Fastening device, fastening system, and method for dispensing fasteners - Patents.com

Abstract

To provide a fastening device including a magazine, capable of giving excellent fastening, filling, and maintenance performances.SOLUTION: A method for feeding a fastener to a fastening tool, a fastening device system, and a fastening device each include: a magazine structure which is mounted on the fastening tool and has a magazine 34 for accommodating at least one fastener; a magazine plate 42 including a plate body 76; a base plate 44; and a closure structure 78. The closure structure 78 includes: a closure slider 80 which is moved between an open position and a closed position; and a toggle mechanism 84 which moves 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 fastening device, a fastening device system and a method for supplying fasteners to a fastening tool movable by a programmable handling device and fitted with a magazine for containing at least one fastener. [Background technology]

[0002] In the field of fastening technology, it is known to make connections using fasteners. These methods include, for example, fastening fasteners to workpieces, where the fasteners are often used as fixtures 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 studs can be rotationally symmetric fasteners, but also irregularly shaped fixtures.

[0003] Additionally, it is known to join at least two workpieces together using fasteners. Such methods include, for example, riveting methods, such as self-piercing riveting methods. Particularly in the automotive technology sector, such fastening methods have been well established up until now, especially in car body construction.

[0004] In mass production, it is desirable to move the fastening tool using a programmable handling device, such as a robot. In this case, it is also desirable to supply fasteners to the fastening tool mounted on the robot arm. For this purpose, it is known to connect the fastening tool to the supply device by a supply hose. For example, WO 00 / 07751 discloses fasteners that are preassembled in a package and dispensed by at least one fastener delivery tube that interconnects the installation tool to the fastener supply device.

[0005] It is also known, in particular from WO 07 / 031701 or DE 10335085 A1, to connect a feeder device to a docking station by means of a feed hose. In this case, a buffer for accommodating a number of fasteners is present on the fastening tool. To fill the magazine, the fastening tool moves to the docking station and docks. Docking in this process is performed in such a way that both an exit gate in the area of ​​the docking station and an entry gate of the buffer are mechanically opened by the docking procedure in order to establish a continuous connection between the feeder device and the buffer. This requires mechanical actuators or power transmission devices, which are quite costly. In addition, docking and undocking are relatively time-consuming processes.

[0006] Against this background, the applicant has developed an improved method for feeding fasteners to a fastening tool, which is movable by a programmable handling device and on which is mounted a magazine for accommodating at least one fastener, the method being shown in EP 2 629 905. The method comprises the steps of moving a magazine to a filling station having a tube section that is always open with an outlet opening, orienting the magazine towards the outlet opening, opening the magazine's air seal, and conveying at least one fastener to the tube section such that the fastener travels through the tube section and the outlet opening to reach the magazine, the outlet opening being unblocked before orienting the magazine and after conveying the fastener to the magazine. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] International Publication No. 00 / 07751 [Patent Document 2] International Publication No. 07 / 031701 [Patent Document 3] German Publication No. 10335085 [Patent Document 4] European Patent No. 26299056 Summary of the Invention [Problem to be solved by the invention]

[0008] There remains a need to improve fastening devices with such magazines in order to obtain good fastening, filling and maintenance performance. [Means for solving the problem]

[0009] This object is achieved according to a first aspect of the invention by a fastening device as claimed in claim 1. More particularly, the invention relates to a fastening device, which fastening device comprises: a fastening tool operable by a programmable handling device; a magazine arrangement mounted on the fastening tool, the magazine arrangement having a magazine for housing at least one fastener, the magazine having an inlet and an outlet, the magazine including a magazine hose; The magazine plate that spreads over the magazine entrance, a base plate extending along the magazine and to which the magazine is coupled; a sensor adapted to detect the presence of a fastener in the magazine; Equipped with The magazine plate includes a plate body and a closing arrangement, the closing arrangement including: a closure slide adapted to move between an open position in which the magazine entrance is open and a closed position in which the entrance is closed; an elastic member that elastically holds the closing slide at a closing position; a toggle mechanism adapted to move the closure slide from a closed position to an open position; has.

[0010] The toggle mechanism triggers a robust automatic opening and closing when the magazine is near the feeder. No additional actuator is required and therefore the opening and closing of the magazine is passive, which limits maintenance and the risk of failure.

[0011] In one embodiment, the toggle mechanism is movable between a first position in which the closure slide is closed and a second position in which the closure slide is open, the toggle mechanism comprising a first arm, a second arm, and a pivot joint disposed between the first and second arms, the first and second arms being rotatably coupled.

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

[0013] In one embodiment, the magazine is a first magazine, the magazine hose is a first magazine hose, and the magazine arrangement further comprises a second magazine for housing 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. 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 being in the first hose and the second type of fastener being 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 closure slide includes a second compressed air flow path that communicates with the second magazine hose when the closure slide is in the closed position, so that the flow of compressed air is captured by the closure slide and is automatically stopped when the closure slide is in the open position.

[0015] In one embodiment, a sensor is adapted to detect the presence of a fastener 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 including a removal mechanism adapted to facilitate removal and replacement of the first and / or second magazine hoses.

[0016] In one embodiment, the removal mechanism comprises a resilient pin adapted to move between a locked position and a released position. This mechanical arrangement is easy to implement and particularly robust. An operator or a robot or an actuator can simply move the resilient pin from the locked position to the released position. The locked position corresponds to the rest position of the resilient pin.

[0017] In one embodiment, the spacer comprises a spacer body, a fixing body, and a resilient pin, the fixing body being fixed to the base plate and extending vertically therewith, the fixing body comprising first and second recesses, and the resilient pin being resiliently biasable in the locked position. This mechanical configuration is easy to implement and particularly robust. This component configuration also facilitates cleaning of the components.

[0018] In one embodiment, the spacer body is slidable relative to the fixed body between an operating position in which the first and / or second magazines are adapted to receive one or more fasteners and a maintenance position in which the first and / or second magazines are adapted to be removed from the fastening device.

[0019] In one embodiment, the magazine arrangement further comprises an isolation module adapted to separate the single fastener from the multiple fasteners, the isolation module having an outlet connected thereto, the isolation module improving fastening performance with two magazines.

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

[0021] The present invention relates to a fastening device system comprising the aforementioned fastening device and a feeding device, wherein the magazine arrangement has a centering element which cooperates with a centering element from the feeding device, thus making it possible to ensure that the magazine is always accurately aligned with the feeding device, and more particularly that the exit port of the feeding device is always accurately aligned with the entrance port of the magazine.

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

[0023] In one embodiment, the magazine arrangement has two centering recesses and the feeder has two centering pins.

[0024] In one embodiment, the centering pin extends longitudinally and has a non-constant cross-section. The non-constant cross-sectional section, and more particularly the large portion of the non-constant cross-sectional section, allows for an interference fit of the centering pin to ensure perfect alignment with small tolerances.

[0025] In one embodiment, the feeder has a docking surface and a filling station, the filling station comprising a feed hose, and the toggle mechanism comprises a bearing extending between two arms of the toggle mechanism and adapted to roll on the docking surface, such that pressure of the docking surface on the toggle element allows the toggle element to move the closure slide from a closed position to an open position. The bearing can reduce friction between the feeder and the magazine when opening the magazine.

[0026] In one embodiment, the toggle mechanism includes a rear bearing disposed at the free end of the second arm of the toggle mechanism and adapted to roll on the magazine plate, thereby reducing friction between the magazine plate and the closing arrangement.

[0027] Finally, the present invention relates to a method of feeding fasteners to a fastening tool using the aforementioned fastening device system. moving the magazine arrangement relative to a feeder having a tube section and an exit opening; orienting the magazine arrangement relative to an exit opening; aligning the magazine arrangement and the feeding device using a centering element; bringing the magazine and the feeder closer together such that a docking surface of the feeder pushes the toggle mechanism from the first position to open the closure slide; conveying at least one fastener to the tube section in a manner such that the fastener travels through the tube section and the exit opening to reach the first and / or second magazine.

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

[0029] The applicant has found that mounting the sensor on the base plate (and not directly on the magazine) does not change the detection of fasteners in the magazine, but rather allows better detection. In addition, a sensor adapted to detect the presence of fasteners in the magazine and not mounted anywhere on 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 means of a removal mechanism. Thus, such a fastening device is easy to remove and the magazine hose can be easily replaced or cleaned without significant effort. Thus, both the sensor mounted on the base plate (spaced away from the magazine or magazine hose, or at least not connected 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 characteristics and advantages of the present invention will become readily apparent from the following non-limiting description of embodiments, given with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0031] [Figure 1] 1 is a schematic diagram of an embodiment of a fastener system including a fastener including a magazine attached to a fastening tool and a feeder; FIG. [Diagram 2] 1 shows an embodiment of a fastening device comprising a fastening tool and a magazine attached to the fastening tool. [Diagram 3]FIG. 13 is a perspective view of the first and second magazine hoses with the first and second sensors and spacers attached to the base plate of the fastening device. [Figure 4A] 1 shows a detailed view of a spacer with a body in a first position. [Figure 4B] 1 shows a detailed view of the spacer with the body in a second position. [Diagram 5] FIG. 2 is a diagram of the controlled and active parts of the fastening device. [Figure 6] FIG. 2 is a detailed perspective view of the closing arrangement of the fastening device. [Figure 7A] FIG. 13 is a detailed view of the closed configuration in a closed position. [Figure 7B] FIG. 13 is a detailed view of the closed configuration in an open position. [Figure 8A] FIG. 13 is a detailed view of the closed configuration before cooperation with the feeding device. [Figure 8B] FIG. 13 is a detailed view of the closed configuration after cooperation with the feeding device. [Figure 9] FIG. 13 is a detailed view of the centering elements of the closing device and the feeding device. [Figure 10] FIG. 2 shows an isolation module of the fastening device. [Figure 11] FIG. 11 is a detailed view of the isolation device of FIG. 10. [Figure 12A] 1 is an embodiment of an installation tool with a magazine mounted at the location of the fastening tool. [Figure 12B] 13 is an embodiment of the installation tool with the magazine mounted at another location on the fastening tool. [Figure 12C] 13 is an embodiment of the installation tool with the magazine mounted at another location on the fastening tool. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] In the various drawings, the same reference numbers indicate the same or similar elements. 1 shows a schematic representation of an embodiment of a fastener system 10 for producing joints with fasteners. In this example, the fastener system 10 is designed in particular for self-piercing rivets. However, the fastener system 10 can be designed in a corresponding manner, for example, for producing stud joints (stud welding, adhesive stud bonding, etc.).

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

[0034] A fastening tool 20, in particular in the form of a self-piercing rivet tool, is fixed to the fastening device 12. The fastening tool 20 comprises a C-frame 22. At the upper end of the C-frame 22 a punch 24 is attached, which is movable in the fastening direction of the fastening tool 20 (as indicated by the double-headed arrow in FIG. 1). At the other end of the C-frame 22 a die 26 is fixed.

[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 (e.g. in sheet form made of the same or different materials) can be inserted between the punch 24 and the die 26. The workpieces are then joined by forcing the self-piercing rivet element by the punch 24. In the case of tubular self-piercing rivets, the originally essentially cylindrical hollow section is radially expanded in the process, resulting in an undercut in the workpiece configuration. This type of self-piercing rivet process is commonly known.

[0037] Movement of the punch 24 is generally along a clamping axis 30 . The magazine arrangement 32 is attached to the fastening tool 20. In FIG.

[0038] Figures 2 and 12A-12C show various embodiments of a magazine arrangement mounted to a C-frame. For example, in Figure 2, the magazine arrangement is mounted to the rear of the C-frame opposite the die 26 and punch 24. The magazine arrangement extends along an axis that is approximately parallel to the rear of the C-frame. In Figures 12A and 12C, the magazine arrangement is similarly mounted to the rear of the C-frame, but the magazine arrangement extends along an axis that is at an angle to the rear of the C-frame. In Figure 12B, the magazine arrangement is mounted to the top of the C-frame.

[0039] The magazine arrangement 32 comprises a first magazine 34 for accommodating at least one, preferably a plurality of, first fasteners 28a. The first magazine 34 comprises 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 a magazine axis X. The magazine arrangement 32 additionally comprises a magazine plate 42 and a base plate 44. The magazine plate 42 spans 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 specifically along the first magazine hose 40. The first magazine 34 is mounted on the base plate 44.

[0040] A first sensor 46 is provided to detect the presence of a fastener in the first magazine 34, and more particularly in the first magazine hose 40. The first sensor 46 is coupled to the base plate 44 and is at a non-zero position from the first magazine hose 40. In other words, the sensor is non-contacting 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 photoelectric sensor, or a forked / angled light barrier. In a preferred embodiment, a tubular inductive sensor is used.

[0041] Also, in one embodiment, the magazine arrangement 32 may include a second magazine 48 for housing at least one, and preferably a plurality of, second fasteners 28b. The second fasteners may be identical to or different from the first fasteners 28a. The second magazine 48 includes an inlet 50 adapted to receive a fastener and an outlet 52 adapted to discharge the fastener. A second magazine hose 54 extends between the inlet 50 and the outlet 52. The second magazine hose 54 may extend generally parallel to the first magazine hose 40. The magazine plate 42 spans 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 a fastener in the second magazine 48, and more particularly in the second magazine hose 54. The second sensor 56 is coupled to the base plate 44 and is at a non-zero location from the second magazine hose 54. In other words, the second sensor 56 is non-contacting the second magazine hose 54 and is not attached to the second magazine 48, but is attached directly to the base plate 44.

[0043] For example, as shown in FIG. 3, the first sensor 46 and the second sensor 56 are mounted on the base plate and positioned near the respective first and second magazine hoses 40, 54. More specifically, the first and second sensors do not extend between the first and second hoses 40, 54, but extend outward from the first and second magazine hoses 40, 54. Also, the third and fourth sensors S can be positioned 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 provided for the second magazine hose 54.

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

[0045] The spacer body 60 comprises a first hose recess 72 for receiving the first magazine hose 40 and a second hose recess 74 for receiving the second magazine hose 50. The first and second hose recesses 72, 74 have sections corresponding to the hose sections, for example, as shown in the drawings. The sections may be rectangular. In other embodiments, they may comprise circular sections.

[0046] The removal mechanism 62 includes a resilient pin 64 and a fixed body 66. The resilient pin 64 is resiliently slidable inside the spacer body 60. The resilient pin 64 is adapted to move between a locked position and an unlocked position. The fixed body 66 is fixed to the base plate 44. The fixed body 66 includes first and second recesses 68, 70. The resilient 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] 4A, the retainer is inserted into the spacer body and the spacer body 60 is in contact with or at least near the base plate 44. The resilient pin 64 extends into a first recess 68 in the retainer 66. The first and second magazine hoses 40, 54 are capable of receiving, storing and delivering 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 maintains it in the locked position, and the elastic pin 64 moves towards the released position, so that the spacer body 60 (together with the first and second magazine hoses 40, 54 in the first and second hose recesses 72, 74) can slide against the fixed body 66. The spacer body 60 slides until the elastic pin 64 reaches the second recess 70 and resiliently extends into the second recess 70. By doing so, the progression of the spacer body 60 stops. The spacer body 60 is thus in a maintenance position in which the first and / or second magazine hoses 40, 54 can be removed, cleaned or replaced.

[0049] The second recess 70 provides an inclined surface that allows the resilient pin 64 to slide up to the portion spanning between the first and second recesses 68, 70 when the operator pushes the spacer body back into the operative position. The tip of the resilient pin 64 can then travel along the straight portion between the first and second recesses 68, 70 until it reaches the first recess 68 and is resiliently pressed into it.

[0050] As previously mentioned, the magazine plate 42 spans the inlets 50, 36 of the first and / or second magazine hoses 40, 54. The magazine plate 42 is shown in more detail in Figure 6 and comprises a plate body 76 and a closure arrangement 78. The closure arrangement 78 spans an opening in the plate body 76 and comprises a closure slide 80, a resilient spring 82, and a toggle mechanism 84. has.

[0051] The closure slide 80 is adapted to move between an open position in which the inlet 36, 50 of the first and / or second magazine 34, 48 is open, and a closed position in which the inlet is closed. In the inlet open position, the fastener 28 can move onto the first and / or second magazine hose 40, 54. A resilient member (e.g., a resilient spring 82) resiliently biases the closure slide 80 into the closed position. In effect, the closure slide 80 forms a sliding door of the inlet 36, 50 of the first and / or second magazine hose 40, 54.

[0052] The closure slide 80 may comprise a compressed air flow path 88, and in the closed position of the closure slide 80, compressed air may pass from the compressed air source through the closure slide 80 to the magazine hose 40, 54. Thus, the compressed air may push the fastener 28 through the hose 40, 54 towards the outlet 38, 52. In other words, in the closed position of the closure slide 80, the compressed air flow path 88 of the closure slide is aligned or communicates with the flow path from the compressed air source and the first and / or second magazine hose 40, 54. In the open position of the closure slide 80, the compressed air flow path 88 is no longer in communication with the flow path from the compressed air source and the magazine hose, so that the feeding of the fastener is not impeded. The closure slide 80 may also have a sealing function, and in the closed position, the compressed air from the source is directed to the hose and does not flow out of the inlet 36, 50.

[0053] The compressed air flow passage 88 may comprise three portions 88a, 88b, 88c. The first portion 88a communicates with a compressed air source. The first portion 88a may extend, for example, along an axis that is at an angle to the compressed air flow passage of the compressed air source. The third portion 88c may communicate with the first and / or second magazine hose (in the closed position of the closure slide 80). The second portion 88b extends between the first portion 88a and the third portion 88c and is at an angle to the first portion 88a and the third portion 88c.

[0054] Figure 7A represents the closure slide in a closed position, and Figure 7B represents the closure slide 80 in an open position. In practice, the closure slide 80 may comprise a first compressed air flow path 88 adapted to communicate with the first magazine hose 40 and a second compressed air flow path 88 adapted to communicate with the second magazine hose 54.

[0055] The toggle mechanism 84 is adapted to move the closure slide 80 from a closed position to an open position. The toggle mechanism 84 includes 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 closure slide 80, the first and second arms 90, 92 are at an angle at the pivot joint 94, which protrudes from the magazine plate 42. In the open position of the closure slide, the first and second arms 90, 92 may be in line and may not protrude from the magazine plate 42 or the closure slide 80.

[0056] Additionally, bearings 96 are provided around the pivot joint. The bearings may be, for example, ball or roller bearings, and typically include an inner ring, an outer ring, and a number of balls (in the case of ball bearings). The inner ring is attached to the pivot joint 94, and the outer ring is free to move around the inner ring.

[0057] The toggle mechanism 84, and more particularly the outer race of the bearing 96, is adapted to cooperate with a docking surface 98 of the feeder device 100. The toggle mechanism 84 further comprises a rear bearing arranged at the free end of the second arm 92 of the toggle mechanism and adapted to roll on the magazine plate 42. This significantly reduces friction between the closure slide 80 and the magazine plate.

[0058] The feeding device 100 belongs to the fastening device system 10 and cooperates with the fastening device 12 to feed the fasteners 28 to the first and / or second magazines 34, 48 when the first and / or second magazines 34, 40 are docked to the feeding device 100. The feeding device 100 can include a reservoir 102 for accommodating a plurality of fasteners 28. FIG. 1 shows one reservoir 102 in a schematic manner, but it can include two reservoirs for two different fasteners 28a, 28b. The feeding device 100 can also include a separation device (not shown) for separating the fasteners. Finally, the feeding device 100 can include a conveyor device, in particular in the form of a compressed air system. By means of the compressed air system, the fasteners 28 can be conveyed via a supply hose 104 to a filling station 106 of the feeding device 100, where the fasteners 28 can be moved to the first or second magazine 34, 48. For example, the supply hose 104 may have an outlet that is a normally open tube section. To allow safe transfer of the fasteners 28 from the supply device 100 to the first or second magazine 34, 48, the magazine arrangement 32 has a centering element that cooperates with the centering element of the supply device 100. For example, as shown in Figures 8A, 8B and 9, the magazine arrangement 32 has a centering recess 108 and the supply device has a centering pin 110. More specifically, as shown in Figure 6, the magazine arrangement 32 has two centering recesses 108 and the supply device has two centering pins 110. The centering pin 108 extends longitudinally along the alignment axis Xc. The centering pin 110 is generally cylindrical, but its cross section is not constant, and the two parts P1, P2 of the centering pin 110 have a cross section that is larger than the other. This allows a good alignment with a snug fit. The distance L1 between the first portion P1 and the second portion P2 is greater than the thickness L2 of the magazine plate, i.e., greater than the length of the centering recess.

[0059] In the rest position, the bearing 96 of the toggle mechanism 84 protrudes from the magazine plate 42. Upon approaching the docking surface 98, the docking surface 98 presses against the bearing 96, which rolls on the docking surface 98, resulting in a force on the pivot joint 94 of the toggle mechanism 84, which flattens the arms towards the magazine plate 42. The arms 90, 92 are thus subjected to a force against the elastic members, which moves the closure slide 80 to the open position.

[0060] As shown in Figures 10 and 11, the magazine outlets 38, 52 are provided with an isolation module 112. The isolation module 112 comprises a drawer 114 including first and second recesses 116, 118, which are adapted to slide so that the first recess 116 can be aligned either with the first magazine outlet 38 or with an outlet port 120 of the magazine arrangement 32. The drawer 114 can also slide so that the second recess 118 can be aligned either with the outlet 52 or with an outlet port of the magazine arrangement. The drawer 114 is moved by an actuator, for example an electric or pneumatic actuator.

[0061] During normal operation, the fastening system 10 operates as follows. It begins with a plurality of fasteners 28 contained within the first and / or second magazines 34, 48. In this process, the robot 14 moves the fastening tool 12 to a fastening position where the workpieces to be joined together are positioned between the punch 24 and the die 26. The fasteners 28 are then moved from the first or second magazines 34, 48 and out the exit port 120. This movement can be manual, but can also be by an automated movement device controlled by, for example, a controller.

[0062] First the punch 24 moves to carry out the actual fastening process. Then the punch 24 returns to its initial position and the fastening tool 12 moves to the next fastening position. As soon as there are fewer or no more fasteners 28a, 28b present in the first or second magazine 34, 48, the fastening tool 12 moves to a feed device, more specifically to a filling station. The number of fasteners 28a, 28b located in the first or second magazine 34, 48 can be monitored by the aforementioned sensor mounted on the base plate.

[0063] As soon as the magazine plate 36 approaches the docking surface 98, the respective centering elements of the feeding device 100 and the fastening device 12 are aligned so that the supply hose 104 is aligned with the inlets 36, 50 of the first and second magazines 34, 48. The fastener or fasteners 28 are then conveyed unhindered from the separating device or reservoir 102 to the first or second magazine 34, 480, i.e., unhindered through the supply hose and the inlet, for example by a compressed air system. As soon as the first or second magazine is refilled, the fastening device can be removed from the feeding device, which allows the toggle mechanism 84 to return to its rest position and, consequently, the closure slide to move to its closed position.

[0064] The fastening system 10 may also include a control device. The control device is designed to control the various individual processes and individual devices of the fastening system 10. In addition, the control device is also responsible for supplying power, if necessary. For example, the control device is connected to the sensors 46, 56. In addition, the control device is designed to activate the isolation module. Furthermore, the control device is also designed to control the robot 14, preferably according to a special program. In addition, the control device is connected to the fastening tool 20 and is also designed to activate, for example, the punch 24. In this connection, the control device may be connected to the robot 14 and / or the fastening head 12 by a cable arrangement. In addition, the control device may be connected to the filling station 46 by a cable arrangement, in particular in the form of a separate sensor cable.

[0065] Thus, the magazine arrangement 32 as described above is separated into two units. The first unit 124 comprises all the controllers including valve terminals, port expanders, valves, pressure regulators, etc. The second unit 126 comprises 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 enclosed in a casing to leave easy access to the various plug connections, chokes, pressure gauges, etc. The magazine arrangement 32 is approximately symmetrically arranged, allowing it to be adapted or placed on various frames. [Explanation of symbols]

[0066] 34 Magazine 36 Entrance 42 Magazine Plate 44 Base Plate 48 Magazine 50 Entrance 76 Plate body 78 Closed Configuration 80 Closing Slide 98 Docking Surface 100 Feeding device 104 Supply 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).

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) of claim 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 5 to 10 and a supply device (100), wherein the magazine arrangement (32) has centering elements which cooperate with centering elements 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 12, 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) comprising a supply hose (104), and the toggle mechanism (84) comprises a bearing (96) extending between two arms (90, 92) of the toggle mechanism (84) adapted to roll on the docking surface (98), such that pressure of the docking surface on the toggle mechanism (84) enables the toggle mechanism (84) 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:

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