Handheld milling machine and method

Abstract

Provide a milling device that can be used flexibly. 【Solution means】In a milling device 10 for forming a recess in a workpiece, a contact device 6 having a contact structure 8 including a first structural part 9 and a second structural part 11 that statically contact the workpiece simultaneously during the formation of the recess, wherein the second structural part 11 is supported so as to be rotatable relative to the first structural part 9 and can be fixed relative to the first structural part 9 at a plurality of different rotational positions, said contact device; an electrical positioning device formed to move a milling tool 17 relative to the contact structure 8 along positioning degrees of freedom 31, 32, 33; an electronic control unit formed to control the electrical positioning device according to motion information so that the milling tool 17 performs a rotary cutting motion to form a recess are included.

Description

Technical Field

[0001] The present invention relates to a hand-held milling device for forming a recess in a workpiece, including a handgrip for gripping the milling device and positioning the milling device relative to the workpiece.

Summary of the Invention

Problems to be Solved by the Invention

[0002] The problem of the present invention is to provide a milling device that can be used flexibly.

Means for Solving the Problems

[0003] This problem is solved by the milling device according to claim 1.

[0004] The milling apparatus includes a contact device having a contact structure comprising a first structural part and a second structural part for simultaneously statically contacting a workpiece during the formation of a recess, wherein the first structural part defines a first contact plane, the second structural part defines a second contact plane, and the second structural part is pivotably supported relative to the first structural part and can be fixed relative to the first structural part in a plurality of different pivot positions to set (adjust) a fixed angle adapted to the workpiece between the contact planes. The milling apparatus further includes a milling tool and an electrically driven device formed to cause the milling tool to perform a rotational cutting motion. The milling apparatus further includes an electrical positioning device formed to move a milling tool relative to a contact structure along at least two particularly linear degrees of freedom of positioning, and an electronic control unit formed to control (operate) the electrical positioning device according to motion information, such that the electrical positioning device brings the milling tool into a sequence of motion defined by motion information along at least two degrees of freedom of positioning, while the milling tool performs a rotational cutting motion to form a recess having a predetermined recess geometry (while the milling tool performs a rotational cutting motion to form a recess having a predetermined recess geometry, the electrical positioning device brings the milling tool into a sequence of motion defined by motion information along at least two degrees of freedom of positioning). The recess geometry is predetermined, in particular by the sequence of motion, preferably with respect to at least two degrees of freedom of positioning.

[0005] In the above milling machine, the geometric shape of the recess to be formed is determined by motion information. The milling machine is a (handheld) CNC machine, and may also be called a (handheld) CNC milling machine. The geometric shape of the recess to be formed can be easily adapted using appropriately adapted motion information, for example, to enable the formation of a recess that is correspondingly narrow on the narrow side of the workpiece. A contact device having a settable (adjustable) angle between the contact planes ensures that the milling machine can make static and stable contact with the workpiece during recess formation, especially when the recess is formed on the narrow side of the workpiece. In this case, there is a risk that contact on the narrow side, for example, only by the first structural part, is insufficient to ensure that the milling machine remains in static and stable contact with the workpiece during recess formation. In this case, a second structural part can rotate accordingly to contact the other side (particularly the larger side) of the workpiece in order to ensure stable and static contact of the milling machine with the workpiece during recess formation.

[0006] A favorable developmental formation is the subject of the dependent claim.

[0007] Furthermore, the present invention relates to a method for operating a handheld milling machine, comprising the following steps: - The step of positioning the milling machine on the workpiece so that the milling machine simultaneously and statically contacts the workpiece with both structural parts while the milling machine is forming a recess, - The steps of controlling (operating) the electrical positioning device according to motion information, such that the electrical positioning device brings the milling tool into motion sequence, while the milling tool performs a rotational cutting motion to form a recess having a recess geometry predetermined by the motion sequence (while the milling tool performs a rotational cutting motion to form a recess having a recess geometry predetermined by the motion sequence, the electrical positioning device brings the milling tool into motion sequence); This relates to the method including the above.

[0008] This method is intended to correspond to one embodiment of a handheld milling machine.

[0009] Further illustrative details and exemplary embodiments are described below with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] This is a perspective view of a handheld milling machine according to the first embodiment. [Figure 2] This is another perspective view of a handheld milling machine, with the drive and positioning mechanisms inside the housing illustrated by dashed lines. [Figure 3] This diagram shows the structure of a handheld milling machine, consisting of a drive unit, a positioning unit, and a milling tool. [Figure 4] This is a schematic cross-sectional view of a milling machine seen from above. [Figure 5] This is a schematic side view of a milling machine, with the machine in contact with the workpiece. [Figure 6] This is a perspective view of a handheld milling machine according to the second embodiment. [Figure 7] This is another perspective view of a handheld milling machine according to a second embodiment. [Figure 8] This is a cross-sectional view of a milling machine according to the second embodiment, seen from below. [Figure 9] This is a cross-sectional view of a milling machine according to the second embodiment, seen from the side. [Figure 10] This is an exploded view of a workpiece arrangement structure having two workpieces, one rotating connector, and two flat dowels. [Figure 11] This is an exploded view of a workpiece arrangement structure having two workpieces, one rotating connector, and two circular dowels. [Figure 12] This is an exploded view of a workpiece arrangement structure having two workpieces and one motion mechanism connection. [Figure 13]This diagram shows the workpiece arrangement structure in its assembled state. [Figure 14] This is a cross-sectional perspective view of the workpiece arrangement structure in its assembled state, where the cross-section extends through the cutting plane X shown in Figure 13, and the connection points are not shown. [Figure 15] This is a side view of the cross-section. [Figure 16] This is a detailed cross-sectional view, showing the connection points. [Modes for carrying out the invention]

[0011] In the following description, the x, y, and z directions are spatial directions oriented perpendicular to each other. The x direction is shown as the width direction, the y direction as the lateral direction, and the z direction as the depth direction. These directions relate to the milling machine 10 and rotate in conjunction with the milling machine 10 when it rotates. For the purposes of this description, the depth direction z extends in the direction of the axis of rotation (line) of the rotational cutting motion of the milling tool 17 of the milling machine 10. The width direction x and the lateral direction y extend perpendicular to the axis of rotation of the rotational cutting motion, respectively.

[0012] Figure 1 shows an exemplary configuration of a handheld milling machine 10 according to a first embodiment. The milling machine 10 is used to form a recess 1 in a workpiece 2 (see, for example, Figure 4). The term “handheld milling machine” specifically indicates that the entire milling machine is intended to be held by hand by the user during the formation of the recess 1. In particular, the milling machine 10 is dimensionally and / or configured so that the entire milling machine 10 can be held by hand by an individual. For example, the milling machine 10 has a weight of less than 20 kg, less than 15 kg, less than 10 kg, or less than 5 kg.

[0013] The milling machine 10 includes a housing 3, which is in particular the outer housing of the milling machine 10. The housing 3 has, exemplary, a cubic basic shape.

[0014] The milling device 10 includes, by way of example, a hand grip 4 disposed on the first side surface 5 of the milling device 10. The first side surface 5 can also be called the hand grip side and is, by way of example, oriented perpendicular to the lateral direction y. The first side surface 5 is, by way of example, formed by the wall portion of the housing 3. The hand grip 4 is used to grip the milling device 10 and position the milling device 10 relative to the workpiece 2. The hand grip 4 is, by way of example, configured in an arcuate (U-shaped) manner. By way of example, the hand grip 4 is oriented parallel to the width direction x about its longitudinal axis. Instead of this, the hand grip 4 can be oriented parallel to the depth direction z about its longitudinal axis. Also, the hand grip can be configured differently. Preferably, the hand grip 4 is configured to be integrated with the housing 3.

[0015] Preferably, the extension in the width direction x of the housing 3 (especially without considering the entire hand grip of the milling device 10) is greater than the extension in the depth direction x of the housing 3 (especially without considering the entire hand grip of the milling device 10). Preferably, the extension in the width direction x of the milling device 10 without considering the entire hand grip of the milling device 10 is greater than the depth direction z.

[0016] The milling device 10 includes, by way of example, a contact device 6 arranged on the second side 7 of the milling device 10. The second side 7 can also be referred to as the contact side and is, by way of example, oriented perpendicular to the depth direction z. The contact device 6 comprises a contact structure 8 including a first structural part 9 and a second structural part 11. The second structural part 11 is, by way of example, connected to the first structural part 9 in the lateral direction y. The first structural part 9 and the second structural part 11 are used to simultaneously and statically contact the workpiece 2 during the formation of the recess 1. The first structural part 9 defines a first contact plane, and the second structural part 11 defines a second contact plane. For example, the first structural part 9 comprises a first contact surface that defines the first contact plane, and / or the second structural part 11 comprises a second contact surface that defines the second contact plane. Expediently, the milling device 10 contacts the workpiece 2 by means of the first contact plane and the second contact plane simultaneously during the formation of the recess 1, particularly during the overall formation of the recess. The first contact plane is, by way of example, oriented perpendicular to the depth direction z and is preferably continuously fixed in such a way that, in this orientation, particularly the orientation of the first contact plane does not change.

[0017] The second structural part 11 is supported so as to be pivotable relative to the first structural part 9, particularly preferably about a (virtual) pivot axis 15 that is oriented parallel to the x-axis. Preferably, the second structural part 11 is pivotable about a pivot axis 15 that is oriented perpendicular to the rotational axis of the cutting movement of the milling tool 17 of the milling device 10. The pivot axis 15 is, by way of example, arranged in the lateral direction y between the first structural part 9 and the second structural part 11. By way of example, the contact device 6 comprises a pivot bearing that defines the pivot axis 15.

[0018] The second structural part 11 can be fixed in a plurality of different pivot positions relative to the first structural part 9 in order to set (adjust) a fixed angle 12 (see, for example, Figure 5) that is particularly suitable for the workpiece 2 between the first and second contact planes. The angle 12 is in the zy plane in particular. By pivoting the second structural part 11 (about the pivot axis 15) relative to the first structural part 9, the second contact plane can be pivoted relative to the first contact plane (and particularly relative to the depth direction z). Preferably, the milling machine 10 is equipped with a fixing device that allows the second structural part 11 to be fixed, for example, in a fitted and / or engaged manner, in any plurality of different pivot positions relative to the first structural part 9 using the fixing device. Exemplarily, the fixing device is equipped with at least one structural part guide element 41 which is preferably formed as a guide slot. Exemplary, at least one structural guide element 41 is fixed to the second structural part 11 and pivots with the second structural part about a pivot axis 15. Preferably, at least one structural guide element 41 defines or contributes to defining the pivot axis 15. At least one structural guide element 41 can be considered in particular as part of the pivot axis. The fixing device preferably includes an operating element 42, which is exemplary configured as a lever, and through its operation, the second structural part 11 can be fixed in its current pivot position relative to the first structural part 9, for example, in a fitted and / or engaged manner, and in particular, at least one structural guide element 41 can be fixed in its current pivot position relative to the first structural part 9, for example in a fitted and / or engaged manner, using the operating element 42.

[0019] The second structural part 11 is pivotable, in particular, to a first pivot position in which the second contact plane lies in the same plane as the first contact plane, for the sake of purpose. In the first pivot position, the angle 12 is particularly 180°. In the first pivot position, the second structural part 11 is oriented perpendicular to the depth direction z (see, for example, Figure 1). Preferably, the first pivot position is the position of one end of the second structural part 11. The second structural part 11 is pivotable about the pivot axis 15 to reduce the angle 12 from the first pivot position, in particular to an angle 12 of at least 90° or less. The second structural part 11 is displaceable to a second pivot position in which the angle 12 is less than 180°, for example, 90° or less.

[0020] Exemplary, the first structural part 9 and / or the second structural part 11 are plate-shaped. The contact device 6 may also be called a contact table. The first structural part 9 exemplarily includes a first contact portion 13 and a second contact portion 14, which are particularly plate-shaped and / or spaced apart from each other. The first contact portion 13 and the second contact portion 14 both define a first contact plane and, for the purpose of forming a recess, both simultaneously contact the workpiece 2.

[0021] Exemplary, the contact device 6 comprises a first contact projection 19 and / or a second contact projection 21, the first and second contact projections being positioned on the first structural part 11, particularly the first contact part 13 and the second contact part 14, and preferably extending from the first structural part 1 in the depth direction z. For the purpose, the milling device 10 can be contacted by at least one of the contact projections 19, 21 in a direction perpendicular to the depth direction z when the recess 1 is formed. For the purpose, the contact projections 19, 21 are supported to be movable relative to the first contact plane, and in particular, the contact projections 19, 21 can be displaced to a retracted state where they do not protrude from the first contact plane, and / or to a protruding state where they protrude from the first projection plane.

[0022] Preferably, the contact structure 8 includes an opening 16. Exemplarily, the opening 16 is located between the two contact portions 13 and 14 in the width direction x. Exemplarily, the milling tool 17 extends from the internal space 18 (particularly enclosed by the housing 3) through the opening 16 to the outside of the milling apparatus 10, particularly the housing 3. The milling tool 17 can be positioned within the opening 16 using the electrical positioning device 18 of the milling apparatus 10, particularly along at least two positioning degrees of freedom 31, 32, and 33. Exemplarily, the opening 16 has an elongated and / or rectangular cross-section. The opening 16 is oriented perpendicular to the depth direction z with respect to its opening plane.

[0023] Preferably, the opening 16 extends across the first structural part 9 and the second structural part 11. For the purposes of this, the opening 16 is located in the first structural part 9 (exemplifiedly between the first contact portion 13 and the second contact portion 14) and extends from there into the second structural part 12 (exemplifiedly in the lateral direction y). Exemplarily, the opening 16 is cut by a (virtual) pivot axis 15. Exemplarily, the pivot axis 15 cuts the range of motion of the milling tool 17, particularly the xy range of motion or the xyz range of motion. The range of motion is formed by at least two or three positioning degrees of freedom 31, 32, 33 provided by the positioning device 18. For example, the range of motion is a plane, particularly the xy plane, or a volume (space), particularly the xyz volume (space), within which the milling tool 17 can be positioned using the positioning device 18.

[0024] Exemplary, the opening 16 extends to the first structural edge 23 of the first structural part 9 opposite to the second structural part 11 (particularly in the negative lateral direction y), and, for the purposes of the project, opens at the edge 23 in the negative lateral direction y. According to an alternative configuration, the opening 16 does not extend to the first structural edge 23, and as a result, a web-like portion extends below the opening 16 in the negative lateral direction y, particularly from the first contact portion 13 to the second contact portion 14.

[0025] Exemplary, the milling machine 10 includes a contact structure handgrip 22 positioned on a second structural part 11, and for the purpose, the second structural part 11 is pivotable relative to the first structural part 9 via the contact structure handgrip. Exemplary, the contact structure handgrip 22 is configured as a handle. Alternatively, the contact structure handgrip 22 may be configured as a stirrup (U-shape). For example, a user can hold the milling machine 10 with one hand on the handgrip 4 and simultaneously hold it with the other hand on the contact structure handgrip 22. Preferably, the contact structure handgrip 22 is oriented parallel to the width direction x with respect to its handgrip axis. The (virtual) axis of the contact structure handgrip 22 that the user grasps when gripping the contact structure handgrip 22 (particularly according to the specification) is called the handgrip axis.

[0026] The milling machine 10 includes a milling tool 17 configured as a groove milling machine, preferably a T-slot milling machine. The milling tool 17 is configured as an undercut milling machine. A milling machine capable of forming a recess 1 having an undercut, particularly an undercut acting along a direction parallel to the axis (line) of rotation of the cutting motion, is called an undercut milling machine. The milling tool 17 can be configured, for example, as a groove milling machine. In addition, the milling tool 17 can be configured as a drilling machine or a drill milling machine, especially when the recess 1 to be formed does not have an undercut. The milling tool 17 exemplary comprises a shaft portion 24 and a milling head 25 positioned at one end of the shaft portion 24. Exemplarily, the shaft portion 24 is oriented in the depth direction z along its longitudinal axis.

[0027] The milling machine 10 includes an electric drive unit 27 formed to bring a milling tool 17 into a rotational cutting motion. The axis (line) of rotation of the rotational cutting motion is, for the purposes, oriented in the depth direction z. The electric drive unit 27 includes, for example, an electric motor 28 to bring the milling tool 17 into a rotational cutting motion. For the purposes, the drive unit 27 includes a tool connection point 29 to which the milling tool 17 is attached. For example, the tool connection point 29 has a male thread, and the milling tool 17 has a female thread that screws the milling tool 17 into the male thread. The male thread is preferably located on the spindle 49 of the drive unit 27.

[0028] The milling machine 10 is equipped with an electrical positioning device 26, which is configured to move the milling tool along at least two particularly linear positioning degrees of freedom 31, 32, and 33 relative to the contact structure 8. When referring to positioning degrees of freedom, it is assumed that the degrees of freedom of the electrical positioning device 26 are always intended. In particular, the positioning degrees of freedom 31, 32, and 33 are degrees of freedom along which the electrical positioning device 26 can be approached to positions indicated by the electronic control unit 37 of the milling machine 10. In particular, positioning by a (particularly arbitrary) target position set by the control unit 37 is possible along the positioning degrees of freedom 31, 32, and 33 using the positioning device 26. For the purpose of this, the target position defines a target value for each of the positioning degrees of freedom 31, 32, and 33.

[0029] Preferably, the positioning device 26 is configured to move the milling tool relative to the contact structure 8 along three particularly linear positioning degrees of freedom 31, 32, 33, the three positioning degrees of freedom 31, 32, 33 preferably oriented perpendicular to each other. Preferably, one of the positioning degrees of freedom, particularly the first positioning degree of freedom 31, extends perpendicular to the axis of rotation of the cutting motion and / or parallel to the first contact plane. In particular, the first positioning degree of freedom 31 extends in the width direction x. Preferably, one of the positioning degrees of freedom, particularly the second positioning degree of freedom 32, extends in the lateral direction y, i.e., perpendicular to the first positioning degree of freedom 31 and / or perpendicular to the axis of rotation of the cutting motion. Preferably, one of the positioning degrees of freedom, particularly the third positioning degree of freedom 33, extends in the axial direction of the axis of rotation of the cutting motion and / or perpendicular to the first contact plane. In particular, the third positional degree of freedom 33 extends in the depth direction z.

[0030] Exemplary, a positioning device 26 providing positioning degrees of freedom 31, 32, 33 has three linear axes oriented perpendicular to each other. Preferably, the positioning device 26 comprises three linear drive units 34A, 34B, 34C used in particular to provide the three linear axes. For the purpose, each linear drive unit 34A, 34B, 34C comprises an electric motor. The three linear drive units 34A, 34B, 34C include a first linear drive unit 34A, a second linear drive unit 34B, and a third linear drive unit 34C.

[0031] The first linear drive unit 34A comprises a first guide element 35A, particularly a first guide rail, oriented exemplary in the width direction x with respect to the longitudinal axis. The first linear drive unit 34A comprises a first drive element 36A, particularly a first carriage, supported on the first guide element 35A, which can be electrically driven by the first linear drive unit 34A along a first positioning degree of freedom 31 relative to the first guide element 35A. Preferably, the first carriage engages with the first guide rail and is particularly held in an engaging manner on the first guide rail, so that the first carriage is purposefully movable only in the direction of the first positioning degree of freedom 31. For example, the first guide rail has an X-shaped contour (cross-section), which is engaged by the first carriage on three sides.

[0032] The second linear drive unit 34B includes a second guide element 35B, particularly a second guide rail, which is exemplary oriented y-lateral to the longitudinal axis. The second linear drive unit 34B includes a second drive element 36B, particularly a second carriage, supported by the second guide element 35B, which can be electrically driven by the second linear drive unit 34B along a second positioning degree of freedom 32 relative to the second guide element 35B. Preferably, the second carriage engages with the second guide rail and is particularly held in an engaging manner by the second guide rail, so that the second carriage is purposefully movable only in the direction of the second positioning degree of freedom 32. For example, the second guide rail has an X-shaped contour (cross-section), which is engaged by the second carriage on three sides.

[0033] The third linear drive unit 34C comprises a third guide element 35C, particularly a third guide rail, oriented exemplary in the depth direction z with respect to the longitudinal axis. The third linear drive unit 34C comprises a third drive element 36C, particularly a third carriage, supported by the third guide element 35C, which can be electrically driven by the third linear drive unit 34C along a third positioning degree of freedom 33 relative to the third guide element 35C. Preferably, the third carriage engages with the third guide rail and is particularly held in an engaging manner by the third guide rail, so that the third carriage is purposefully movable only in the direction of the third positioning degree of freedom 33. For example, the third guide rail has an X-shaped contour (cross-section), which is engaged by the third carriage on three sides.

[0034] Exemplary, the drive unit 27 is fixed to the third linear drive unit 34C, particularly the third drive element 36C, so that the drive unit 27 (and by extension the milling tool 17) can be positioned along the third positioning degree of freedom 33 by the third linear drive unit 34C. Exemplary, the third linear drive unit 34C is fixed to the second linear drive unit 34B, particularly the second drive element 36B (particularly by the third guide element 35C), so that the third linear drive unit (and by extension the drive unit 27 having the milling tool 17) can be positioned along the second positioning degree of freedom 33 by the second linear drive unit 34B. Exemplary, the second linear drive unit 34B is fixed to the first linear drive unit 34A, particularly the first drive element 36A (particularly by the first guide element 35A), so that the second linear drive unit 34B (and by extension the third linear drive unit 34C and the drive device 27 having the milling tool 17) can be positioned by the first linear drive unit 34A along the first positioning degree of freedom 31.

[0035] Exemplary, the first linear drive unit 34A, in particular the second guide element 35A, is located internally on the wall 51 facing the contact side 7, in particular the contact side 7 of the milling machine 10. Exemplary, the first linear drive unit 34A, in particular the first guide element 35A, is located further in the (positive) lateral direction y than the opening 16. In other words, the first linear drive unit 34A, in particular the first guide element 35A, is located exemplary between the opening 16 and the first side 5 in the y direction. In the orientation of the milling machine 10 where the lateral direction y is oriented vertically and upward, the first linear drive unit 34A, in particular the first guide element 35A, is located above the opening 16. The milling machine 10, in particular the housing 3, includes, exemplary, a wall 51 facing the contact side 7, oriented perpendicular to the depth direction z. A contact device 6 is located on the outer side of the wall portion 51 (i.e., the side facing the positive depth direction z, as an example), and a first linear drive unit 34A is located on the inner side of the wall portion 51 (i.e., the side facing the negative depth direction z, as an example).

[0036] Preferably, the maximum displacement distance for positioning the milling tool 17 along a positioning degree of freedom 31 extending in the width direction x is at least 1.3 cm, and / or the maximum displacement distance for positioning the milling tool along a positioning degree of freedom 32 extending in the lateral direction y is at least 0.4 cm, and / or the maximum displacement distance for positioning the milling tool along a positioning degree of freedom extending in the depth direction z is at least 1.1 cm.

[0037] Preferably, the maximum displacement distance of the milling tool 17 along the second positioning degree of freedom 32 is at least 20%, at least 50%, or at least 70% of the maximum displacement distance of the milling tool 17 along the first positioning degree of freedom 31.

[0038] In one possible configuration, the maximum displacement distance of the milling tool 17 along the first positioning degree of freedom 31 is at least 6 cm, and / or the maximum displacement distance of the milling tool 17 along the second positioning degree of freedom 32 is at least 5 cm, and / or the maximum displacement distance of the milling tool 17 along the third positioning degree of freedom 32 is at least 4 cm.

[0039] In another possible configuration, the maximum displacement distance of the milling tool 17 along the first positioning degree of freedom 31 is 7.6 cm, and / or the maximum displacement distance of the milling tool 17 along the second positioning degree of freedom 32 is 2.9 cm, and / or the maximum displacement distance of the milling tool 17 along the third positioning degree of freedom 32 is 4.5 cm.

[0040] The milling machine 10 includes an electronic control unit 37, which includes, for example, a microprocessor, particularly a microcontroller, and is preferably formed as a microcontroller. The control unit 37 is configured to control (operate) an electrical positioning device 26 according to motion information, so that the electrical positioning device 26 is displaced along at least two positioning degrees of freedom 31, 32, 33 in a sequence of motion defined by the motion information, while the milling tool 17 performs a rotational cutting motion to form a recess 1 having a predetermined recess geometry. The term “recess geometry” refers to the geometry of the recess to be formed, and therefore, particularly preferably, the dimensions and / or shape of the recess to be formed in each positioning degree of freedom 31, 32, 33. Preferably, the milling tool 17 performs a rotational cutting motion during at least a portion of the sequence of motion, and optionally during the entire sequence of motion. In particular, the milling tool 17 performs rotational cutting motion (in the sequence of motion) while moving along at least the first positioning degree of freedom 31, and / or while moving along the second positioning degree of freedom 32, and / or while moving along the third 33.

[0041] The execution of a sequence of motions determined by motion information (while performing rotational cutting motions) can also be called a forming (manufacturing) act.

[0042] Motion information is stored, for example, as data in an electronic control unit 37, and / or received by the electronic control unit 37, and / or generated by the electronic control unit 37. For example, the motion information defines a plurality of consecutive target positions of the milling tool 17, in particular for at least two positioning degrees of freedom 31, 32, and 33, respectively. Preferably, the motion information defines the feed rate, feed direction, and / or milling machine rotation speed for the milling tool, in particular for each motion of the milling tool between two consecutive targets.

[0043] Preferably, the motion information defines a sequence of motion along three positional degrees of freedom 31, 32, and 33, and the motion sequence sets the concave geometry for the three positional degrees of freedom. For example, the motion information defines a plurality of consecutive target positions of the milling tool 17, in particular for each of the three positional degrees of freedom 31, 32, and 33.

[0044] Preferably, the electronic control unit 37 has multiple different motion information. Each motion information is assigned to each recess geometry. Preferably, the recess geometries are different from each other. The control unit 37 is configured to control (operate) the positioning device 26 according to one of the motion information in order to form the recess 1 with the recess geometry assigned to the motion information. The expression that the recess geometry is assigned to the motion information is intended to mean that by performing the forming action according to the motion information, it is possible to form the recess 1 having the assigned recess geometry.

[0045] Optionally, the control unit 37 is configured to, for example, in accordance with user input, select motion information from existing motion information to be used to form the recess 1, and to control (operate) the positioning device 26 according to the selected motion information in order to form the recess 1 with the recess geometry assigned to the motion information.

[0046] Preferably, the milling machine 10 includes an operating device 52, exemplary, located on the outside of the housing 3. The operating device 52 includes at least one operating element 53, such as a button, for operating the milling machine 10. For example, the operating element 53 is used to initiate a forming action to form a recess 1.

[0047] Optionally, user input is possible via the control device 52 to select the motion information to be used.

[0048] Optionally, the milling machine 10 is equipped with a suction passage capable of sucking up particles, particularly cutting chips, generated during the formation of the recess 1.

[0049] In the following section, the state in which the milling machine 10 contacts the workpiece 2 and the milling tool 17 forms a recess in the workpiece 2 will be described in detail with reference to Figure 5.

[0050] The milling machine 10 contacts the first workpiece surface 43 particularly flatly by the first structural part 9, in particular the first contact plane. The first workpiece surface is exemplary oriented perpendicular to the depth direction z. Exemplarily, the first workpiece surface 43 is a flat surface and in particular forms the flat first side of the workpiece 2. The first workpiece surface 43, in particular the first side of the workpiece 2, is exemplary shorter than the milling machine 10 in the lateral direction y.

[0051] The milling machine 10 contacts the second workpiece surface 44 particularly flatly with respect to the second structural part 11, in particular the second contact plane. Exemplarily, the second workpiece surface 44 is a flat surface and in particular forms the flat second side of the workpiece 2. The second workpiece surface 44 is curved (angled) with respect to the first workpiece surface 43 and is not oriented perpendicular to the depth direction z. The second workpiece surface 44 is not oriented parallel to the first workpiece surface 43.

[0052] The second structural component 11 is fixed in a pivot position where the first contact plane on the first workpiece surface 43 and the second contact plane on the second workpiece surface 44 make simultaneous (particularly flat) contact. Between the contact planes 11 and 12, an angle 12, preferably less than 180° and / or greater than 90°, is set (adjusted) by the pivot position of the second structural component 11.

[0053] The recess 1 to be formed is exemplary an opening on the first workpiece surface 43. Preferably, the recess 1 to be formed is an opening on both the first workpiece surface 43 and the second workpiece surface 44. When forming the recess, the positioning device 26 positions the milling tool 17, particularly the milling head 25, in the lateral direction y until it is positioned within or in part of the opening 16 present in the second structural portion 11, particularly while the milling tool 17 is performing a cutting motion. In this way, it is possible to form a recess 1 that opens on the second workpiece surface 44 (particularly without repositioning the milling device 10).

[0054] Optionally, the milling tool 17 can be pushed in from above through the second workpiece surface 44 to form a recess 1. Particularly for this purpose, the milling apparatus 10 first moves the milling tool 17 laterally y using the positioning device 26, performing a positioning motion until the milling tool 17, particularly the milling head 25, is positioned in or within a portion of the opening 16 present in the second structural portion 11, preferably further laterally y than the second workpiece surface 44 (or the lower portion of the second workpiece surface 44). For the purposes of this, the milling tool 17 does not perform a cutting motion and therefore does not rotate for the purposes of this positioning motion. For the purposes of this positioning motion, the milling tool 17, particularly the milling head 25, is positioned outside the first workpiece surface 43, particularly in front of the first workpiece surface 43, for the purposes of this positioning motion. Preferably, the milling apparatus 10 is configured to bring the milling tool 17 into a cutting motion after a positioning motion (and / or another positioning motion of the milling tool 17 in the positive depth direction z), and while the milling tool 17 is performing the cutting motion, the milling tool 17 is configured to move into the second workpiece surface 44 to form a recess 1 by moving the milling tool 17 in the (negative) lateral direction y and / or in the (positive) depth direction z using a positioning device 26.

[0055] The recess 1 to be formed preferably includes a connecting hole 45. The hole for at least partial insertion of the connecting part will be referred to as the connecting hole 45. The connecting part is an element that joins two workpieces. An example of a connecting part is a dowel, in particular a wooden dowel.

[0056] The connecting hole 45 is, for example, a connecting groove and preferably includes a first undercut 46 acting along the groove depth direction. The groove depth direction is exemplary the (positive) depth direction z. The expression that the undercut 46 acts along the first groove depth direction means that the undercut 46 is intended to prevent the connecting portion that is fitted into the connecting hole and engaged with the undercut 46 from being pulled out along the groove depth direction (particularly the negative depth direction z). The undercut 46 is used in particular to accommodate the engaging projection 57 of the connecting portion to be fitted into the connecting hole. For the purpose, the undercut 46 is a recess, particularly an elongated recess, such as a groove, and the longitudinal axis of the elongated recess is preferably oriented parallel to the width direction x. The undercut 46 is preferably located in the area of ​​the groove bottom 47 of the connecting groove. The groove bottom 47 is oriented, for example, perpendicular to the depth direction y and / or parallel to the transverse direction y. The connecting hole 45 is opened for a purpose on the first workpiece surface 43, and in particular only on the first workpiece surface 43.

[0057] Exemplary, the recess 1 to be formed further includes an access hole 48 to the connection hole 45. Exemplary, the access hole 48 extends laterally y from the connection hole 45 to a second workpiece surface 44 through which the access hole 48 opens. Exemplary, the access hole 48 opens on the first workpiece surface 43 and the second workpiece surface 44. In particular, the access hole 48 is used to provide access for a tool 56 to a connector that is fitted into the connection hole 45 (particularly via the second workpiece surface 44), so that, for example, the operating portion 55 of the connector can be operated by the tool 56 while the connector is fitted into the connection hole 45.

[0058] Preferably, the geometry of the connection hole 45 and / or access hole 48 is set with respect to three positional degrees of freedom 31, 32, and 33 in particular by a motion sequence defined using motion information. The motion information sets the extension of the connection hole 45 and / or access hole 48 in the width direction x, the lateral direction y, and / or the depth direction z.

[0059] For the purposes of the system, the concave geometry assigned to the motion information includes the connection hole geometry and / or the access hole geometry. Therefore, for the purposes of the system, the connection hole geometry of connection hole 45 and / or the access hole geometry of access hole 48 are assigned to the motion information. The expression that the connection hole geometry or access hole geometry is assigned to the motion information is intended to mean that the assigned connection hole geometry or the assigned access hole geometry can be formed by performing a forming action in the motion information.

[0060] Preferably, the milling machine 10 can be used to selectively form recesses without undercuts (for example, dowel recesses described later) and / or recesses with undercuts (rotating connection recesses 1A, 1C and / or motion mechanism connection recesses 1E, 1F described later) and / or recesses with access holes (for example, the rotating connection recess 1A and / or motion mechanism connection recess 1E described later) and / or recesses without access holes (for example, the rotating connection recess 1C and / or motion mechanism connection recess 1F described later) and / or recesses with a disc-shaped main portion and undercuts (for example, the rotating connection recesses 1A and 1C described later).

[0061] The following describes various recesses 1 that can preferably be formed by the milling machine 10 (particularly as described later), with reference to Figures 10 to 16. Figures 10 to 16 show two workpieces 2A and 2B, each having at least one recess 1. In Figures 10 to 16, a coordinate system is indicated for each workpiece 2A and 2B, and this coordinate system corresponds to the possible (or required) orientation of the milling machine 10 when forming one or more recesses 1 on the assigned workpiece 2. For the purpose, the milling machine 10 statically contacts each workpiece 2A, 2B in which the recess 1 is formed simultaneously by both structural parts 9, 11, particularly the first structural part 9 on the first workpiece surface 43A and the second structural part 11 on the second workpiece 44A (or the first structural part 9 on the first workpiece surface 43B and the second structural part 11 on the second workpiece surface 44B) during the formation of each (especially the whole) recess 1 described later.

[0062] Figure 10 shows a workpiece arrangement structure 30 including a first workpiece 2A and a second workpiece 2B, and a connection part 53, which is exemplary configured as a rotary connection part 53A. Optionally, the workpiece arrangement structure 30 further comprises two other connection parts 53, which are configured as dowels, exemplary as flat dowels 53B. Alternatively, the other connection parts 53 can be configured as circular dowels 53C, as shown in Figure 11.

[0063] The rotary connector 53A comprises a connector body 54 having, exemplary, a disc portion and preferably two main sides in the shape of two circular portions. The main sides are arranged parallel to each other. The outer contour of each main side comprises an arc portion 58 and a chord portion 59 connecting both ends of the arc portion 58. The connector body 54 is exemplary configured particularly as a hexagonal recess and includes an operating portion 55 that is purposefully concentric with the arc portion 58 and located on at least one of the main sides. A tool 56, exemplary configured as a hexagonal socket, can be fitted into the operating portion 55. The rotary connector 53A comprises engaging projections 57 that project perpendicularly from each main side of the connector body 54 and are exemplary located at the ends of each arc portion 58, particularly only at the ends. Exemplarily, four engaging projections 57 are provided, each engaging projection 57 located at each end of the arc portion 58.

[0064] Each dowel, configured as a flat dowel 53B, has a cylindrical shape with a base surface, the outer contour of which comprises two parallel straight sections and two rounded, particularly arc-shaped, end sections connecting the straight sections. Each circular dowel 53C has a cylindrical shape.

[0065] The first workpiece 2A comprises a first workpiece surface 43A which is provided with three recesses 1, specifically a connection recess, in particular a rotational connection recess 1A, for partially accommodating a connection, in particular a rotational connection 53A, and optionally two dowel recesses, in particular a flat dowel recess 1B, for partially accommodating each dowel, in particular a flat dowel 53B. Alternatively, the dowel recesses can be formed as circular dowel recesses 1D (see Figure 11). The connection recesses are provided with a connection hole 45 and an access hole 48, in particular. The first workpiece 2A further comprises a second workpiece surface 44A, which is oriented perpendicularly to the first workpiece surface 43A, and is connected to the first workpiece surface 43A in particular via a common edge 61.

[0066] The second workpiece 2B comprises a first workpiece surface 43B which is provided with three recesses 1, specifically a connection recess 1C that partially accommodates a connection, in particular a rotary connection 53A, and optionally two dowel recesses, specifically a flat dowel recess 1B or a circular dowel recess 1D, that partially accommodate each dowel, in particular a flat dowel 53B. Alternatively, the dowel recesses can be formed as circular dowel recesses 1D (see Figure 11). The connection recesses are provided with connection holes 45, in particular not with access holes 48. The second workpiece 2B comprises a second workpiece surface 44B which is oriented perpendicularly to the first workpiece surface 43B, in particular connected to the first workpiece surface 43B via a common edge 61.

[0067] The workpiece arrangement structure 30 can be brought into an assembled state in which the first workpiece 2A is connected to the second workpiece 2B via connecting parts 53, particularly rotating connecting parts 53A and / or one or more flat dowels 53B (or circular dowels 53C), such that the second workpiece 2B is fixed to the first workpiece 2A in particular in all spatial directions, and / or the second workpiece 2B abuts particularly flatly with its first workpiece surface 43B against the first workpiece surface 43A of the first workpiece 2A. In the assembled state, the connecting parts 53, particularly rotating connecting parts 53A, are fitted into recesses 1 of the first workpiece 2A, exemplary to a rotating connecting part recess 1A, and into recesses 1 of the second workpiece 2B, exemplary to a rotating connecting part recess 1C. Furthermore, another connecting part 53, exemplified by a flat dowel 53B (or a circular dowel 53C), is fitted into the flat dowel recess 1B (or flat dowel recess 1D) of both workpieces 2A and 2B. For example, in order to fix the second workpiece 2B to the first workpiece 1A, the entire rotating connector 53A is rotated using the tool 56 while fitted into at least the rotating connector recess 1A of the first workpiece 2A, by which the tool 56 engages with the operating part 55 through the access hole 48 and the tool 56 (and thus the entire rotating connector 53A) rotates about a rotation axis that extends parallel to the y-direction, so that at least one engaging projection 57, exemplaryly two engaging projections 57 engage with the rotating connector recess 1C (particularly having an undercut 46) of the second workpiece 2B, and at least one engaging projection 57, exemplary two engaging projections 57 engage with the rotating connector recess 1A (particularly having an undercut 46) of the first workpiece 2A.

[0068] The following describes the various geometric shapes of recesses that can be formed by the milling machine 10.

[0069] First, regarding the dowel recess: Each dowel recess has, exemplary, a cylindrical shape. In particular, the cross-section of each dowel recess is constant along each cylindrical axis (exemplarily oriented parallel to the depth direction z). Each dowel recess is open on each of the first workpiece surfaces 43A, 43B (in particular only on the first workpiece surfaces 43A, 43B).

[0070] Each flat dowel recess 1B has a base surface, and its outer contour comprises two parallel straight portions 62 and two rounded, particularly arc-shaped end portions 63 connecting the straight portions. Each circular dowel recess 1D has an exemplary cylindrical shape. For the purposes of this, the dowel recesses, particularly the flat dowel recesses and / or circular dowel recesses, do not have undercuts.

[0071] The milling machine 10 is configured to form dowel recesses, particularly flat dowel recesses 1B and / or circular dowel recesses 1D, as recesses 1. Specifically, the milling machine 10 has motion information assigned to the dowel recesses for forming the dowel recesses, motion information assigned to the flat dowel recesses 1B for forming the flat dowel recesses 1B and / or motion information assigned to the circular dowel recesses 1D for forming the circular dowel recesses 1D.

[0072] During the formation of the dowel recesses, particularly the flat dowel recess 1B and / or the circular dowel recess 1D, the milling machine 10 performs the forming operation according to the motion information assigned to the dowel recess to be formed. At this time, it moves in the width direction x and the lateral direction y that define the cross-section of the dowel recess, and in the z direction that defines the extension of the dowel recess along the cylindrical axis, according to the motion information of the milling tool 17 (which performs the cutting motion).

[0073] Next, the rotary connection recess 1A will be described. The rotary connection recess 1A may also be called the first type of rotary connection recess.

[0074] The rotating connector recess 1A preferably includes a connector hole 45 having at least one undercut 46. Exemplarily, the connector hole 45 has two undercuts 46. Preferably, the connector hole 45 includes a main portion 64, which for purpose has the shape of a disc portion and is used to at least partially accommodate the connector body 54. The main portion 64 is oriented perpendicular to the first workpiece 43A and / or perpendicular to the transverse direction y in its disc plane. The main portion 64 is open only on the first workpiece surface 43A of the first workpiece 2A, particularly on the first workpiece surface 43A of the first workpiece 2A. Each undercut 46 has exemplary arch-shaped, particularly arc-shaped, extensions. For purpose, each undercut 46 is configured in the shape of a ring portion. Each undercut 46 is provided exemplary around an axis oriented parallel to the transverse direction y, particularly a ring axis, and / or is oriented concentrically with respect to the main portion 64. Exemplary, one undercut 46 continues to the main portion 45 in the positive transverse direction y, and another undercut 46 continues to the main portion 45 in the negative transverse direction y. Each undercut 46 opens only on the first workpiece surface 43A, and in particular on the first workpiece surface 43A of the first workpiece 2A.

[0075] The rotating connection recess 1A includes an access hole 48, which is exemplary cylindrical in shape and, for purpose, extends from the main portion 45 along the lateral direction y to the second workpiece surface 44A and opens on the second workpiece surface. The cylindrical axis of the access hole 48 is exemplary oriented parallel to the y direction. For purpose, the access hole 48 opens on the first workpiece surface 43A of the first workpiece 2A and, exemplary, penetrates the common edge 61 of the first workpiece 2A.

[0076] The milling machine 10 is configured to form a rotary connection recess 1A as a recess 1. In particular, the milling machine 10 has motion information assigned to the rotary connection recess 1A for forming the rotary connection recess.

[0077] During the formation of the rotary connection recess 1A, the milling machine 10 performs the formation operation according to the motion information assigned to the rotary connection recess 1A to be formed. At this time, in accordance with the motion information, the milling tool 17 (which performs the cutting motion) is moved in the width direction x, the lateral direction y, and the depth direction z, which define the geometric shape of the recess of the rotary connection recess 1A.

[0078] Next, we will describe the second type of rotating connection recess 1C, which may also be called a rotating connection recess.

[0079] For practical purposes, the rotary connection recess 1C is formed in the same way as the rotary connection recess 1A, but differs in that the rotary connection recess 1C does not have an access hole and is provided exemplarily on the second workpiece 2B. In this respect, the matters described above for the first type of rotary connection recess also apply to the second type of rotary connection recess, and references to the first workpiece surface 43A can be replaced with references to the first workpiece surface 43B.

[0080] The milling machine 10 is configured to form a rotary connection recess 1C as a recess 1. In particular, the milling machine 10 has motion information assigned to the rotary connection recess 1C for forming the rotary connection recess.

[0081] During the formation of the rotary connection recess 1C, the milling machine 10 performs the formation operation according to the motion information assigned to the rotary connection recess 1C to be formed. At this time, in accordance with the motion information, the milling tool 17 (which performs the cutting motion) is moved in the width direction x, the lateral direction y, and the depth direction z, which define the geometric shape of the recess of the rotary connection recess 1C.

[0082] Figures 12 to 16 show a workpiece arrangement structure 40 including a first workpiece 2A and a second workpiece 2B, and a connecting part 53 which is exemplary configured as a motion mechanism connecting part 53D.

[0083] The motion mechanism connector 53D comprises a coupling body 54 and an operating part 55 positioned on the coupling body 54 (movably supported relative to the coupling body, and in particular rotatably supported), the operating part having, exemplary, a particularly hexagonal recess into which a tool 56, particularly exemplary configured as a hexagonal socket, can be fitted. The motion mechanism connector 53D further comprises an engaging projection 57, which is positioned on the coupling body 54 and is movable relative to the coupling body. The engaging projection 57 is kinematically connected to the operating part 55, for example, via one or more cam mechanisms, such that the engaging projection 57 can be selectively displaced to an engagement point or an insertion point by the movement, particularly rotation, of the operating part 55. At the engagement point, the engaging projection 57 protrudes further from the coupling body 54 than the insertion point, particularly along the lateral direction y, and therefore purposefully in the positive and / or negative lateral direction y. For example, four engaging protrusions 57 are provided, with two engaging protrusions 57 provided at the end of each motion mechanism connection portion 53D located along the depth direction z, and these engaging protrusions are, for the purpose, further spaced apart at the engagement points (particularly along the lateral direction y) than at the insertion points.

[0084] The first workpiece 2A comprises a first workpiece surface 43A, which is provided with a recess 1, i.e., a motion mechanism connection recess 1E that partially accommodates a motion mechanism connection 53D. The motion mechanism connection recess 1E comprises, exemplary, a connection hole 45 and an access hole 48. The first workpiece 2A further comprises a second workpiece surface 44A, which is exemplary oriented perpendicular to the first workpiece surface 43A of the first workpiece 2A and is connected to the first workpiece surface 43A of the first workpiece 2A, in particular via a common edge 61 of the first workpiece 2A.

[0085] The second workpiece 2B has a first workpiece surface 43B, which is provided with a recess 1, i.e., a motion mechanism connection recess 1F that partially accommodates a motion mechanism connection 53D. The motion mechanism connection recess 1F is provided with a connection hole 45, i.e., an access hole 48. The second workpiece 2B further has a second workpiece surface 44B, which is oriented perpendicularly to the first workpiece surface 43B of the second workpiece 2B, and is connected to the first workpiece surface 43B of the second workpiece 2B, i.e., via a common edge 61 of the first workpiece 2B.

[0086] The workpiece arrangement structure 40 can be brought into an assembled state in which the first workpiece 2A is connected to the second workpiece 2B via the motion mechanism connector 53D such that the second workpiece 2B is fixed to the first workpiece 2A in particular in all spatial directions, and / or the second workpiece 2B abuts particularly flatly with the first workpiece surface 43A of the first workpiece 2A at its first workpiece surface 43B. In the assembled state, the motion mechanism connector 53D is fitted into the motion mechanism connector recess 1E of the first workpiece 2A and the motion mechanism connector recess 1F of the second workpiece 2B. Exemplarily, an engaging projection 57 is first positioned at the insertion point in order to fit the motion mechanism connector 53D into both motion mechanism connector recesses 1E,1F. For example, to fix the second workpiece 2B to the first workpiece 1A, preferably a tool 56 engages with the operating part 55 through an access hole 48, and the tool 56 (and thus the operating part 55) rotates about a rotation axis parallel to the y-direction, so that the operating part 55 is operated relative to the coupling body 54 using the tool 56, and in particular rotated, so that at least one, exemplary two, engaging projections 57 engage with the motion mechanism connection recess 1E of the first workpiece 2A and the motion mechanism connection recess 1F of the second workpiece 2B, and at least one, exemplary two, engaging projections 57 engage with the motion mechanism connection recess 1F of the second workpiece 2B, and in particular two, engaging projections 57 engage with the motion mechanism connection recess 1F of the second workpiece 2B,

[0087] The motion mechanism connection recess 1E may also be called a first type of motion mechanism connection recess.

[0088] The motion mechanism connection recess 1E preferably includes a connection hole 45 having at least one undercut 46. Exemplarily, the connection hole 45 has two undercuts 46. Preferably, the connection hole 45 includes a main portion 64, which is used to at least partially accommodate the connection body 54. The undercuts 64 are open only on the first workpiece surface 43A, particularly on the first workpiece surface 43A of the first workpiece 2A. The main portion 64 has an exemplary cylindrical shape. In particular, the xy cross-section of the main portion 64 is constant along the cylindrical axis (exemplarily oriented parallel to the depth direction z). The main portion 64 has an xy cross section, which opens at the first workpiece surface 43A of the first workpiece 2A, and / or the outer contour of the xy cross section comprises two parallel straight portions 65 and a rounded, particularly arc-shaped end portion 66 connecting the two straight portions 65. The xy cross section is elongated and, for the purposes of its use, oriented parallel to the width direction x by its longitudinal axis. Each undercut 46 has, exemplary, a linear extension. For the purposes of its use, each undercut 46 is cylindrical with a cylindrical axis oriented parallel to the depth direction z. Preferably, each undercut 46 has a cross section (particularly the xy cross section) which is configured parallel to the cylindrical axis of the main portion 64 (for example, parallel to the depth direction z), particularly as a polygon, for example as a quadrilateral. For example, the cross section comprises, for example, one or more chamfers with respect to the groove bottom 47 and / or the main portion 64. In particular, each undercut 46 is configured as a recess, and the longitudinal axis of the elongated recess is oriented parallel to the width direction x. Exemplaryly, one undercut 46 continues to the main portion 45 in the positive transverse direction y, and another undercut 46 continues to the main portion 45 in the negative transverse direction y. For the purposes of this, the spacing of each undercut 46 with respect to the first workpiece surface 43A of the first workpiece 2A is constant over the (particularly overall) x-extension of the motion mechanism connection recess 1E.

[0089] The motion mechanism connection recess 1E includes an access hole 48, which is exemplary cylindrical in shape and, for purpose, extends from the main portion 45 along the lateral direction y to the second workpiece surface 44A of the first workpiece 2A and opens on the second workpiece surface. The cylindrical axis of the access hole 48 is exemplary oriented parallel to the y direction. For purpose, the access hole 48 opens on the first workpiece surface 43A of the first workpiece 2A and, exemplary, penetrates the common edge 61 of the first workpiece 2A.

[0090] The milling machine 10 is configured to form a recess 1E for the motion mechanism connection as a recess 1. In particular, the milling machine 10 has motion information assigned to the motion mechanism connection recess 1E for forming the motion mechanism connection recess 1E.

[0091] During the formation of the recess 1E of the motion mechanism connection part, the milling machine 10 performs the formation operation according to the motion information assigned to the recess 1E of the motion mechanism connection part to be formed. At this time, in accordance with the motion information, the milling tool 17 (which performs the cutting motion) is moved in the width direction x, the lateral direction y, and the depth direction z, which define the geometric shape of the recess of the recess 1E of the motion mechanism connection part.

[0092] Next, we will describe the second type of motion mechanism connection recess 1F, which may also be called a motion mechanism connection recess.

[0093] For practical purposes, the motion mechanism connection recess 1F is formed in the same way as the motion mechanism connection recess 1E, but differs in that the motion mechanism connection recess 1F does not have an access hole and is provided exemplarily on the second workpiece 2B. Optionally, the motion mechanism connection recess 1F has a slight extension in the depth direction z compared to the motion mechanism connection recess 1E. In this respect, the matters described above for the first type of motion mechanism connection recess also apply to the second type of motion mechanism connection recess, and references to the first workpiece surface 43A of the first workpiece 2A can be replaced by references to the first workpiece surface 43B of the second workpiece 2B.

[0094] The milling machine 10 is configured to form a recess 1F for the motion mechanism connection as a recess 1. In particular, the milling machine 10 has motion information assigned to the motion mechanism connection recess 1F for forming the motion mechanism connection recess 1F.

[0095] During the formation of the recess 1F of the motion mechanism connection part, the milling machine 10 performs the formation operation according to the motion information assigned to the recess 1F of the motion mechanism connection part to be formed. At this time, in accordance with the motion information, the milling tool 17 (which performs the cutting motion) is moved in the width direction x, the lateral direction y, and the depth direction z, which define the geometric shape of the recess of the recess 1F of the motion mechanism connection part.

[0096] Preferably, the milling machine 10 has motion information assigned to the flat dowel recess 1B and / or motion information assigned to the circular dowel recess 1D and / or motion information assigned to the rotary connection recess 1A and / or motion information assigned to the rotary connection recess 1C and / or motion information assigned to the motion mechanism connection recess 1E and / or motion information assigned to the motion mechanism connection recess 1F.

[0097] The milling machine 20 according to a second embodiment is described below. Figures 6 to 9 show an exemplary configuration of the milling machine 20. Preferably, the milling machine 20 is formed in the same way as the milling machine 10, except for the differences described below, so the description of the milling machine 10 also applies to the milling machine 20 in this respect.

[0098] Optionally, in the milling machine 20, the first positioning degree of freedom 31 is a rotational degree of freedom centered on a pivot axis extending in the lateral direction y. Alternatively, the first positioning degree of freedom 31 may be a linear positioning degree of freedom extending in the width direction x (as in the first embodiment).

[0099] The milling machine 20 includes a second linear drive unit 34B used to provide a second positioning degree of freedom 32 extending in the lateral direction y for positioning the milling tool 17.

[0100] In the milling machine 20, the housing 3 is elongated and oriented in the z-direction along its longitudinal axis. The rear portion of the housing 3 in the z-direction, i.e., the side opposite the contact device 6, exemplified by this housing, forms a handgrip 4. In particular, this portion of the housing is sized to be gripped with one hand.

[0101] The housing 3, together with the electric drive unit 27 and the milling tool 17, forms a housing assembly, which is purposefully supported to be linearly movable in the depth direction z relative to the contact device 6. The positioning device 18 is configured to move the housing assembly relative to the contact device 6, preferably using a linear drive unit 34C, in order to position the milling tool 17 along a third positioning degree of freedom 33. Exemplarily, the linear drive unit 34C comprises an electric motor 38 associated with the housing assembly and a guide element 35C, formed, for example, as a rack, connected to the contact device 6. To provide positioning along the third positioning degree of freedom 33, the driving force provided by the electric motor 38 can result in relative linear motion between the electric motor 38 and the guide element 35C.

[0102] Optionally, the milling machine 20 is equipped with a suction passage 39 capable of sucking up particles, particularly cutting chips, generated during the formation of the recess 1.

[0103] Exemplary, the fixing device comprises a structural part guide element 41 preferably formed as a guide slot. Exemplary, the structural part guide element 41 is fixed to the second structural part 11 and pivots with the second structural part about a pivot axis 15. Preferably, the structural part guide element 41 defines or contributes to defining the pivot axis 15. The structural part guide element 41 can be considered in particular as part of the pivot axis. The fixing device preferably comprises an operating element 42, which is exemplary configured as a lever, and through its operation, the second structural part 11 can be fixed in its current pivot position relative to the first structural part 9, for example, by fitting and / or engaging, and in particular, at least one structural part guide element 41 can be fixed in its current pivot position relative to the first structural part 9, for example by fitting and / or engaging, using the operating element 42.

[0104] The following describes how to operate a handheld milling machine, particularly milling machine 10 or milling machine 20.

[0105] This method includes the step of positioning the milling devices 10 and 20 on the workpiece 2 such that the milling devices 10 and 20 simultaneously and statically contact the workpiece 2 with both structural parts 9 and 11 (particularly during the formation of the recess 1).

[0106] The method includes a further step of controlling (operating) the electrical positioning device 18 (particularly by the control unit 37) according to motion information so that the electrical positioning device 18 brings the milling tool 17 into motion sequence, while the milling tool 17 performs a rotational cutting motion to form a recess 1 having a predetermined recess geometry (particularly by motion sequence) (while the milling tool 17 performs a rotational cutting motion to form a recess 1 having a predetermined recess geometry (particularly by motion sequence), the electrical positioning device 18 brings the milling tool 17 into motion sequence).

[0107] Preferably, the milling devices 10 and 20 simultaneously and statically contact the workpiece 2 with both structural parts 9 and 11 during the entire sequence of motion. Depending on the sequence of motion, both the connection hole 45 and the access hole 48 are formed for the purpose. Preferably, the milling devices 10 and 20 are not repositioned (changed positioning) relative to the workpiece between the formation of the connection hole 45 and the formation of the access hole 48.

[0108] Preferably, the recess 1 includes a connecting hole 45 that opens on the first workpiece surface 43 of the workpiece 2 and extends along the width direction x, and an access hole 48 that extends from the connecting hole 45 along the lateral direction y oriented perpendicular to the width direction x to the second workpiece surface 44 of the workpiece 2 and opens on the second workpiece surface. Preferably, the milling machines 10, 20 simultaneously and statically contact the workpiece 2 with both structural parts 9, 11 during the entire sequence of movements that forms both the connecting hole 45 and the access hole 48.

[0109] Preferably, the milling tool 17 moves along the pivot axis 15 when forming the access hole 48.

[0110] Optionally, after the formation of the recess 1, the connecting portion 53 is fitted into the recess 1, particularly the connecting portion hole 45, especially after the formation of the recess 1 is complete. The connecting portion 53 fitted into the connecting portion hole 45 is preferably one of the above-described connecting portions, for example, a rotary connecting portion 53A, a flat dowel 53B, a circular dowel 53C, or a motion mechanism connecting portion 53D.

[0111] Optionally, the workpiece arrangement structure 30 or the workpiece arrangement structure 40 is formed by workpiece 2 (as the first workpiece 2A).

[0112] Preferably, the milling machine 10,20 forms the access hole 48 from the first workpiece surface 43, thus eliminating the need for a drilling jig (especially for forming the access hole 48). For example, a dowel milling machine or router (especially as the milling machine 10,20) can be provided, and the access hole 48 (especially a lateral groove) can be formed by the dowel milling machine or router at a predetermined relative position with respect to the connecting hole 45 (especially configured as a connecting groove). Alternatively, an industrial CNC milling machine can be provided to form the access hole 48 (especially the lateral groove) and the connecting hole (especially the connecting groove).

[0113] For example, first, the connecting milling machines 10 and 20 form a first recess, in particular one of the aforementioned recesses 1, on the first workpiece surface 43, while the connecting milling machines 10 and 20 are statically brought into contact with the first workpiece surface 43 by the contact device 6. Subsequently, the connecting milling machines 10 and 20 are manually repositioned (position changed), for example, on the first workpiece surface 43 or another workpiece surface. Then, the connecting milling machines 10 and 20 form a second recess, while the connecting milling machines 10 and 20 are statically brought into contact with the first workpiece surface or another workpiece surface by the contact device 6. The second recess is in particular one of the aforementioned recesses 1. The second recess is purposefully different from the first recess. The second recess is formed on the first workpiece surface 43 or another workpiece surface.

[0114] Optionally, the first recess and the second recess are identical, and for example, the first recess and the second recess each include one connecting hole 45 and one access hole 48. For example, the first recess is formed on the first workpiece surface of the first workpiece, and the second recess is formed on the first workpiece surface of the second workpiece. For example, when forming the first recess, the connecting milling machine 10,20 contacts the first workpiece surface and the second workpiece surface of the first workpiece simultaneously by the contact device 6, and the angle 12 is preferably greater than 90°. For example, when forming the second recess, the connecting milling machine 10,20 contacts the first workpiece surface and the second workpiece surface of the second workpiece simultaneously by the contact device 6, and the angle 12 is preferably greater than 90° and less than 180°. Furthermore, the present invention may also encompass the following embodiments: 1. A handheld milling machine (10, 20) for forming a recess (1) in a workpiece (2), A handgrip (4) for gripping the milling machine (10, 20) and positioning the milling machine (10, 20) relative to the workpiece (2), A contact device (6) having a contact structure (8) including a first structural part (9) and a second structural part (11) for statically contacting the workpiece (2) simultaneously during the formation of the recess (1), wherein the first structural part (9) defines a first contact plane, the second structural part (11) defines a second contact plane, and the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) and can be fixed relative to the first structural part (9) in order to set a fixed angle (12) between the contact planes that is suitable for the workpiece (2), and the contact device, Milling tool (17), An electrically driven device (27) is formed to cause the milling tool (17) to perform a rotational cutting motion, An electrical positioning device (26) is formed to move the milling tool (17) relative to the contact structure (8) along at least two particularly linear positioning degrees of freedom (31, 32, 33), An electronic control unit (37) is configured to control the electrical positioning device (26) according to the motion information, such that the electrical positioning device (26) brings the milling tool (17) into a sequence of motion defined by motion information along at least two positioning degrees of freedom (31, 32, 33), while the milling tool (17) performs a rotational cutting motion to form a recess (1) having a predetermined recess geometric shape. A milling machine (10,20) characterized by including the following: 2. The milling machine (10, 20) according to 1. above, characterized in that the second structural part (11) is rotatable about a pivot axis (15) oriented perpendicular to the rotation axis of the cutting motion. 3. The milling machine (10, 20) according to 1. or 2. above, further comprising a contact structure handgrip (22) disposed on the second structural part (11), wherein the second structural part (11) is pivotable relative to the first structural part (9) via the contact structure handgrip. 4. A milling machine (10, 20) according to any one of 1 to 3 above, characterized in that the contact structure (8) is provided with an opening (16), and the milling tool (17) can be positioned within the opening by an electrical positioning device (18). 5. The milling apparatus (10, 20) according to 4. above, characterized in that the opening (16) extends over the first structural part (9) and the second structural part (11). 6. The milling machine (10, 20) according to any one of 1 to 5 above, characterized in that the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) about one of the pivot axis (15), and the pivot axis (15) intersects with the range of movement of the milling tool (17) formed by the at least two positioning degrees of freedom (31, 32, 33). 7. A milling machine (10, 20) according to any one of 1. to 6. above, characterized in that one of the positioning degrees of freedom (33) extends in the axial direction of the rotation axis of the cutting motion and / or perpendicular to the first contact plane. 8. A milling machine (10, 20) according to any one of 1. to 7. above, characterized in that one of the positioning degrees of freedom (31, 32) extends perpendicular to the rotation axis of the cutting motion and / or parallel to the first contact plane. 9. The milling apparatus (10, 20) according to any one of 1 to 8 above, characterized in that the positioning device (18) is formed to move the milling tool (17) relative to the contact structure (8) along three particularly linear positioning degrees of freedom (31, 32, 33), wherein the positioning degrees of freedom (31, 32, 33) are preferably oriented perpendicular to each other. 10. The milling machine (10,20) according to 9. above, characterized in that the motion information defines a sequence of motion along the three positional degrees of freedom (31,32,33), and the sequence of motion sets the concave geometric shape for the three positional degrees of freedom (31,32,33). 11. A milling machine (10,20) according to any one of 1. to 10. above, characterized in that the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (31) extending in the width direction (x) is at least 1.3 cm, and / or the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (32) extending in the lateral direction (y) is at least 0.4 cm, and / or the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (33) extending in the depth direction (z) is at least 1.1 cm. 12. A milling machine (10, 20) according to any one of 1 to 11 above, characterized in that the electronic control unit (37) has a plurality of different motion information, each motion information is assigned to each recess geometry, the recess geometry is different from one another, and the control unit (37) is configured to control the positioning device (26) according to one of the motion information in order to form a recess having the recess geometry assigned to the motion information. 13. A milling machine (10) according to any one of 1 to 12 above, comprising a housing (3) on which the handgrip (4) is located, wherein the extension of the housing (3) in the width direction (x) oriented perpendicular to the axis of rotation of the cutting motion is greater than the extension of the housing (3) in the direction of the axis of rotation. 14. A method for operating a handheld milling machine (10, 20) described in any one of items 1 to 13 above, comprising the following steps: - A step of positioning the milling device (10, 20) on the workpiece (2) such that the milling device (10, 20) simultaneously and statically contacts the workpiece (2) with both structural parts (9, 11) while the recess (1) is being formed, - The steps of controlling the electrical positioning device (26) according to motion information so that the electrical positioning device (26) brings the milling tool (17) into motion sequence, and the milling tool (17) performs rotational cutting motion to form a recess (1) having a predetermined recess geometric shape, and A method characterized by including the following. 15. The method according to 14., characterized in that the milling machine (10, 20) simultaneously and statically contacts the workpiece (2) with both structural parts (9, 11) during the entire sequence of motion. 16. The method according to 15., characterized in that the recess (1) includes a connecting hole (45) that opens on the first workpiece surface (43) of the workpiece (2) and extends along the width direction (x), and an access hole (48) that extends from the connecting hole (45) along the transverse direction (y) oriented perpendicular to the width direction (x) to the second workpiece surface (44) of the workpiece (2) and opens on the second workpiece surface, and the milling machine (10, 20) statically contacts the workpiece (2) simultaneously with the two structural parts (9, 11) during the execution of the entire sequence of motion in which both the connecting hole (45) and the access hole (48) are formed. 17. The method according to 16., characterized in that the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) about one pivot axis (15), the pivot axis (15) intersects with the range of movement of the milling tool (17) formed by at least two positioning degrees of freedom (31, 32, 33), and the milling tool (17) moves through the pivot axis (15) when forming the access hole (48).

Claims

1. A handheld milling machine (10, 20) for forming a recess (1) in a workpiece (2), A handgrip (4) for gripping the milling device (10, 20) and positioning the milling device (10, 20) relative to the workpiece (2), A contact device (6) having a contact structure (8) including a first structural part (9) and a second structural part (11) for statically contacting the workpiece (2) simultaneously during the formation of the recess (1), wherein the first structural part (9) defines a first contact plane, the second structural part (11) defines a second contact plane, and the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) and can be fixed relative to the first structural part (9) in order to set a fixed angle (12) that fits the workpiece (2) between the contact planes, Milling tool (17), An electrically driven device (27) is formed to cause the milling tool (17) to perform a rotational cutting motion, An electrical positioning device (26) is formed to move the milling tool (17) relative to the contact structure (8) along at least two particularly linear positioning degrees of freedom (31, 32, 33), An electronic control unit (37) is configured to control the electrical positioning device (26) according to the motion information, such that the electrical positioning device (26) brings the milling tool (17) into a sequence of motion defined by motion information along at least two positioning degrees of freedom (31, 32, 33), while the milling tool (17) performs a rotational cutting motion to form a recess (1) having a predetermined recess geometric shape. A milling machine (10, 20) characterized by including the following:

2. The milling machine (10, 20) according to claim 1, characterized in that the second structural part (11) is rotatable about a pivot axis (15) oriented perpendicular to the rotation axis of the cutting motion.

3. The milling machine (10, 20) according to claim 2, further comprising a contact structure handgrip (22) disposed on the second structural part (11), wherein the second structural part (11) is pivotable relative to the first structural part (9) via the contact structure handgrip.

4. The milling apparatus (10, 20) according to claim 2, characterized in that the contact structure (8) is provided with an opening (16), and the milling tool (17) can be positioned within the opening by an electrical positioning device (18).

5. The milling apparatus (10, 20) according to claim 4, characterized in that the opening (16) extends across the first structural part (9) and the second structural part (11).

6. The milling apparatus (10, 20) according to claim 5, characterized in that the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) about the pivot axis (15), and the pivot axis (15) intersects with the range of movement of the milling tool (17) formed by the at least two positioning degrees of freedom (31, 32, 33).

7. The milling apparatus (10, 20) according to claim 1, characterized in that the second structural part (11) is supported so as to be rotatable relative to the first structural part (9) about a pivot axis (15), and the pivot axis (15) intersects with the range of movement of the milling tool (17) formed by the at least two positioning degrees of freedom (31, 32, 33).

8. The milling apparatus (10, 20) according to claim 7, characterized in that one of the positioning degrees of freedom (33) extends in the axial direction of the rotation axis of the cutting motion and / or perpendicular to the first contact plane, and / or one of the positioning degrees of freedom (31, 32) extends perpendicular to the rotation axis of the cutting motion and / or parallel to the first contact plane, and / or the positioning device (18) is formed to move the milling tool (17) relative to the contact structure (8) along three particularly linear positioning degrees of freedom (31, 32, 33), wherein the positioning degrees of freedom (31, 32, 33) are preferably oriented perpendicular to each other.

9. The milling apparatus (10, 20) according to claim 6, characterized in that one of the positioning degrees of freedom (33) extends in the axial direction of the rotation axis of the cutting motion and / or perpendicular to the first contact plane, and / or one of the positioning degrees of freedom (31, 32) extends perpendicular to the rotation axis of the cutting motion and / or parallel to the first contact plane, and / or the positioning device (18) is formed to move the milling tool (17) relative to the contact structure (8) along three particularly linear positioning degrees of freedom (31, 32, 33), wherein the positioning degrees of freedom (31, 32, 33) are preferably oriented perpendicular to each other.

10. The milling machine (10, 20) according to claim 1, wherein the positioning device (18) is formed to move the milling tool (17) relative to the contact structure (8) along three particularly linear positioning degrees of freedom (31, 32, 33), the positioning degrees of freedom (31, 32, 33) are preferably oriented perpendicular to each other, the motion information defines a sequence of motion along the three positioning degrees of freedom (31, 32, 33), and the sequence of motion sets the concave geometry for the three positioning degrees of freedom (31, 32, 33).

11. The milling apparatus (10, 20) according to claim 1, characterized in that the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (31) extending in the width direction (x) is at least 1.3 cm, and / or the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (32) extending in the lateral direction (y) is at least 0.4 cm, and / or the maximum displacement distance for positioning the milling tool (17) along a positioning degree of freedom (33) extending in the depth direction (z) is at least 1.1 cm.

12. The milling machine (10, 20) according to claim 1, characterized in that the electronic control unit (37) has a plurality of different motion information, each motion information is assigned to each recess geometry, the recess geometry is different from one another, and the control unit (37) is configured to control the positioning device (26) according to one of the motion information in order to form a recess having the recess geometry assigned to the motion information.

13. The milling machine (10) according to claim 1, comprising a housing (3) on which the handgrip (4) is disposed, characterized in that the extension of the housing (3) in the width direction (x) oriented perpendicular to the axis of rotation of the cutting motion is greater than the extension of the housing (3) in the direction of the axis of rotation.

14. A method for operating a handheld milling machine (10, 20) according to any one of claims 1 to 13, comprising the following steps: - A step of positioning the milling device (10, 20) on the workpiece (2) such that the milling device (10, 20) simultaneously and statically contacts the workpiece (2) with both structural parts (9, 11) while the recess (1) is being formed, - The steps of controlling the electrical positioning device (26) according to motion information so that the electrical positioning device (26) brings the milling tool (17) into motion sequence, and the milling tool (17) performs rotational cutting motion to form a recess (1) having a predetermined recess geometric shape, and A method characterized by including the following.

15. The method according to 14, characterized in that the milling machine (10, 20) simultaneously and statically contacts the workpiece (2) with both structural parts (9, 11) during the entire sequence of motion.

16. The method according to 15, wherein the recess (1) includes a connecting hole (45) that opens on the first workpiece surface (43) of the workpiece (2) and extends along the width direction (x), and an access hole (48) that extends from the connecting hole (45) along the transverse direction (y) oriented perpendicular to the width direction (x) to the second workpiece surface (44) of the workpiece (2) and opens on the second workpiece surface, and the milling machine (10, 20) statically contacts the workpiece (2) simultaneously with the two structural parts (9, 11) during the execution of the entire sequence of motion that forms both the connecting hole (45) and the access hole (48).

17. The method according to 16, characterized in that the second structural part (11) is supported so as to be rotatable about a pivot axis (15) relative to the first structural part (9), the pivot axis (15) intersects with the range of movement of the milling tool (17) formed by at least two positioning degrees of freedom (31, 32, 33), and the milling tool (17) moves through the pivot axis (15) when forming the access hole (48).

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