the removal operation.

[0196] With regard to automated processes in the shrink-fitting cell 2, in particular the automated measurement there of the tool 4 or tool holder 6 (see above, in particular the specific embodiment regarding the measuring system 94, or (2) Inspection and verification of the tool 4 to be shrink-fitted (Figures 12 and 13)), it is essential that for the measurement the components, in particular the tool 4, are clean, i.e. free from dirt, oil, dust, etc. If a dirty component is measured, the measurement result will be erroneous, which will result in a loss of quality in the course of the treatment process during production. With regard to quality control, clean parts, or in particular a clean tool 4, are essential. The gripping area of ​​the tool 4 or tool holder 6 also needs to be free from dirt.

[0197] As shown in FIG. 20, the ultrasonic cleaning facility 300 comprises an ultrasonic tank 302, filled with water and cleaning solution, having dimensions of, for example, 1 m×0.6 m×1.2 m (length / width / height).

[0198] To keep the cleaning liquid clean, an oil separator with overflow function is further provided in the case of the ultrasonic tank 302. Periodic cleaning of the ultrasonic tank 302 removes sediment particles from the bottom of or from the ultrasonic tank 302.

[0199] In the case of the ultrasonic tank 302, a water connection (through which the ultrasonic tank 302 can be refilled with water), a fill level indicator / measuring means and a temperature measuring means / controller with a temperature sensor in the ultrasonic tank 302 are also provided. Further test and analysis units for testing the state of the cleaning liquid (such as a refractometer) or for determining the pH may be advantageous. The test and analysis units can be operated manually or automatically.

[0200] A drying facility 304 for drying the cleaned tools 4 is provided immediately next to the ultrasonic tank 302 .

[0201] This drying facility 304 combines a wet suction cleaning facility with a compressed air drying effect, on the one hand extracting the liquid / moisture from the tool 4 and on the other hand blowing it away. The combination of the two ensures a thorough drying of the cleaned tool 4.

[0202] Now, if the tool 4 is to be cleaned before the shrink fitting operation (in this case a purely time-controlled cleaning process with a predefined cleaning time in the ultrasonic tank 302 and a predefined drying time in the drying facility 304), the articulated arm robot 10 (with its articulated / gripper arm 88) grasps the tool 4 (from the transport box 200, see process step g)), holds it laterally and immerses it in the ultrasonic tank 302.

[0203] The tool 4 in the ultrasonic tank 302 is cleaned by ultrasonic cleaning while still being held by the multi-axis articulated arm robot 10. The multi-axis articulated arm robot 10 then lifts the (cleaned but wet) tool 4 out of the ultrasonic tank 302 and displaces it to a drying facility where it is dried while still being held by the multi-axis articulated arm robot 10 by a combination of a wet suction cleaning facility and compressed air drying effects. Similarly, shrink-fit chucks or other individual parts of the chuck such as collets and clamping nuts can also be cleaned.

[0204] The articulated arm robot 10 then "transfers" the (cleaned and dried) tool 4 to the transfer unit, whereby the tool 4 is grasped and held, in this case by a three-jaw chuck 96 (see Figures 12 and 13) so that the functional and gripping areas (and also, inter alia, their overall length) are visible and can be inspected or measured on the tool 4 (see (2) Inspection and Verification of Tool 4 to be Shrink Fitted (Figures 12 and 13) above, measuring system 94).

[0205] The tool 4 can then be measured using the measurement system 94 (see above specification) and the measurement data compared with data stored for this tool and retrieved from the database.

[0206] It is also possible for the tool 4 to be further subsequently displaced therefrom by the gripper tower 12 or the gripper arrangement 22 (clamping gripper 22) there (see process step i) above). The centering station 56 (see process steps g), h) and i)) can be omitted.

[0207] - a transport box and / or a transport box 200 for transporting the tool holder 6 and the tool 4 (FIGS. 6 to 9) Figures 6 to 9 show in various views a transport box and / or transport box 200 (hereinafter simply transport box 200 for short) for transporting the tool holder 6 and the tool 4, which can be used, for example in the case of an automatic shrink fitting cell 2, for transporting the tool holder 6 and the tool 4 therein (in particular to or from the shrink fitting unit 8 present there, in particular on the conveyor belt 34 present there) (see above).

[0208] As shown here in Figures 6 to 9, the transport box 200 having a received (rotary) tool 4, here for example a milling cutter 4, and a received tool holder 6, here for example a shrink-fit chuck 6, has a substantially cubic body 202.

[0209] As shown particularly in Figures 8 and 9, the upper side 204 of the body 202 has a number of receiving openings 208, 210, 212, 214, 216, 218 for the tool holder 6 and tool 4 arranged therein, which extend to the interior 206 of the body 202 and are cylindrical (i.e., substantially circular in diameter).

[0210] In this case, a number of receiving openings 210, 216 for the tool 4 are arranged in the block 222 in the left half of the body 202, as also shown in particular in Figures 8 and 9, while in the region of the right half of the body 202, receiving openings 212, 218 for the tool holder 6 are provided in the block 222.

[0211] As shown particularly in Figures 8 and 9, each receiving opening 208, 210, 212 has an associated identical (identically formed) receiving opening 214, 216, 218, and thus each of the two associated receiving openings 208, 210, 212 and 214, 216, 218 are positioned (mirrored) relative to one another within the body 202 of the transport box 200.

[0212] Thus, as shown in particular in FIGS. 8 and 9 , the receiving openings 210 , 214 for the tools 4 are arranged in two longitudinal rows situated opposite each other in mirror image, or symmetrically with respect to an axis of symmetry 226 .

[0213] The same applies to the receiving openings 212, 218 for the tool holder 6, where in this case there are "only" two receiving openings 212, 218, i.e., a first receiving opening 212 and its associated (mirror or symmetrically arranged) "mirror image" 218, as shown in Figures 8 and 9.

[0214] The receiving openings 210, 216 for the tools 4 have different diameters 26 (and depths 28) adapted to the tool diameters 26 (and tool lengths 28) so that multiple tools 4 of different sizes can be received within the transport box 200.

[0215] In particular, as also further shown in Figures 8 and 9, two associated receiving openings 212, 218 for the tool holder 6, i.e., a first receiving opening 212 and its associated (mirror or symmetrically arranged) "mirror image" 218, are arranged on top of one another (220).

[0216] This saves space, but the corresponding “small” overlap 220 also allows for a secure hold / secure holding receptacle for the tool holder 6 within the transport box 220 .

[0217] In this regard, in order to be able to distinguish between the receiving openings 208, 210, 212, 214, 216, 218, i.e. the first receiving openings 208, 210, 212 on the one hand and the identical mirror receiving openings 214, 216, 218 associated therewith on the other hand, markers 224 are provided on the transport box 200 or on the receiving openings 208, 210, 212, 214, 216, 218, which classify the first receiving openings 208, 210, 212 as the "good side" and the identical mirror receiving openings 214, 216, 218 associated therewith as the "bad side".

[0218] Although the present invention has been more particularly shown and described in detail by means of preferred exemplary embodiments, the invention is not limited to the disclosed examples, other variants can be derived therefrom without departing from the scope of protection of the invention.

[0219] Additionally, the induction coil arrangement, ultrasonic bath, and transport box may continue to be patented as separate and independent subject matter, possibly through divisional applications. [Explanation of symbols]

[0220] 2 Shrink fitting equipment, (automatic) shrink fitting cell 4 Tools, rotary tools, milling cutters, drills 6 Tool holder, shrink fit receptacle / chuck 8 Shrink-fit unit 10 First multi-axis handling device, multi-axis joint arm robot 12 Second automatically displaceable handling device, gripper tower 14 Single-axis linear drive 16 Z axis 18 Gripper head 20 Angle measuring device 22 Gripper device, clamping gripper 24 Force measuring devices, load cells 26 (Tool) Diameter, Diameter 28 (Tool) Length, Depth 30 (movable, electrically displaceable) gripper jaws 32 Stopper lug 34 Conveyor Device, Conveyor Belt 36 Spindle (for shrink-fit unit 8) 38 Induction Coil Configuration 40 Horizontally 42 Vertical 44 Lifting movement monitoring device 46 Vertical displacement movement, lift movement 48 Collision monitoring device 50 Reading device / instrument, measuring laser 52 Marker, tool holder code 54 Centering Station 56 Centering Jaw 58 Alignment control devices, laser-based measurement systems 60 Measuring devices, measuring lasers (tool measurement) 62 Double gripper (for tools and tool holders) 64 Cooling Station 66 Spindle (of cooling station 64) 68 Cooling attachment (can be attached, creates vortex cooling (cyclone cooling) effect) 70 Switching Cabinet 72 Balance adjustment device 74 Preset Devices 76 Control Computer 78 Control program, controller (in control computer 76) 80 Safety Screens, Fences 82 Surrounding Area 84 (Safety) Door (located at 80) 86 segments (34) 88 Articulated / Gripper Arm 90 Stages 92 Stopper disks, ferrite disks, concentrators 94 (Further) measuring devices, transmitted light measuring systems 96 (Further) Holding Device, Rotatable Jaw Chuck, 3 Jaw Chuck 102 Coil housing 104 Winding body 106 (mechanical) contact switch (on the front) 108 (mechanical) contact switch (located on the back) 110 Connection / Plug-in Elements 112 Opening (for Tool 4) 114 Gap (for gripper device / clamping gripper 22) 116 grip element (on the stopper disk 92 so that the stopper disk 92 is gripped by the gripper device / clamping gripper 22) 118 Disk element (made of ferrite), ferrite disk / ferrite body 120 Mount (of disk element 118) 122 (left side) screw connection (for fastening the induction coil arrangement 38 to the support 126) 124 (right side) screw connection (for fastening induction coil arrangement 38 to support 126) 126 Support (for induction coil configuration 38) (see Figure 4) 128 (Upper) Smoke Extraction Duct 130 (lower) smoke extraction duct 132 Slots 134 Smoke extraction means 136 Circular Duct 138 Opening of annular duct 136 140 connection (for compressed air line for tool / tool ​​holder cooling) 200 Transport / shipping boxes, transport / shipping containers 202 Main Body 204 Upper side (202) 206 Inside (202) 208 Receptor opening 210 Receiving opening for tool 212 Receiving opening for tool holder 214 Mirrored and identical receptive openings 216 Mirrored and identical receiving openings (for tools) 218 Mirrored, identical receiving opening (for tool holder) 220 overlap (of two associated receiving openings for a tool holder) 222 Block configuration 224 markers, good / bad markers 226 Axis of Symmetry 300 Ultrasonic cleaning equipment 302 (Ultrasonic Cleaning) Tank 304 Drying equipment

Claims

1. A shrink fitting apparatus for automatic shrink fitting and removal of a tool into and from a tool holder, the shrink fitting apparatus comprising a shrink fitting unit for automatic shrink fitting and / or removal of a tool into and / or from the tool holder and a first multi-axis handling device for transporting the tool holder and the tool in the shrink fitting apparatus, The shrink fitting device a second automatically displaceable handling device, by means of which the tool can be automatically displaced along one axis (the Z-axis) relative to the tool holder during the shrink fitting and / or removal operations using a single-axis linear drive; Shrink fitting device.

2. the second automatically displaceable handling device is provided with a gripper head rotatable around said one axis (the Z axis) and has an angle measuring device which can be used in particular to measure the rotational position of the gripper head, 2. A shrink fitting apparatus for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 1.

3. the gripper head comprises a plurality of gripper devices for gripping tools, in particular the gripper devices being arranged around the one axis (Z-axis) in particular evenly distributed at predefinable intervals, 3. A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 1 or 2.

4. the gripper head is provided with a force measuring device, which can be used to measure the pulling force exerted by the gripper arrangement on a tool; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 3.

5. the plurality of gripper devices are adapted to tools of predefinable diameters; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 4.

6. the or each of the gripper devices has two gripper jaws, which are particularly designed such that they can be moved relative to one another during the gripping operation, in particular can be electrically displaced, and the gripping operation can be measured and / or monitored, in particular with regard to the gripping force, and / or one or each of the gripper jaws is provided with a stop lug, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 5.

7. the gripper jaws can be arranged in the gripping device in an exchangeable and / or positionally precisely clampable manner; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 6.

8. a conveyor device for transporting the tool holders and the tools to the shrink fitting unit, in particular comprising a circular, in particular segmented, conveyor belt; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 7.

9. the shrink-fitting unit comprises at least one spindle, in particular a plurality of spindles, which are in particular arranged alongside one another and can be used to clamp the tool holder during the shrink-fitting operation, and / or the shrink-fitting unit comprises at least one induction coil arrangement, in particular a plurality of induction coil arrangements, which are in particular arranged alongside one another and / or are adapted to the tool holder and can be used to heat the tool holder, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 8.

10. the at least one spindle of the shrink-fitting unit is horizontally and / or vertically displaceable and in particular has a lift-travel monitoring device, which can be used to monitor and / or measure a vertical displacement travel during the vertical displacement (lifting) of the spindle; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 9.

11. the shrink fitting unit is provided with a collision monitoring device, which can be used to detect a collision between the tool holder and the induction coil arrangement; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 10.

12. a reading device, which is arranged in particular on the first multi-axis handling device and / or is designed to be able to read a marker, in particular a tool holder code, applied to the tool holder during rotation of a spindle when the tool holder is clamped to one of the spindles of the shrink-fitting unit, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 11.

13. a centering station for clamping and aligning the tool; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 12.

14. an alignment control device, which is arranged in particular in the area of ​​the centering station and which can be used to determine and / or monitor the alignment of a tool removed from the centering station by the second automatically displaceable handling device, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 13.

15. - comprising a measuring device, in particular a laser, for measuring the workpiece, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 14.

16. - comprising a further measuring device, in particular for measuring the tool and / or the tool holder (with or without the tool), A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 15.

17. the further measuring device being an optical transmitted or incident light measuring system; 17. A shrink fitting apparatus for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 16.

18. the further measuring device can be displaced in at least two spatial directions, in particular substantially along said one axis (Z-axis) and / or substantially transversely to said one axis (Z-axis), A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 16 or 17.

19. a further holding device, which can be used to hold, in particular clamp, the tool during an inspection operation, in particular with the aid of a further measuring device, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 18.

20. the further holding device is rotatable and / or in particular comprises a rotatable jaw chuck, 20. A shrink fitting apparatus for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 19.

21. the further holding device can be displaced horizontally, in particular substantially transversely to said one axis (Z-axis), and / or vertically, in particular substantially along said one axis (Z-axis); A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 19 or 20.

22. the first multi-axis handling device being a multi-axis articulated arm robot, the multi-axis articulated arm robot being provided with a double gripper, in particular for gripping the tool and for gripping the tool holder; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of the preceding claims.

23. a cooling station for cooling the tool holder, in particular heated by the shrink fitting operation, said cooling station having in particular a plurality of spindles, said spindles being in particular arranged next to one another and which can be used to hold the tool holder in a clamped manner during said cooling operation, and / or said cooling station having a cooling attachment which can be attached to a tool holder held on said spindles and which is designed to generate an eddy current cooling (cyclonic cooling) effect. A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 22.

24. a cleaning device, in particular ultrasonic cleaning means, and / or an induction coil arrangement with exchangeable stopper disks, which can possibly be exchanged automatically, in particular after parameter selection; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 23.

25. a switching cabinet and / or a balancing device and / or a presetting device and / or a control computer, in particular in which a control program for the controller of the shrink fitting device is stored, A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of the preceding claims.

26. a safety screen, which can be used in particular to shield a large area of ​​the shrink fitting device from the surrounding area of ​​the shrink fitting device; A shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of the preceding claims.

27. A method for the automatic shrink fitting and removal of a tool into and from a tool holder, in particular using a shrink fitting device for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 1 to 26, comprising: a single-axis linear drive of a second automatically displaceable handling device is used to automatically displace the tool along said one axis (Z-axis) relative to the tool holder during said shrink fitting and / or removal operations; method.

28. (a) loading a transport box arranged on a conveyor device with a tool and / or a tool holder (to be shrink fitted) and / or with a tool holder including a tool (to be removed) or placing a transport box loaded with a tool and a tool holder (to be shrink fitted) or with a tool holder including a tool (to be removed) on the conveyor device; (b) transporting a transport box loaded with the tool and the tool holder (to be shrink fitted) or with the tool holder including the tool (to be removed) by a conveyor device to a shrink fitting unit, in particular in the vicinity of a (clamping) spindle of the shrink fitting unit; (c) transferring the tool holder from the transport box to the spindle of said shrink fitting unit, using a first multi-axis handling device, in particular for transferring tool holders and tools; (d) clamping a tool holder to a spindle of the shrink fit unit; (e) rotating the tool holder clamped on the spindle of the shrink fitting unit, in particular around said one axis (the Z axis), in particular by 360°, and reading a marker applied to the tool holder, in particular a tool holder code applied to the tool holder; (f) providing tool holder and / or tool and / or shrink fitting data or parameters, in particular using a marker applied to the tool holder and read, in particular a tool holder code applied to the tool holder and read, (g) transferring the tool (to be shrink fitted) from the transport box to a centering station, in particular using a first multi-axis handling device for transferring tool holders and tools; (h) clamping and / or aligning the tool (to be shrink fitted) in a centering station; (i) gripping the tool (to be shrink fitted) clamped in a centering station by a second automatically displaceable handling device, in particular so that the tool (to be shrink fitted) has a predefinable position in the tool holder after the shrink fitting operation into the tool holder; (j) measuring the tool (to be shrink fitted) gripped by said second automatically displaceable handling device, in particular using a measurement laser, and / or measuring in particular the alignment or the geometry (e.g. length) of the tool (to be shrink fitted), in particular with respect to said one axis (the Z axis); (k) displacing a tool holder clamped to the spindle of the shrink-fitting unit, in particular displacing the tool holder in the extension of the one axis (the Z-axis) below the induction coil arrangement of the shrink-fitting unit; (l) determining the lifting movement of a tool holder clamped to the spindle of the shrink-fitting unit, in particular along said one axis (Z-axis), in particular using the geometry of the tool holder; (m) lifting the tool holder clamped to the spindle of the shrink-fitting unit, in particular along said one axis (Z-axis), in particular until the tool holder abuts against the induction coil arrangement, in particular until it abuts against a stopper disk of the induction coil arrangement; (n) monitoring a lifting operation of a tool holder clamped on a spindle of the shrink-fitting unit with respect to lifting movements and / or collisions with the induction coil arrangement, in particular with a stop disk of the induction coil arrangement; (o) heating a tool holder using an induction coil arrangement of the shrink fit unit; (p) gripping a tool (to be removed) arranged in a tool holder by the second automatically displaceable handling device and displacing the tool (to be removed) gripped by the second automatically displaceable handling device from the tool holder along the one axis (Z axis), while monitoring the displacement of the gripped tool, in particular with regard to the tensile force exerted on the tool (to be removed); (q) pivoting a gripper head of the second automatically displaceable handling device; (r) displacing (inserting) the tool (to be shrink-fitted) held by the second automatically displaceable handling device along the one axis (Z-axis) relative to the tool holder into a predefinable shrink-fitting position relative to the tool holder, in particular displacing the tool (to be shrink-fitted) held by the second automatically displaceable handling device along the one axis (Z-axis) relative to the tool holder until the gripper lugs of a gripper head of the second automatically displaceable handling device are positioned on the upper end face of the tool holder or on a stop disk of the induction coil arrangement; (s) temporarily holding the tool (to be shrink fitted in the tool holder) by the second automatically displaceable handling device, in particular at least until the tool (to be shrink fitted) is clamped by cooling of the tool holder; (t) lowering a tool holder clamped to the spindle of the shrink fitting unit, in particular along said one axis (the Z axis); (u) transferring the tool holder clamped to the spindle of the shrink fitting unit (and clamping the freshly shrink fitted tool) to a cooling station using a first multi-axis handling device; (v) cooling the tool holder (which clamps the freshly shrink-fitted tool), in particular using the eddy current (cyclonic) cooling effect; (w) transferring the tool holder (clamping the freshly shrink fitted tool) to a balancing and / or presetting device using a first multi-axis handling device; (x) measuring the tool holder (which clamps the freshly shrink-fitted tool), in particular in a presetting device, or a cooling station, or a balancing device; (y) displacing the (already removed) tool by means of the second automatically displaceable handling device, in particular to a transport box and / or to a centering station; (z) transferring the (cooled) tool holder to a transport box; At least one, in particular several or all of the steps are performed in the order specifically mentioned, 28. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 27.

29. in particular using said further measuring system and / or said further holding device, monitoring and / or inspection of said tool and / or said tool holder (with or without tool) is performed, 29. A method for the automatic shrink fitting and removal of a tool into and from a tool holder according to claim 27 or 28.

30. the tool receptacle (with or without a tool) is monitored and / or inspected, in particular the further measuring system is displaced substantially along said one axis (Z-axis) and / or in particular the overall length of the tool receptacle including the tool (in particular in the form "OK" or "within tolerance"), the cutting edge diameter, the tool shaft diameter (in particular within h6 shaft tolerance) and / or the length A dimension (in particular in the form "OK") are monitored and / or inspected and / or a collision check is performed; 30. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 29.

31. the tool is monitored and / or inspected, in particular while being held and / or rotated by the further holding device; 28. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 27.

32. the tool is monitored and / or inspected, in particular the further measuring system inspects at least the top point of the tool, the grip area of ​​the tool, the tool length and / or the tool diameter or tool shaft diameter (in particular within the h6 shaft tolerance) and / or the tool is comprehensively inspected and verified and / or a collision test is performed, 28. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 27.

33. the tool receptacle is monitored and / or inspected during the shrink fitting operation and / or during the removal operation, in particular whether the tool can be removed from the tool holder during the removal operation; 28. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 27.

34. Concurrently with or during said monitoring and / or inspection, corrections are made during said shrink fitting and / or removal operations using information obtained from said monitoring and / or inspection.

34. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 33.

35. The length of the tool is compensated during the shrink fitting operation.

35. A method for automatic shrink fitting and removal of a tool into and from a tool holder according to claim 34.

36. The tool (to be shrink fitted) is centred and / or aligned by rotating the tool holder with the tool (to be shrink fitted) inserted in the tool holder. A method for the automatic shrink fitting and removal of a tool into and from a tool holder according to any one of claims 27 to 35.

37. A transport box for a tool holder and / or a tool, a body having an upper surface and a plurality of receiving openings for tool holders and tools, the receiving openings being disposed on the upper surface and extending into the body, each receiving opening for a tool holder or tool disposed within the body having an identical receiving opening mirrored on the body; Transport box.

38. the receiving opening for the tool is adapted to the tool diameter and / or tool length; 38. The transport box of claim 37.

39. the two associated receiving openings for the tool holders are arranged one above the other, 39. A transport box according to claim 37 or 38.

40. the receiving opening for the tool on the one hand and the receiving opening for the tool holder on the other hand are arranged in blocks and / or offset relative to one another within the body, A transport box according to any one of claims 37 to 39.

41. the receiving opening for the tool and the receiving opening for the tool holder on the one hand and the mirror-imaged identical receiving openings on the other hand have markers to distinguish them, A transport box according to any one of claims 37 to 40.

42. A transport box according to any one of claims 37 to 41, used for transporting tool holders and / or tools in a shrink fitting apparatus according to any one of claims 1 to 26.

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