Fastening device, fastening device system and method for feeding fasteners

Abstract

To provide a fastening device, a fastening device system and a method for feeding fasteners.SOLUTION: A method for feeding fasteners to a fastening tool (20), a fastening device system (10) and a fastening device (12) comprise: a magazine arrangement (32) mounted on the fastening tool (20) and having a magazine (34) for accommodating at least one fastener (28a); a magazine plate (42) including a plate body (76); a base plate; and a closure arrangement (78). The closure arrangement (78) comprises: a closure slider (80) adapted to move between an open position, and a closed position; and a toggle mechanism (84) adapted to move the closure slider (80) from the closed position to the open position.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a method for supplying fasteners to a fastening tool that can be moved by a fastening device, a fastening device system, and a programmable handling device and to which a magazine for accommodating at least one fastener is attached.

Background Art

[0002] In the field of fastening technology, it is known to perform joining using fasteners. These methods include, for example, fastening a fastener to a workpiece, in which case the fastener is often used as a fixture for further attachment. Such fastening methods are known in the form of stud welding, adhesive stud bonding, and thermoplastic stud fastening. In these methods, the stud can be a rotationally symmetric fastener, but can also be a fixture with an irregular shape.

[0003] In addition, it is known to use fasteners to join at least two workpieces to each other. Such methods include, for example, riveting methods such as self-piercing riveting. In particular, in the field of automotive technology, such fastening methods have hitherto been well established, especially in body manufacturing.

[0004] In mass production, it is desirable to move a fastening tool using a programmable handling device such as a robot. In this case, it is likewise desirable to supply fasteners to a fastening tool attached to a robot arm. For this purpose, it is known to connect the fastening tool to a supply device by means of a supply hose. For example, International Publication No. 00 / 07751 discloses fasteners that are pre-assembled in a package and distributed by at least one fastener delivery tube that interconnects the mounting tool to a fastener supply device.

[0005] Furthermore, it is known from International Publication No. WO 07 / 031701 or German Published Patent Application No. DE 10 335 085 to connect a supply device to a docking station by means of a supply hose. In this case, there is a buffer on the fastening tool for accommodating a plurality of fasteners. To fill the magazine, the fastening tool moves to and docks with the docking station. Docking in this process is performed in such a way that both the outlet gate within the area of the docking station and the inlet gate of the buffer are mechanically opened by the docking procedure to establish a continuous connection between the supply device and the buffer. This requires a relatively costly mechanical actuator or power transmission device. In addition, docking and undocking are relatively time-consuming processes.

[0006] Against this background, the applicant has developed an improved method for supplying fasteners to a fastening tool that can be moved by a programmable handling device and on which a magazine for accommodating at least one fastener is attached. This method is shown in European Patent No. EP 2 629 905. This method includes the steps of moving a magazine to a filling station having a tube section that is always open by an outlet opening, orienting the magazine towards the outlet opening, opening an air seal of the magazine, and conveying at least one fastener into the tube section such that the fastener moves through the tube section and the outlet opening and reaches the magazine, wherein the outlet opening is unblocked before orienting the magazine and after conveying the fastener into the magazine.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0008] There is still a need to improve a fastening device provided with such a magazine in order to obtain good fastening, filling, and maintenance performance.

Means for Solving the Problems

[0009] This object is achieved by a first aspect of the invention according to the fastening device of claim 1. More specifically, the present invention relates to a fastening device, which fastening device comprises a fastening tool that can be moved by a programmable handling device, a magazine configuration attached to the fastening tool, the magazine configuration having a magazine for accommodating at least one fastener, the magazine having an inlet and an outlet, the magazine including a magazine hose, the magazine configuration, a magazine plate extending into the inlet of the magazine, a base plate extending along the magazine to which the magazine is coupled, a sensor adapted to detect the presence of a fastener in the magazine, and comprising, the magazine plate comprises a plate body and a closing configuration, the closing configuration comprising a closing slider that is adapted to move between an open position where the inlet of the magazine is open and a closed position where the inlet is closed, an elastic member that elastically holds the closing slider in the closed position, a toggle mechanism that is adapted to move the closing slider from the closed position to the open position, and having.

[0010] The toggle mechanism causes robust automatic opening and closing when the magazine is near the supply device. No additional actuator is required, and thus the opening and closing of the magazine are passive, which limits maintenance and risk of failure.

[0011] In one embodiment, the toggle mechanism can move between a first position where the closing slider is closed and a second position where the closing slider is opened, and the toggle mechanism includes a first arm, a second arm, and a pivot joint disposed between the first and second arms, and the first and second arms are rotatably coupled.

[0012] In one embodiment, the closing slider includes a first compressed air flow path that communicates with the magazine hose when the closing slider is in the closed position.

[0013] In one embodiment, the magazine is a first magazine, the magazine hose is a first magazine hose, the magazine configuration further includes a second magazine for accommodating at least one second fastener, the second magazine has an inlet and an outlet, the second magazine includes a second magazine hose, the magazine plate extends to the inlet of the second magazine, the base plate extends along the second magazine, and the second magazine is coupled to the base plate. The presence of two different magazines allows for additional flexibility. For example, the fastening device can store two types of fasteners, the first type of fastener is in the first hose, and the second type of fastener is in the second hose. Thus, the fastening device can carry many types of fasteners without increasing the length of the magazine hose.

[0014] In one embodiment, the closing slider includes a second compressed air flow path that communicates with the second magazine hose when the closing slider is in the closed position. Thus, the flow of compressed air is taken into the closing slider and is automatically stopped when the closing slider is in the open position.

[0015] In one embodiment, the sensor is adapted to detect the presence of fasteners in the first and / or second magazine. The sensor is coupled to the base plate, and a spacer is provided between the first and second magazine hoses. The spacer includes a removal mechanism adapted to facilitate the removal and replacement of the first and / or second magazine hoses.

[0016] In one embodiment, the removal mechanism includes an elastic pin that is adapted to move between a locked position and a released position. This mechanical configuration is easy to implement and particularly robust. The operator or robot or actuator can easily move the elastic pin from the locked position to the released position. The locked position corresponds to the rest position of the elastic pin.

[0017] In one embodiment, the spacer includes a spacer body, a fixing body, and an elastic pin. The fixing body is fixed to the base plate and extends vertically in a direction perpendicular to the base plate. The fixing body includes first and second recesses. The elastic pin can be elastically biased in the locked position. This mechanical configuration is easy to implement and particularly robust. Also, the configuration of this component facilitates the cleaning of the component.

[0018] In one embodiment, the spacer body is slidable relative to the fixing body between an operating position where the first and / or second magazine is adapted to receive one or more fasteners and a maintenance position where the first and / or second magazine is removed from the fastening device.

[0019] In one embodiment, the magazine configuration further includes an isolation module adapted to separate one fastener from a plurality of fasteners, and an outlet is connected to the isolation module. The isolation module improves the fastening performance using two magazines.

[0020] In a further embodiment, the isolation module comprises dispensing means adapted to slide between the outlets of the first magazine and / or the second magazine and the outlet port. This mechanical configuration is easy to implement and particularly robust.

[0021] The present invention relates to a fastening device system comprising the aforementioned fastening device and supply device, the magazine configuration having a centering element that cooperates with the centering element from the supply device, thus ensuring that the magazine is always accurately aligned with respect to the supply device, and more particularly ensuring that the outlet port of the supply device is always accurately aligned with respect to the inlet port of the magazine.

[0022] In one embodiment, the magazine configuration has a centering recess and the supply device has a centering pin.

[0023] In one embodiment, the magazine configuration has two centering recesses and the supply device has two centering pins.

[0024] In one embodiment, the centering pin extends in the longitudinal direction and has a non-uniform cross-section. The non-uniform cross-section, and more particularly the major part of the non-uniform cross-section, enables an interference fit of the centering pin and ensures perfect alignment with small tolerances.

[0025] In one embodiment, the supply device has a docking surface and a filling station, the filling station comprising a supply hose, the toggle mechanism having a bearing that spreads between two arms of the toggle mechanism and rolls on the docking surface, and the pressure of the docking surface on the toggle element enables the toggle element to move the closing slider from the closed position to the open position. The bearing can reduce the friction between the supply device and the magazine when the magazine is opened.

[0026] In one embodiment, the toggle mechanism comprises a rear bearing disposed at the free end of the second arm of the toggle mechanism and adapted to roll on the magazine plate. This can reduce the friction between the magazine plate and the closed configuration.

[0027] Finally, the present invention relates to a method of supplying fasteners to a fastening tool using the fastening device system described above. The present invention moving the magazine configuration relative to a supply device having a tube section and an outlet opening; orienting the magazine configuration relative to the outlet opening; aligning the magazine configuration and the supply device using a centering element; bringing the magazine and the supply device closer to each other such that the docking surface of the supply device presses the toggle mechanism from a first position to release the closing slider; carrying at least one fastener to the tube section in such a way that the fastener moves through the tube section and the outlet opening to reach the first and / or second magazine.

[0028] The present application also aims to disclose the following fastening device. The fastening device a fastening tool movable by a programmable handling device; a magazine configuration attached to the fastening tool, the magazine configuration having a first magazine for accommodating at least one first fastener, the first magazine having an inlet and an outlet, the first magazine including a first magazine hose; a second magazine for accommodating at least one second fastener, the second magazine having an inlet and an outlet, the second magazine comprising a second magazine hose; a magazine plate extending over the inlets of the first and second magazines; a base plate extending along the first and second magazines and connecting the first and second magazines; A sensor adapted to detect the presence of fasteners in the first and / or second magazine, is provided. The sensor is coupled to a base plate, and a spacer is provided between the first and second magazine hoses. The spacer includes a removal mechanism adapted to facilitate removal and replacement of the first and / or second magazine hoses.

[0029] The Applicant has found that attaching the sensor to the base plate (rather than directly to the magazine) does not change the detection of fasteners in the magazine, but rather enables good detection. In addition, a sensor adapted to detect the presence of fasteners in the magazine and not attached anywhere to the magazine can facilitate maintenance and, for example, replacement of the magazine hose. The spacer has a centering function and can facilitate removal of the first and / or second hose by the removal mechanism. Thus, such a fastening device is easy to remove, and the magazine hose can be easily replaced or cleaned without significant effort. Accordingly, both the sensor attached to the base plate (spaced from or at least not coupled to the magazine or magazine hose) and the spacer with the removal mechanism result in short removal times, good maintenance, and improved performance of the fastening device.

[0030] Other features and advantages of the present invention will be readily understood from the following description of non-limiting embodiments, with reference to the accompanying drawings.

Brief Description of the Drawings

[0031]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5

Figure 6

Figure 7A

Figure 7B

Figure 8A

Figure 8B

Figure 9

Figure 10

Figure 11

Figure 12A

Figure 12B

Figure 12C

Mode for Carrying Out the Invention

[0032] In various drawings, the same reference numerals indicate the same or similar elements. Figure 1 schematically shows an embodiment of a fastening device system 10 for generating a joint using a fastener. In this example, the fastening device system 10 is specifically designed for self-piercing rivets. However, the fastening device system 10 can be designed in a corresponding manner to produce, for example, stud joints (such as stud welding, adhesive stud bonding, etc.).

[0033] The fastening device system 10 has a fastening device 12 attached to a programmable handling device in the form of a robot 14. More specifically, the robot 14 has, for example, a first arm 16 and a second arm 18, and the fastening device is fixed to the second arm 18.

[0034] A fastening tool 20, particularly in the form of a self-piercing rivet tool, is fixed to the fastening device 12. The fastening tool 20 includes a C-shaped frame 22. At the upper end of the C-shaped frame 22, a punch 24 is attached, and the punch 24 can move in the fastening direction of the fastening tool 20 (as indicated by the double-headed arrow in Figure 1). A die 26 is fixed to the other end of the C-shaped frame 22.

[0035] The fastening tool 20 is designed to produce a joint using a fastener 28. In this example, the fastener 28 is a self-piercing rivet element.

[0036] For example, two or more workpieces (such as in the form of sheets made of the same or different materials) can be inserted between the punch 24 and the die 26. Next, the joining of these workpieces is performed by pushing the self-piercing rivet element by the punch 24. In the case of a tubular self-piercing rivet, the originally essentially cylindrical hollow section is radially expanded in this process, resulting in an undercut within the workpiece configuration. This type of self-piercing rivet process is generally known.

[0037] The movement of the punch 24 generally occurs along the fastening axis 30. The magazine configuration 32 is attached to the fastening tool 20. In FIG. 1, the magazine configuration 32 is attached in front of the C-shaped frame 22.

[0038] FIGS. 2 and 12A through 12C show various embodiments of a magazine configuration attached to a C-shaped frame. For example, in FIG. 2, the magazine configuration is attached to the rear portion of the C-shaped frame on the opposite side of the die 26 and the punch 24. The magazine configuration extends along an axis substantially parallel to the rear portion of the C-shaped frame. In FIGS. 12A and 12C, the magazine configuration is similarly attached to the rear portion of the C-shaped frame, but the magazine configuration extends along an axis that forms a predetermined angle with respect to the rear portion of the C-shaped frame. In FIG. 12B, the magazine configuration is attached to the upper portion of the C-shaped frame.

[0039] The magazine configuration 32 has a first magazine 34 for accommodating at least one, preferably a plurality of, first fasteners 28a. The first magazine 34 includes an inlet 36 adapted to receive the fasteners and an outlet 38 adapted to discharge the fasteners. A first magazine hose 40 extends between the inlet 36 and the outlet 38. The first magazine hose 40 extends along the magazine axis X. The magazine configuration 32 additionally has a magazine plate 42 and a base plate 44. The magazine plate 42 spreads out at the inlet of the first magazine 34. For example, the magazine plate extends at a right angle to the magazine axis X. The base plate 44 extends along the first magazine 34, more particularly along the first magazine hose 40. The first magazine 34 is attached on the base plate 44.

[0040] The first sensor 46 is provided to detect the presence of fasteners within the first magazine 34, and more particularly within the first magazine hose 40. The first sensor 46 is coupled to the base plate 44 and is located at a non-zero position from the first magazine hose 40. In other words, the sensor is non-contact with the first magazine hose 40 and is not attached to the first magazine 34. The first sensor 46 is, for example, a proximity transducer, or a optoelectronic sensor, or a fork-shaped / angular light barrier. In a preferred embodiment, a tubular inductive sensor is used.

[0041] Also, in one embodiment, the magazine configuration 32 can include a second magazine 48 for accommodating at least one, preferably a plurality of second fasteners 28b. The second fasteners can be the same as or different from the first fasteners 28a. The second magazine 48 includes an inlet 50 adapted to receive the fasteners and an outlet 52 adapted to discharge the fasteners. A second magazine hose 54 extends between the inlet 50 and the outlet 52. The second magazine hose 54 can extend substantially parallel to the first magazine hose 40. The magazine plate 42 extends to the inlet 50 of the second magazine 48. The second magazine hose 54 extends along the base plate 44. The second magazine hose extends along the base plate 44.

[0042] A second sensor 56, similar to the first sensor 46, is provided to detect the presence of fasteners within the second magazine 48, and more particularly within the second magazine hose 54. The second sensor 56 is coupled to the base plate 44 and is located at a non-zero position from the second magazine hose 54. In other words, the second sensor 56 is non-contact with the second magazine hose 54 and is not attached to the second magazine 48, but is directly attached to the base plate 44.

[0043] For example, as shown in FIG. 3, the first sensor 46 and the second sensor 56 are attached to the base plate and are disposed near the respective first and second magazine hoses 40, 54. More specifically, the first and second sensors do not spread between the first and second hoses 40, 54, but spread outward from the first and second magazine hoses 40, 54. Also, the third and fourth sensors S can be arranged such that two different sensors detect fasteners in the first magazine hose 40 and two different sensors detect fasteners in the second magazine hose 54. The two sensors for the first magazine hose 40 can be spaced apart, with one sensor near the inlet 36 and the other sensor near the outlet 38. The same arrangement can be given for the second magazine hose 54.

[0044] The spacer 58 can be provided between the first and second magazine hoses 40, 54. The spacer 58 enables maintaining the distance between the first and second magazine hoses 40, 54, but also enables easy removal of the first and / or second magazine or magazine hose. The spacer 58 includes a spacer body 60 and a removal mechanism 62.

[0045] The spacer body 60 includes a first hose recess 72 for accommodating the first magazine hose 40 and a second hose recess 74 for accommodating the second magazine hose 50. The first and second hose recesses 72, 74 have sections corresponding to, for example, hose sections, as shown in the drawing. This section can be quadrilateral. In other embodiments, it can include a circular section.

[0046] The removal mechanism 62 includes an elastic pin 64 and a fixed body 66. The elastic pin 64 is elastically slidable inside the spacer body 60. The elastic pin 64 is adapted to move between a locked position and a released position. The fixed body 66 is fixed to the base plate 44. The fixed body 66 includes first and second recesses 68, 70. The elastic pin 64 is adapted to protrude into the first recess 68 or the second recess 70. The spacer body 60 is slidable relative to the fixed body 66.

[0047] In the operating position shown in FIG. 4A, the fixed body is inserted into the spacer body, and the spacer body 60 contacts or is at least near the base plate 44. The elastic pin 64 extends into the first recess 68 of the fixed body 66. The first and second magazine hoses 40, 54 can receive, store, and deliver the fasteners 28a, 28b.

[0048] To move the spacer body 60 and the first and second magazine hoses 40, 54, the elastic pin 64 is pulled out against the elastic force that holds it in the locked position, and the elastic pin 64 moves toward the released position. As a result, the spacer body 60 can slide relative to the fixed body 66 (together with the first and second magazine hoses 40, 54 in the first and second hose recesses 72, 74). The spacer body 60 slides until the elastic pin 64 reaches the second recess 70 and elastically extends into the second recess 70. By doing so, the advancement of the spacer body 60 stops. Accordingly, the spacer body 60 is in a maintenance position where the first and / or second magazine hoses 40, 54 can be removed, cleaned, or replaced.

[0049] The second recess 70 includes an inclined surface that allows the elastic pin 64 to slide until it reaches a portion that spreads between the first and second recesses 68, 70 when the operator pushes the spacer body back to the operating position. Next, the tip of the elastic pin 64 can travel along the straight portion between the first and second recesses 68, 70 until it reaches the first recess 68 and is elastically pressed into it.

[0050] As described above, the magazine plate 42 extends to the inlets 50, 36 of the first and / or second magazine hoses 40, 54. The magazine plate 42 is shown in more detail in FIG. 6 and includes a plate body 76 and a closing configuration 78. The closing configuration 78 extends into the opening of the plate body 76 and includes a closing slider 80, an elastic spring 82, and a toggle mechanism 84.

[0051] The closing slider 80 is adapted to move between an open position where the inlets 36, 50 of the first and / or second magazines 34, 48 are open and a closed position where these inlets are closed. In the open position of the inlet, the fastener 28 can move to the first and / or second magazine hoses 40, 54. An elastic member (e.g., the elastic spring 82) elastically biases the closing slider 80 to the closed position. In fact, the closing slider 80 forms a sliding door for the inlets 36, 50 of the first and / or second magazine hoses 40, 54.

[0052] The closing slider 80 can be provided with a compressed air flow path 88. In the closed position of the closing slider 80, compressed air can flow from a compressed air supply source through the closing slider 80 to the magazine hoses 40, 54. Accordingly, the compressed air can push the fastener 28 through the hoses 40, 54 towards the outlets 38, 52. In other words, in the closed position of the closing slider 80, the compressed air flow path 88 of the closing slider aligns or communicates with the flow path from the compressed air supply source and the first and / or second magazine hoses 40, 54. In the open position of the closing slider 80, the compressed air flow path 88 no longer communicates with the flow path from the compressed air supply source and the magazine hoses, so the supply of the fastener is not hindered. Also, the closing slider 80 can have a sealing function. In the closed position, the compressed air from the supply source is directed towards the hoses and does not flow out from the inlets 36, 50.

[0053] The compressed air flow path 88 can comprise three parts 88a, 88b, 88c. The first part 88a communicates with a compressed air supply source. The first part 88a can extend, for example, along an axis that forms a predetermined angle with respect to the compressed air flow path of the compressed air supply source. The third part 88c can communicate with the first and / or second magazine hose (in the closed position of the closing slide 80). The second part 88b extends between the first part 88a and the third part 88c and forms a predetermined angle with respect to the first part 88a and the third part 88c.

[0054] Figure 7A shows the closing slide in the closed position, and Figure 7B shows the closing slide 80 in the open position. In reality, the closing slide 80 can comprise a first compressed air flow path 88 that is adapted to communicate with the first magazine hose 40 and a second compressed air flow path 88 that is adapted to communicate with the second magazine hose 54.

[0055] The toggle mechanism 84 is adapted to move the closing slide 80 from the closed position to the open position. The toggle mechanism 84 comprises a first arm 90, a second arm 92, and a pivot joint 94 between the first and second arms 90, 92. In the closed position of the closing slide 80, the first and second arms 90, 92 form a predetermined angle at the pivot joint 94, and the pivot joint 94 projects from the magazine plate 42. In the open position of the closing slide, the first and second arms 90, 92 may be in a straight line and may not project from the magazine plate 42 or the closing slide 80.

[0056] In addition, a bearing 96 is provided around the pivot joint. The bearing is, for example, a ball bearing or a roller bearing and generally comprises an inner ring, an outer ring, and a plurality of balls (in the case of a ball bearing). The inner ring is attached to the pivot joint 94, and the outer ring can move freely around the inner ring.

[0057] The toggle mechanism 84, and more particularly the outer ring of the bearing 96, is adapted to cooperate with the docking surface 98 of the supply device 100. The toggle mechanism 84 further comprises a rear bearing which is arranged at the free end of the second arm 92 of the toggle mechanism and is adapted to roll on the magazine plate 42. Thereby, the friction between the closing sliding body 80 and the magazine plate is significantly reduced.

[0058] The supply device 100 belongs to the fastening device system 10 and, when the first and / or second magazines 34, 40 dock with the supply device 100, supplies the fasteners 28 to the first and / or second magazines 34, 48 in cooperation with the fastening device 12. The supply device 100 can include a reservoir 102 for accommodating a plurality of fasteners 28. FIG. 1 schematically shows one reservoir 102, but can include two reservoirs for two different fasteners 28a, 28b. Also, the supply device 100 can include a separating device (not shown) for separating the fasteners. Finally, the supply device 100 can include a conveyor device, particularly in the form of a compressed air system. Using the compressed air system, the fasteners 28 can be conveyed to the filling station 106 of the supply device 100 via the supply hose 104, and the fasteners 28 can be moved to the first or second magazine 34, 48. For example, the supply hose 104 can have an outlet that is a normally open tube section. The magazine configuration 32 has a centering element that cooperates with the centering element of the supply device 100 so that the fasteners 28 can be safely moved from the supply device 100 to the first or second magazine 34, 48. For example, as shown in FIGS. 8A, 8B, and 9, the magazine configuration 32 has a centering recess 108 and the supply device has a centering pin 110. More specifically, as shown in FIG. 6, the magazine configuration 32 has two centering recesses 108 and the supply device has two centering pins 110. The centering pins 108 extend longitudinally along the alignment axis Xc. The centering pins 110 are generally cylindrical, but their cross-section is not constant, and two portions P1, P2 of the centering pins 110 have a cross-section where one is larger than the other. This allows for a good alignment with a perfect fit. The distance L1 between the first portion P1 and the second portion P2 is greater than the thickness L2 of the magazine plate. In other words, the distance between the first portion P1 and the second portion P2 is greater than the length of the centering recess.

[0059] In the stationary position, the bearing 96 of the toggle mechanism 84 projects from the magazine plate 42. As it approaches the docking surface 98, the docking surface 98 pushes the bearing 96 in, and the bearing 96 rolls on the docking surface 98, resulting in a force acting on the pivot joint 94 of the toggle mechanism 84, and the arm flattens in the direction of the magazine plate 42. Accordingly, a force acting against the elastic member acts on the arms 90, 92, and the closing slider 80 moves to the open position.

[0060] As shown in FIGS. 10 and 11, isolation modules 112 are provided at the outlets 38, 52 of the magazine. The isolation module 112 includes a drawer 114 having first and second recesses 116, 118, and the drawer is configured to slide so that the first recess 116 can be aligned with either the outlet 38 of the first magazine or the outlet port 120 of the magazine configuration 32. Further, the drawer 114 can slide so that the second recess 118 can be aligned with either the outlet 52 or the outlet port of the magazine configuration. The drawer 114 is moved by an actuator, such as an electric or pneumatic actuator.

[0061] During normal operation, the fastening device system 10 operates as follows. It begins with a plurality of fasteners 28 being housed in the first and / or second magazines 34, 48. In this process, the robot 14 moves the fastening tool 12 to the fastening position, where the workpieces to be joined are positioned between the punch 24 and the die 26. Next, the fasteners 28 move from the first or second magazine 34, 48 and from the outlet port 120. This movement can be performed manually, but can also be performed by an automatic transfer device controlled, for example, by a control device.

[0062] First, the punch 24 moves to execute the actual fastening process. Next, the punch 24 returns to its initial position and the fastening tool 12 moves to the next fastening position. As soon as the number of fasteners 28a, 28b present in the first or second magazine 34, 48 decreases or runs out, the fastening tool 12 moves to the supply device, specifically to the filling station. The number of fasteners 28a, 28b located in the first or second magazine 34, 48 can be monitored by the aforementioned sensors attached to the base plate.

[0063] As soon as the magazine plate 36 approaches the docking surface 98, the centering elements of the supply device 100 and the fastening device 12 align, and the supply hose 104 aligns with the inlets 36, 50 of the first and second magazines 34, 48. Next, one or more fasteners 28 are conveyed from the separating device or reservoir 102 to the first or second magazine 34, 480, i.e., through the supply hose and the inlet without interference, for example by a compressed air system. As soon as the first or second magazine is refilled, the fastening device can move away from the supply device, and by doing so, the toggle mechanism 84 can return to its rest position, and as a result, the closing slide can move to its closed position.

[0064] Also, the fastening device system 10 can include a control device. The control device is designed to control the various individual processes and individual devices of the fastening device system 10. In addition, the control device also serves to supply power as needed. For example, the control device is connected to the sensors 46, 56. In addition, the control device is designed to operate the isolation module. Furthermore, the control device is preferably also designed to control the robot 14 according to a special program. In addition, the control device is connected to the fastening tool 20 and is designed to operate the punch 24, for example. In this regard, the control device can be connected to the robot 14 and / or the fastening head 12 by means of a cable configuration. In addition, the control device can be connected to the filling station 46 by means of a cable configuration, especially in the form of individual sensor cables.

[0065] Accordingly, the aforementioned magazine configuration 32 is separated into two units. The first unit 124 includes all controllers such as valve terminals, port expanders, valves, pressure regulators, etc. The second unit 126 includes the first and second magazine hoses, outlets, inlets, isolation modules, and corresponding sensors. Such a division facilitates installation and maintenance operations. The first unit 124 is not included within the casing in order to leave easy access to various plug connections, chokes, pressure gauges, etc. The magazine configuration 32 is in a substantially symmetrical arrangement, enabling adaptation or placement on various frames.

Explanation of Reference Numerals

[0066] 34 Magazine 36 Inlet 42 Magazine Plate 44 Base Plate 48 Magazine 50 Inlet 76 Plate Body 78 Closed Configuration 80 Closing Slider 98 Docking Surface 100 Feeding Device 104 Feeding Hose 108 Centering Recess 110 Centering Pin

Claims

1. a fastening tool (20) that can be operated by a programmable handling device; a magazine arrangement (32) mounted on the fastening tool (20), the magazine arrangement (32) having a magazine (34) for housing at least one fastener (28a), the magazine (34) having an inlet (36) and an outlet (38), the magazine (34) including a magazine hose (40); a magazine plate (42) extending across the entrance (36) of the magazine (34); a base plate (44) extending along the magazine (34) and to which the magazine (34) is coupled; a sensor (46, 56, S) adapted to detect the presence of a fastener (28) in said magazine (34, 48); A fastening device (12) comprising: The magazine plate (42) comprises a plate body (76) and a closing arrangement (78), the closing arrangement (78) comprising: a closure slide (80) adapted to move between an open position in which the entrance (36) of the magazine (34) is open and a closed position in which the entrance (36) is closed; an elastic member (82) for elastically holding the closing slide (80) at the closed position; a toggle mechanism (84) adapted to move the closure slide (80) from the closed position to the open position; A fastening device (12) having

2. 2. The fastening device (12) of claim 1, wherein the toggle mechanism (84) is movable between a first position in which a closure slide (80) is closed and a second position in which the closure slide (80) is open, the toggle mechanism (84) comprising a first arm (90), a second arm (92), and a pivot joint (94) disposed between the first and second arms (90, 92), wherein the first and second arms are rotatably coupled.

3. 3. The fastening device (12) of claim 2, wherein the toggle mechanism (84) comprises a rear bearing disposed at a free end of the second arm (92) of the toggle mechanism and adapted to roll on the magazine plate (42).

4. 4. The fastening device (12) according to claim 1, wherein the closure slide (80) comprises a compressed air flow path (88) that communicates with the magazine hose (40) when the closure slide (80) is in the closed position.

5. 5. The fastening device of claim 1, wherein the magazine is a first magazine, the magazine hose is a first magazine hose, the magazine arrangement further comprises a second magazine for accommodating at least one second fastener, the second magazine having an inlet and an outlet, the second magazine comprising a second magazine hose, the magazine plate spanning the inlet of the second magazine, the base plate extending along the second magazine, and the second magazine coupled to the base plate.

6. 6. The fastening device (12) according to claim 4 or 5, wherein the closure slide (80) comprises a second compressed air flow path (88) that communicates with the second magazine hose (54) when the closure slide (80) is in the closed position.

7. 7. The fastening device (12) of claim 5 or 6, wherein the sensor (46, 56, S) is adapted to detect the presence of a fastener (28) in the first and / or second magazine (34, 48), the sensor (46, 56, S) is coupled to the base plate (44), and a spacer (58) is provided between the first and second magazine hoses (40, 54), the spacer (58) comprising a removal mechanism (62) adapted to facilitate removal and replacement of the first and / or second magazine hoses (40, 54).

8. The fastening device (12) of claim 7, wherein the removal mechanism (62) comprises a resilient pin (64) adapted to move between a locked position and an released position.

9. 9. The fastening device (12) of claim 8, wherein the spacer (58) comprises a spacer body (60), a fixed body (66), and a resilient pin (64), the fixed body (66) being fixed to the base plate (44) and extending vertically perpendicular to the base plate (44), the fixed body (66) comprising first and second recesses (68, 70), and the resilient pin (64) being resiliently biased in the locked position.

10. 10. The fastening device (12) of claim 9, wherein the spacer body (60) is slidable relative to the fixed body (66) between an operating position in which the first and / or second magazines (34, 48) are adapted to receive one or more fasteners and a maintenance position in which the first and / or second magazines (34, 48) are adapted to be removed from the fastening device.

11. A fastening device system (10) comprising a fastening device (12) according to any one of claims 1 to 10 and a supply device (100), wherein the magazine arrangement (32) has a centering element which cooperates with a centering element from the supply device.

12. The fastening device system (10) of claim 11, wherein the magazine arrangement (32) has a centering recess (108) and the feeder device has a centering pin (110).

13. The fastening system (10) of claim 11, wherein the centering pin (110) extends longitudinally and has a non-constant cross section.

14. 14. The fastening device system (10) of any of claims 11 to 13, wherein the supply device (100) has a docking surface (98) and a filling station (106), the filling station (106) comprising a supply hose (104), and the toggle mechanism (84) comprises a bearing (96) extending between two arms (90, 92) of the toggle mechanism and adapted to roll on the docking surface (98), such that pressure of the docking surface on the toggle element enables the toggle element to move the closing slide (80) from the closed position to the open position.

15. A method of feeding fasteners to a fastening tool (20) using a fastening device system (10) according to any one of claims 11 to 14, comprising the steps of: moving the magazine arrangement (32) relative to a feeder (100) having tube sections and an exit opening; orienting the magazine arrangement (32) towards the exit opening; aligning the magazine arrangement (32) and the feeding device (100) using centering elements (108, 110); bringing the magazine and feeder closer together so that a docking surface (98) of the feeder pushes a toggle mechanism from a first position to open a closure slide (80); conveying at least one fastener to the tube section in such a way that the fastener travels through the tube section and through an exit opening to reach the first and / or second magazine; The method includes:

Images