Automated setting and measurement system, automated setting and measurement method, and method for processing tools

Abstract

The invention relates to an automated setting and measurement system (66) for setting and / or measuring tools (10) and / or tools (10) in tool chucks (12), having at least one setting and / or measurement device (14), having at least one provision device (16), formed and arranged separately from the setting and / or measurement device (14), for providing multiple tools (10) and / or tool chucks (12), and having at least one transport device (18) which is intended to transport tools (10) and / or tool chucks (12) between the setting and / or measurement device (14) and the provision device (16). The invention proposes that the transport device (18) is in the form of a three-dimensional gantry robot.

Description

[0001] September 12, 2024

[0002] Automated setting and measuring system, automated setting and measuring method and method for processing tools

[0003] State of the art

[0004] The invention relates to an automated setting and measuring system according to the preamble of claim 1, an automated setting and measuring method according to the preamble of claim 23 and methods according to claims 24 and 25.

[0005] An automated setting and measuring system for setting and measuring tools in tool chucks, comprising at least one setting and measuring device, at least one provision device for providing a plurality of tools and / or tool chucks and at least one transport device which is provided for transporting tools and / or tool chucks between the setting and measuring device and the provision device, has already been proposed.

[0006] The object of the invention is, in particular, to provide a generic device with advantageous structural properties. This object is achieved according to the invention by the features of the independent patent claims, while advantageous embodiments and further developments of the invention can be found in the subclaims.

[0007] Advantages of the invention

[0008] The invention is based on an automated setting and measuring system for setting and / or measuring tools and / or tools in tool chucks, with at least one setting and / or measuring device, with at least one provision device, in particular designed and arranged separately from the setting and / or measuring device, for providing a plurality of tools and / or tool chucks and with at least one transport device which is provided for transporting tools and / or tool chucks between the setting and / or measuring device and the provision device.

[0009] It is proposed that the transport device be designed as a spatial gantry robot. This allows advantageous properties to be achieved with regard to the design of setting and measuring systems, in particular with regard to simplicity of construction, space utilization, cost, retrofitability, and / or standardization. In particular, the setting and measuring system, preferably the setting and / or measuring device of the setting and measuring system, is provided for setting and / or measuring positions, in particular longitudinal positions / length setting positions of tools in tool chucks.In particular, the setting and measuring system, preferably the setting and / or measuring device of the setting and measuring system, is provided for recording, storing, and outputting positions, in particular longitudinal positions / length setting positions of tools in tool chucks. In particular, the setting and measuring system is provided for at least largely automated, preferably fully automated, setting and / or measuring. In particular, the measuring and / or setting by the setting and measuring system is fully automated between the setting of tools and / or tool chucks in the provision device and the removal of the tools and / or tool chucks from the provision device.It is conceivable that the setting and measuring system, preferably the setting and / or measuring device, is also used solely for measuring tools or that only a measuring device without a setting function for measuring tools forms the setting and / or measuring device according to the claim.

[0010] The tool is preferably designed as a shank tool, in particular as a machining tool, in particular a milling and / or turning and / or other cutting tool, for use in a processing machine. The tool, in particular a tool shank of the tool, is preferably provided to form a connection with the tool chuck. A “tool chuck” should be understood in particular to mean a component which is provided to hold a tool and to connect the tool to a machine. In particular, the tool chuck is designed as an interface between the tool and the machine. In particular, the tool chuck is designed as a shrink fit chuck, preferably a heat shrink fit chuck, or as a chuck, such as a hydraulic expansion chuck, a Weldon chuck or a collet chuck."Intended" should be understood in particular to mean specifically programmed, designed, and / or equipped. The fact that an object is intended for a specific function should be understood in particular to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state.

[0011] The provision device provides, in particular, the tools and / or tool chucks, preferably the tools clamped in tool chucks, for pickup by the transport device. In particular, the provision device comprises a shelf for the simultaneous storage of several tools and / or tool chucks, preferably holding devices for tools and / or tool chucks, such as pallets with holders for tools and / or tool chucks. In particular, the setting and / or measuring device and the provision device form separate sub-stations of the setting and measuring system. In particular, the setting and / or measuring device and the provision device are mounted on separate base units / bases. In particular, a measuring area and a setting area of ​​the setting and / or measuring device are located at an approximately comparable height to a provision area of ​​the provision device.Preferably, the measuring area and the setting area of ​​the setting and / or measuring device are arranged spatially next to the staging area.

[0012] In particular, the spatial gantry robot is designed with at least three axes. In particular, the spatial gantry robot has at least one first axis. The first axis preferably forms an x-axis. The first axis is preferably aligned horizontally. The first axis preferably connects the provision area with the setting area and the measuring area. The transport device is provided in particular for transporting the tools and / or tool chucks between the provision device and the setting and / or measuring device along the first axis. In particular, the spatial gantry robot has at least one second axis. The second axis preferably forms a y-axis. The second axis is preferably aligned horizontally. The second axis preferably allows travel to different holding positions for tools and / or tool chucks in the provision device. The second axis preferably runs perpendicular to the first axis.The transport device is provided in particular for removing and inserting the tools and / or tool chucks into holding positions of the provision device along the second axis. The second axis is provided in particular for a movement of the transport device, with which tools / tool ​​chucks positioned one behind the other in a pallet can be approached. The second axis is provided in particular for a precise horizontal approach to a spindle unit of the setting and / or measuring device. In particular, the spatial gantry robot has at least one third axis. The third axis preferably forms a z-axis. The third axis is preferably vertically aligned. The third axis preferably allows tools and / or tool chucks to be raised and lowered.The third axis preferably allows tools and / or tool chucks to be inserted and removed into and / or from holding positions for tools and / or tool chucks in the provision device and / or tools and / or tool chucks to be inserted and removed into and / or from the spindle unit of the setting and / or measuring device. The third axis preferably runs perpendicular to the first axis. The third axis preferably runs perpendicular to the second axis. In particular, the spatial gantry robot is locally controlled by a programmable logic controller (PLC controller). In particular, the three axes of the spatial gantry robot allow any three-dimensional point within an imaginary cuboid formed by the maximum ranges of the three axes to be approached.

[0013] It is further proposed that the transport device is provided for inserting the tool and / or the tool chuck into a holding unit of the setting and / or measuring device, which is provided for holding and / or positioning the tool and / or the tool chuck during a measuring process and / or during a setting process of the setting and / or measuring device. This advantageously enables a particularly precise measuring and setting process, in particular one that is independent of the transport device. In particular, the holding unit of the setting and / or measuring device is designed as a spindle unit. It is conceivable that the spindle unit can be equipped with an attachment holder that is specifically adapted to a tool chuck type. The holding unit can position the tool or tool chuck, for example, by a rotational movement before, during or after a measuring process or a setting process.

[0014] It is also proposed that the transport device comprise at least one gripper for automated, temporary gripping of at least the tool and / or at least the tool chuck. This advantageously makes it possible to achieve a high level of flexibility. Tools and / or tool chucks of different sizes and / or shapes can advantageously be transported by the transport device. The gripper has, in particular, at least two gripper elements that can be moved relative to one another in a gripping plane of the gripper. The gripper preferably has precisely two gripper elements that can be moved relative to one another in the gripping plane of the gripper. The gripper has a gripping sensor that is provided for detecting whether or not something is currently gripped. The gripping elements can have different gripping surfaces for gripping different tools or tool chucks.For example, the gripping elements can have a first gripping surface at a tip of the gripper, which is designed to grip a tool shank, e.g., by force-fitting clamping. For example, the gripping elements can have a second gripping surface arranged behind the tip of the gripper, separate from the first gripping surface, which is designed to engage in a groove of a tool chuck, e.g., by positive insertion into the groove.

[0015] Furthermore, it is proposed that all gripping planes formed by gripping elements of the gripper be arranged and aligned in space such that all imaginary surface normals of the gripping planes are free of intersection points with the spatial gantry robot, in particular with a gantry carriage of the spatial gantry robot and with transport rails of the spatial gantry robot. This advantageously allows tools and tool chucks of different lengths to be gripped, in particular without colliding with the spatial gantry robot during movement. Particularly long and / or particularly large tools and / or tool chucks can advantageously be measured. In particular, the gripping plane is an imaginary plane in space in which the gripping elements move when the gripper is opened and closed.In particular, the gripping plane is an imaginary plane in space which, when the gripper is in the holding state and gripping a tool or a tool chuck, has the largest possible cross-sectional overlap with the two gripping elements. The spatial gantry robot has, in particular, a gantry carriage on which the gripper is mounted. The gantry carriage is, in particular, mounted on one of the three axes of the spatial gantry robot, preferably on the third axis. In particular, the gripper is arranged laterally on the gantry carriage. In particular, the gripper elements of the gripper protrude laterally from the gantry carriage. In particular, the gripper elements of the gripper extend in a horizontal plane.

[0016] It is further proposed that the transport device has at least one first horizontal rail and at least one second horizontal rail arranged at least substantially perpendicular to the first horizontal rail, which are each arranged vertically above one half of a measuring range provided by the setting and / or measuring device, preferably completely above the measuring range provided by the setting and / or measuring device. This advantageously makes it possible to achieve high stability and / or high movement accuracy. In particular, the first horizontal rail extends in the direction of the first axis of the spatial gantry robot. In particular, the first horizontal rail forms the first axis of the spatial gantry robot. In particular, the second horizontal rail extends in the direction of the second axis of the spatial gantry robot. In particular, the second horizontal rail forms the second axis of the spatial gantry robot.In particular, the measuring range of the setting and / or measuring device extends above the holding unit of the setting and / or measuring device. In particular, the measuring range of the setting and / or measuring device extends between two horizontally opposite measuring elements of the setting and / or measuring device, which can be moved vertically along a tower unit of the setting and / or measuring device. In particular, the second horizontal rail is arranged at an upper end of a stand unit constructed around the setting and / or measuring device and around the provision device. In particular, the transport device comprises two mutually parallel second horizontal rails. In particular, the second horizontal rails are arranged in a stationary manner. In particular, the first horizontal rail is arranged on the second horizontal rail. In particular, the transport device comprises only a single first horizontal rail.In particular, the first horizontal rail is arranged to be movable along the second horizontal rail.

[0017] In particular, the transport device comprises a vertical rail. In particular, the vertical rail is arranged on the first horizontal rail. In particular, the transport device comprises only a single vertical rail. In particular, the vertical rail is arranged so as to be relatively fixed in position to the first horizontal rail. In particular, the gantry carriage is arranged so as to be movable along the vertical rail. Alternatively, the vertical rail could also be arranged so as to be movable along the first horizontal rail. In this case, the gantry carriage could be arranged so as to be relatively fixed in position to the vertical rail. In particular, the first horizontal rail is a transport rail of the spatial gantry robot. In particular, the second horizontal rail is a transport rail of the spatial gantry robot. In particular, the vertical rail is a transport rail of the spatial gantry robot.

[0018] If the setting and / or measuring device is designed for optical measurement of the tool and / or the tool chuck, a high level of precision can advantageously be achieved. Non-contact measurement can advantageously be enabled. In particular, the setting and / or measuring device can be designed for incident light measurement of the tool and / or the tool chuck using an incident light measuring system and / or for transmitted light measurement of the tool and / or the tool chuck using a transmitted light measuring system. The setting and / or measuring device is preferably designed as a Venturion 450 device from E. Zoller Einstell- und Messgeräte GmbH & Co. KG (Pleidelsheim) or as a device of a comparable type.

[0019] Furthermore, it is proposed that the automated setting and measuring system comprise an identification device for identifying a tool and / or a tool chuck. This advantageously makes it possible to achieve particularly high operational reliability and / or a particularly high degree of automation. The identification device can be implemented as a chip reader, such as an RFID reader, or as a barcode reader, such as a data matrix code reader. In particular, the identification device is provided for reading a chip / barcode linked to a tool or a tool chuck, e.g., one attached directly to the tool or the tool chuck.In particular, by reading the chip / barcode, the currently machined tool or tool chuck is identified, and information about the tool or tool chuck is retrieved by a computing unit of the setting and measuring system, in particular the identification device, and transferred to the setting and / or measuring device and / or to the transport device. From this information, for example, the measuring program and / or setting program suitable for the tool or tool chuck can be set in the setting and / or measuring device. The areas in which the tool and / or tool chuck are measured, set, identified, and stored are preferably all at approximately the same vertical height above the floor. Alternatively, the identification device could also be provided for tool and / or tool chuck recognition, e.g. by means of image processing.A "computing unit" is understood, in particular, to be a unit with an information input, an information processing unit, and an information output. The computing unit advantageously comprises at least one processor, a memory, input and output means, other electrical components, an operating program, control routines, control routines, and / or calculation routines. The components of the computing unit are preferably arranged on a common circuit board and / or advantageously arranged in a common housing. Alternatively, the computing unit can also be partially formed by a cloud or an external mobile device.

[0020] If the transport device is provided for transporting the tools and / or tool chucks between the provision device and the identification device and / or between the identification device and the setting and / or measuring device, a particularly high degree of automation can advantageously be achieved. A high level of operational reliability can advantageously be achieved because, in particular, it is always known which tool or which tool chuck is currently being moved by the transport device. In particular, the transport device is provided for moving the tool or the tool chuck into a measuring area of ​​the identification device for identification. The identification device can be designed as a separate station of the setting and measuring system, separate from the setting and / or measuring device and from the provision device.Alternatively, the identification device can be part of the setting and / or measuring device or part of the provision device or can be attached to the setting and / or measuring device or the provision device. In addition, it is proposed that the automated setting and measuring system has a protective cover which at least encompasses the components of the setting and measuring system, in particular at least the transport device, the provision device and the setting and / or measuring device. This can advantageously achieve a high level of operator safety and / or high operational reliability. In particular, the protective cover has an opening / protective door for loading and / or unloading the provision device by means of a (autonomous or manually pushed) transport trolley and / or for manual loading and unloading of the provision device.The protective door can be designed such that it can only be opened when the setting and measuring system is not currently active, in particular when no tool or tool chuck is currently being measured, set, identified or transported. Closing the protective door can automatically trigger the start of operation of the setting and measuring system. The protective cover can be designed as a fence, a housing / enclosure, a wall, a cage or the like. The protective cover encompasses the components of the setting and measuring system at least in the circumferential direction of the setting and measuring system. In addition, the protective cover can also have a roof that covers the components of the setting and measuring system from above. In particular, the protective cover can be designed such that an operator can look into the interior of the protective cover and in particular can observe the components of the setting and measuring system.

[0021] If the automated setting and measuring system also has an operating unit that is accessible from outside the protective cover, a high level of operator safety and / or operator comfort can advantageously be achieved. In particular, the operating unit forms an interface to the processing unit of the setting and measuring system. In particular, the setting and / or measuring device can be operated via the operating unit. In particular, the identification device can be operated via the operating unit. In particular, the transport device can be operated via the operating unit. In particular, the provision device can be operated via the operating unit.

[0022] In particular, the safety door can be operated via the control unit. The control unit can include an input unit such as a touchscreen, a keypad, or the like.

[0023] It is further proposed that the provisioning device

[0024] Pallet receiving unit which is provided for the interchangeable receiving and holding of pallets which can be equipped with a plurality of tools and / or tool chucks, in particular in rows. This advantageously enables an orderly transfer of the tools and / or tool chucks. Advantageously, a high level of operational reliability and / or a high level of operator comfort can be achieved. The transport device is particularly provided for clearing the pallets row by row from front to back. In particular, the pallets can be randomly loaded with various tools and tool chucks. The tools and tool chucks and / or the pallets should preferably have chips or barcodes or the like to enable identification by means of the identification device. In particular, the pallets transferred to the provision device do not have to be fully loaded.If, for example, a holding position on a pallet is free, the transport device, in particular a sensor on the gripper, detects this and then automatically moves on to the next holding position on the pallet.

[0025] If the pallet receiving unit has an at least partially automated fastening function for slip-proof fastening of the pallets and / or an at least partially automated alignment function, in particular a centering function, for a precise positional alignment of the pallets relative to the transport device, a high working precision and / or a high operational reliability can advantageously be achieved.

[0026] It is also proposed that the pallet receiving unit have a pallet recognition unit for recognizing different types and / or types of pallets. This advantageously makes it possible to achieve a high level of operational reliability. Advantageously, particularly precise and / or reliable control of the transport device can be enabled. In particular, a suitable one of several control programs for the transport device can be set depending on the detected pallet. Advantageously, a high level of user-friendliness can also be achieved. Furthermore, a high level of flexibility can be achieved. The pallet recognition unit can comprise a pallet recognition device, e.g. a camera, an ID reader such as a barcode or matrix code reader, etc., a chip reader such as an RFID chip reader, an NFC chip reader, etc., a tactile sensor for recognizing pallets.The pallets can have respective identifiers or characteristic patterns / shapes, etc. The different pallets can be designed for different tool chuck types or sizes, or have different arrangements of receiving locations. For example, the pallets can be designed for different hollow shank tapers.

[0027] Furthermore, it is proposed that the provision device have a plurality of buffer positions which are provided for the intermediate storage of tools and / or tool chucks, in particular those removed from a pallet, in particular after they have been adjusted and / or measured by the setting and / or measuring device. This advantageously enables efficient processing of pallets. The buffer positions form holding positions for tools and / or tool chucks. In particular, the buffer positions are designed separately from the pallets / the pallet receiving unit. In particular, the buffer positions form a row of holding positions similar to the holding positions of the pallets (pallet positions). Preferably, the provision device comprises an identical number of buffer positions to the number of holding positions in a row of a standard pallet suitable for the provision device.In addition, pallets with fewer holding positions per row can also be used, allowing any excess buffer positions to remain unused. The advantage of using buffer positions is that the supply device does not have to hold a second pallet into which fully measured and / or adjusted tools and tool chucks can be inserted. Another advantage of the buffer positions is that no loading and / or unloading function for the pallet from above is required. This could otherwise severely limit the usable tool diameters and / or the number of tools or tool chucks per pallet. The buffer positions are, in particular, a fixed part of the supply device and are preferably independent of the pallet currently loaded.

[0028] It is further proposed that the supply device have a plurality of reject locations which are provided for storing tools and / or tool chucks, in particular tools removed from a pallet, which could not be identified, measured and / or adjusted by the setting and measuring system and / or which were otherwise marked as rejects by the setting and measuring system. This advantageously makes it possible to achieve a high level of operational reliability. The use of tools and tool chucks which are not or incorrectly adjusted and / or measured can advantageously be avoided. The reject locations form holding locations for tools and / or tool chucks. In particular, the reject locations are designed separately from the pallets / the pallet receiving unit. In particular, the reject locations form a series of holding locations similar to the holding locations of the pallets (pallet locations).The reject stations are in particular a fixed part of the provisioning facility and preferably independent of the pallet currently loaded.

[0029] If the buffer locations and / or reject locations are equipped with occupancy sensors, a high level of operational reliability can be achieved. Damage to tools, tool chucks, or components of the setting and measuring system due to collisions or attempted double occupancy of buffer locations and / or reject locations can be advantageously avoided. In particular, each buffer location and / or reject location has a corresponding occupancy sensor.

[0030] If, in addition, the automated setting and / or measuring device has a safety device which is intended to prevent a restart of the setting and measuring system if one of the occupancy sensors detects occupancy of a buffer location or a reject location, a high level of operational reliability can advantageously be achieved.

[0031] It is also proposed that at least one of the horizontal rails has a first axis and a second axis, wherein the second axis is mounted on the first axis for linear movement in the main direction of extension of the respective horizontal rail, and wherein the gripper of the transport device is mounted on the second axis for linear movement in the main direction of extension of the respective horizontal rail. This advantageously makes it possible to achieve a large reach for the gripper while simultaneously achieving a compact and / or lightweight and / or cost-effective design. Advantageously, flexibility in the arrangement and design of individual components of the setting and measuring system, such as the setting and / or measuring device and the provision device, can be maintained. The first horizontal rail preferably has the above-described first and second axes.Alternatively, however, it is also conceivable for the second horizontal rail to have the previously described first and second axes. Preferably, the other horizontal rail is not divided into two axes. Alternatively, however, it is also conceivable for both horizontal rails or the vertical rail to be divided into two correspondingly coupled axes. A “main extension direction” of an object should be understood in particular as a direction that runs parallel to a longest edge of a smallest geometric cuboid that just completely encloses the object. In particular, the first axis is fixed in position / immobile, in particular relative to the setting and / or measuring device, the provision device and / or the protective cover. In particular, the second axis is movable relative to the first axis and thus also relative to the setting and / or measuring device, the provision device and / or the protective cover.In particular, the gripper is movable relative to the second axis and thus also relative to the first axis, the setting and / or measuring device, the supply device, and / or the protective cover. The second axis forms a cantilever for the gripper, which is mounted on the first axis. The two axes form stacked axes of a stacked linear unit for moving the gripper in the horizontal direction.

[0032] If the second axis is a CNC-controlled axis for a CNC-controlled movement of the gripper, which can be positioned and / or moved much more precisely on the second axis than the preferably pneumatically or hydraulically controlled second axis on the first axis, a high gripper precision, in particular a CNC precision of the gripper, can be achieved with a simultaneous large gripper reach. In particular, the second axis is a CNC axis. The CNC axis is preferably controlled by a control unit of the automated setting and measuring system, preferably by the programmable logic controller (PLC controller). Preferably, the first axis has a greater stroke than the second axis. For example, the first axis could have a stroke of 400 mm, while the second axis has a stroke of 300 mm in the same direction.However, other strokes, in particular an inverted stroke size ratio, are also conceivable. In particular, the first axis is a pneumatic or hydraulic axis. The first axis can also be controlled by the control unit of the automated setting and measuring system, e.g. by the programmable logic controller (PLC controller), or have its own pneumatic or hydraulic control. If, in addition, the second axis on the first axis can only be moved between two end positions, a range maximization can advantageously be achieved with particularly low complexity and / or at particularly low cost. In particular, the respective horizontal axis, in particular the first axis, comprises a stop for the second axis on both sides / ends, which defines the respective end positions of the movement of the second axis along the first axis.The gripper, on the other hand, is preferably movable / positionable into any desired linear position on the second axis. The movement of the second axis on the first axis is preferably intended for switching between two components of the setting and measuring system, e.g., between the setting and / or measuring device and the supply device. The movement of the gripper on the second axis is intended, in particular, for precisely approaching objects to be gripped, e.g., tools and / or tool chucks, within the respective component.

[0033] Furthermore, it is proposed that the gripper of the transport device be designed as a double gripper for simultaneously gripping at least two tools. This advantageously makes it possible to accelerate the work of the automated setting and measuring system. Advantageously, while a first tool is being measured, a second tool can be picked up so that when the first tool is removed from the setting and / or measuring device after the measuring process has ended, a second tool can already be held at the location of the setting and / or measuring device and can be inserted into the setting and / or measuring device immediately after the first tool has been removed. This can significantly improve the utilization of the setting and / or measuring device in the automated setting and measuring system.

[0034] If the double gripper has a first gripping area at least for at least temporarily gripping a first tool and a second gripping area different from the first gripping area for at least temporarily gripping a second tool, wherein the first gripping area and the second gripping area are each delimited on one side by a common gripping element, a particularly space-saving and / or simple, in particular simple to control, double gripper can advantageously be obtained. The number of moving parts can advantageously be kept low, which in particular can reduce costs and susceptibility to errors. Such a double gripper is particularly advantageous for gripping conventional, non-projecting shank tools.Advantageously, the proposed design also makes it possible to keep the risk of collision and / or the distance to be traveled when exchanging the tool in the setting and / or measuring device to a minimum, which in particular makes it possible to reduce non-productive times. Advantageously, the utilization of the setting and / or measuring device can be further increased. In particular, the two gripping areas of the double gripper are located horizontally next to one another. In particular, the common gripping element is located horizontally between the two gripping areas. In particular, the common gripping element spatially separates the two gripping areas from one another. In particular, one of the two gripping elements of the gripper that are movable in the gripping plane, in particular relative to the common gripping element, is arranged on either side of the common gripping element.The common gripping element can be mounted immovably relative to one gripper base of the gripper, while the other two gripping elements are movable relative to the gripper base. Alternatively, however, all three gripping elements of the gripper could also be movable relative to the gripper base.

[0035] Furthermore, an automated setting and measuring method for setting and / or measuring tools and / or tools in tool chucks using the automated setting and measuring system is proposed, wherein the tools and / or tool chucks are moved by the spatial gantry robot between the components of the setting and measuring system. This allows advantageous properties to be achieved with regard to the design of setting and measuring systems, in particular with regard to simplicity of design, space utilization, cost, retrofitability, and / or standardization.

[0036] Furthermore, a method is proposed for processing tools and / or tool chucks which have been transferred to a supply device by means of a pallet comprising a number n of rows of pallet positions occupied / occupable by the tools and / or tool chucks, by means of an automated setting and measuring system comprising the supply device with buffer positions, wherein in a first part of the method, the tools and / or tool chucks from the first row of pallet positions are successively removed, measured, adjusted and temporarily stored in the buffer positions of the supply device in the opposite order, along a first row of pallet positions of the pallet, wherein in a second part of the method, the tools and / or tool chucks from the second row of pallet positions are successively removed, measured,set and stored in the opposite order in the pallet positions of the first row of pallet positions, wherein in an nth process step, along an nth row of pallet positions of the pallet that is different from the first row and the second row, the tools and / or tool chucks of the nth row of pallet positions are successively removed, measured, set, and stored in the opposite order in the pallet positions of the (n-1)th row of pallet positions, and wherein, in particular, in an (n+1)th process step, the tools and / or tool chucks temporarily stored in the buffer positions of the provision device are successively removed from the buffer positions and stored in the pallet positions of the (n)th row of pallet positions. This advantageously enables particularly rapid processing of tools and / or tool chucks by the automated setting and measuring system.

[0037] Alternatively, a further method is proposed for processing tools and / or tool chucks, which have been transferred to a supply device by means of a plurality of rows of pallet spaces comprising the tools and / or tool chucks, occupied / occupable by the tools and / or tool chucks, by means of an automated setting and measuring system comprising the supply device with buffer spaces, wherein in a method step along a first row of pallet spaces of the pallet, the tools and / or tool chucks of the first row of pallet spaces are successively removed, measured, set and temporarily stored in the buffer spaces of the supply device in the opposite order,In a further method step, the tools and / or tool chucks temporarily stored in the buffer locations of the provisioning device are successively removed from the buffer locations and returned to their original pallet locations in the first row of pallet locations, and the two aforementioned method steps are repeated, in particular, n-1 times, until all rows of the pallet have been processed. This advantageously allows the existing pallet sorting to be maintained. This advantageously prevents two large tools or tool chucks that do not fit next to each other from being positioned next to each other due to reorganization within the pallet. Advantageously, the same tools always remain adjacent. Advantageously, tool and / or tool chuck organization can be facilitated.

[0038] It is also proposed that initially unoccupied pallet locations be detected and / or that when a tool and / or tool chuck is placed in a reject location of the supply device, the actually associated pallet location and / or buffer location remains unoccupied in the respective process step and / or process section. This can advantageously improve tool and / or tool chuck organization.

[0039] The automated adjustment and measuring system according to the invention, the automated adjustment and measuring method according to the invention, and the further methods according to the invention are not intended to be limited to the application and embodiment described above. In particular, the automated adjustment and measuring system according to the invention, the automated adjustment and measuring method according to the invention, and the further methods according to the invention may have a number of individual elements, components, and units that differs from the number stated herein to fulfill a function described herein.

[0040] Drawings

[0041] Further advantages will become apparent from the following description of the drawings. The drawings illustrate exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will also expediently consider the features individually and combine them into useful further combinations.

[0042] They show:

[0043] Fig. 1 is a schematic perspective view of an automated setting and measuring system with a transport device, Fig. 2 is a schematic perspective view of a section of a pallet receiving unit of a provision device of the setting and measuring system with a pallet,

[0044] Fig. 3 is a schematic flow diagram of an automated setting and measuring process,

[0045] Fig. 4 is a schematic flow diagram of sub-steps of a process step of the setting and measuring process in which a processing cycle of the setting and measuring system is carried out,

[0046] Fig. 5 is a schematic flow diagram of a method usable in the setting and measuring method of Figures 3 and 4 for processing tools and / or tool chucks in the setting and measuring system,

[0047] Fig. 6 is a schematic plan view of the supply device with the pallet,

[0048] Fig. 7 is a table illustrating the method of Figure 5 applied to the provision device of Figure 6,

[0049] Fig. 8 is a schematic flow diagram of an alternative method for machining the tools and / or tool chucks that can be used in the setting and measuring method of Figures 3 and 4,

[0050] Fig. 9 is a schematic plan view of the automated setting and measuring system with a holding unit of a setting and / or measuring device of the setting and measuring system and with two pallets,

[0051] Fig. 10a is a schematic representation of a gripper of the transport device in two possible positions relative to the holding unit and relative to the two pallets and

[0052] Fig. 10b is a schematic representation of the gripper in three further possible positions relative to the holding unit and relative to the two pallets.

[0053] Description of the embodiments

[0054] Figure 1 schematically shows a perspective view of an automated setting and measuring system 66. The automated setting and measuring system 66 is provided for the automated setting of tools 10 in tool chucks 12. The automated setting and measuring system 66 is provided for the measurement of tools 10, tool chucks 12, and / or tools 10 in tool chucks 12. It is also conceivable that the automated setting and measuring system 66 is provided or used solely for the measurement of tools 10, e.g., when only tools 10 without tool chucks 12 are transferred to the automated setting and measuring system 66.

[0055] The automated setting and measuring system 66 has a setting and / or measuring device 14. The setting and / or measuring device 14 is provided for optically measuring the tools 10 and / or the tool chucks 12. The setting and / or measuring device 14 is embodied, for example, as a Venturion 450 device from Zoller Einstell- und Messgeräte GmbH & Co. KG (Pleidelsheim). The setting and / or measuring device 14 has a base unit 90. The base unit 90 is stationary and / or mounted on a base. The setting and / or measuring device 14 has a holding unit 20. The holding unit 20 is provided for holding and / or positioning the tool 10 and / or the tool chuck 12 during a measuring process and / or during a setting process of the setting and / or measuring device 14. The holding unit 20 is embodied as a spindle unit. The holding unit 20 is at least rotatably mounted.The holding unit 20 is configured to rotate the tool 10 and / or the tool chuck 12 during the measuring process and / or during the setting process. The holding unit 20 is mounted on the base unit 90 in a translationally fixed manner. The holding unit 20 can be provided for holding tool chucks 12; however, it is also conceivable for the holding unit 20 to be provided for directly holding tools 10, e.g., by means of a hydraulic expansion chuck or by means of a multiple-jaw chuck, such as a 5-jaw chuck. The setting and / or measuring device 14 has a turret unit 56. The turret unit 56 is mounted so as to be translationally movable relative to the holding unit 20. The turret unit 56 is mounted so as to be movable in a horizontal plane. The turret unit 56 is translatable / displaceable parallel to / along a first axis 92 of the setting and measuring system 66.The turret unit 56 is translatable / displaceable parallel to / along an x-axis of the setting and measuring system 66. The setting and / or measuring device 14 has a measuring carriage 94. The measuring carriage 94 has an optical unit 96 for optically measuring the tool 10 and / or the tool chuck 12. The optical unit 96 has a transmitted light measuring unit and / or a reflected light measuring unit, which can each comprise at least one light source 98 and a camera 100. The measuring carriage 94 is mounted for translational movement. The measuring carriage 94 is mounted for vertical movement along the turret unit 56. The measuring carriage 94 is translatable / displaceable parallel to / along a third axis 102 of the setting and measuring system 66. The measuring carriage 94 is translatable / displaceable parallel to / along a z-axis of the setting and measuring system 66. The setting and / or measuring device 14 provides a measuring range 38.The optical unit 96, in particular the mobility of the optical unit 96, limits the measuring range 38 of the setting and / or measuring device 14.

[0056] The automated setting and measuring system 66 has a provision device 16. The provision device 16 is provided for the provision of a plurality of tools 10 and / or tool chucks 12 within the setting and measuring system 66. For the provision, the provision device 16 stores the tools 10 and / or the tool chucks 12 in such a way that they can be picked up by a transport device 18 of the setting and measuring system 66 and / or stored again in the provision device 16. The provision device 16 has a pallet receiving unit 46. The pallet receiving unit 46 is provided for the exchangeable reception and holding of pallets 48, in particular tool pallets and / or tool chuck pallets. The pallets 48 are storage devices that can be equipped with a plurality of tools 10 and / or with a plurality of tool chucks 12, in particular in rows.The pallets 48, together with the tools 10 and / or tool chucks 12 stored therein, can be removed from the provision device 16 and stored in the provision device 16. In the exemplary embodiment shown in Figure 1, the pallet 48 has four rows 68, 74, 80, 82, each with six pallet locations 70. Alternatively, the pallet 48 could also have more or fewer than four rows 68, 74, 80, 82 of pallet locations 70. Alternatively, the pallet 48 could also have more or fewer than six pallet locations 70 per row 68, 74, 80, 82, whereby, in particular with more than six pallet locations 70 per row 68, 74, 80, 82, more than six buffer locations 50 could also be necessary. The pallet 48 shown by way of example in Figure 1 (and also Figure 6) comprises a receiving interface 162 for one or more further pallets (not shown), which is provided for holding, preferably upright, a plurality of tools 10.The at least one additional pallet can be coupled to the pallet 48 in a fixed position and / or slip-resistant manner via the receiving interface 162. The receiving interface 162 can have an adapter for coupling the pallet 48 to the at least one additional pallet or can be designed as such an adapter. Alternatively, however, the pallet 48 could also be designed without receiving interfaces 162 for additional pallets.

[0057] The provision device 16 has a plurality of buffer locations 50. In the exemplary embodiment shown in Fig. 1, the provision device 16 has six buffer locations 50. Preferably, the number of buffer locations 50 of the provision device 16 corresponds to a maximum number of pallet locations 70 per row 68, 74, 80, 82 of a pallet 48 that can be inserted into the pallet receiving unit 46. The buffer locations 50 are each provided for the temporary storage of tools 10 and / or tool chucks 12. The buffer locations 50 are provided for the temporary storage of tools 10 and / or tool chucks 12 removed from the pallet 48 after adjustment and / or measurement by the adjustment and / or measuring device 14. The provision device 16 has a plurality of reject locations 52. In the exemplary embodiment shown in Fig. 1, the provision device 16 has six reject locations 52.However, more or fewer than six reject locations 52 are also conceivable. Alternative arrangements of the buffer locations 50 and / or the reject locations 52 are also conceivable. The reject locations 52 are each provided for storing tools 10 and / or tool chucks 12 that could not be identified, measured, and / or adjusted by the setting and measuring system 66 and / or that were otherwise marked as rejects by the setting and measuring system 66. The reject locations 52 are provided for storing tools 10 and / or tool chucks 12 removed from the pallet 48 positioned in the supply device 16, that could not be identified, measured, and / or adjusted by the setting and measuring system 66 and / or that were otherwise marked as rejects by the setting and measuring system 66.The reject stations 52 and / or the buffer stations 50 are each arranged in a further row running parallel to the rows 68, 74, 80, 82 next to the pallet receiving unit 46.

[0058] The buffer locations 50 have occupancy sensors 54. The reject locations 52 have

[0059] Occupancy sensors 54. The occupancy sensors 54 register whether a buffer location 50 or a reject location 52 is occupied or not. Each of the buffer locations 50 and each of the reject locations 52 of the provision device 16 is assigned an occupancy sensor 54. The setting and measuring system 66 has a computing unit 62. The computing unit 62 is provided for controlling and / or regulating the setting and measuring system 66. The computing unit 62 can be formed integrally with a computing unit of the setting and / or measuring device 14 or spatially separated therefrom and in communication with it. The setting and measuring system 66 has a safety device 64. The safety device 64 can be formed as part of the computing unit 62 or by the computing unit 62.The safety device 64 is designed to prevent a restart of the setting and measuring system 66 if one of the occupancy sensors 54 detects occupancy of one of the buffer locations 50 or one of the reject locations 52. For example, after an emergency stop of the setting and measuring system 66, the entire staging device 16 must be returned to a basic state in which the buffer locations 50 and the reject locations 52 are unoccupied. Only then does the computing unit 62 allow the setting and measuring system 66 to be restarted.

[0060] The automated setting and measuring system 66 has the transport device 18. The transport device 18 is provided for transporting tools 10 and / or tool chucks 12 between the setting and / or measuring device 14 and the provision device 16. The transport device 18 is provided for inserting the tools 10 and / or the tool chucks 12 into the holding unit 20 of the setting and / or measuring device 14. The transport device 18 is provided for removing the tools 10 and / or the tool chucks 12 from the holding unit 20 of the setting and / or measuring device 14. The transport device 18 is provided for inserting the tools 10 and / or the tool chucks 12 into the pallet 48 provided by the provision device 16. The transport device 18 is provided to remove the tools 10 and / or the tool chucks 12 from the pallet 48 provided by the provision device 16.

[0061] The transport device 18 is designed as a spatial gantry robot. The transport device 18 has a gripper 22. The gripper 22 is provided for automated, temporary gripping of the tool 10 and / or the tool chuck 12. The gripper 22 has a first gripping element 24. The first gripping element 24 forms a first gripper finger. The gripper 22 has a second gripping element 26. The second gripping element 26 forms a second gripper finger. The second gripper finger can be moved in the opposite direction to the first gripper finger. The gripping elements 24, 26 form a gripping plane. The gripper fingers can be moved in the opposite direction to one another in the gripping plane, in particular for opening and closing the gripper 22.All gripping planes formed by the gripping elements 24, 26 of the gripper 22 are arranged and aligned in space such that all imaginary surface normals 28 of the gripping planes are free of intersection points with the spatial gantry robot, in particular with a gantry carriage 104 of the spatial gantry robot and with transport rails 30 of the spatial gantry robot. The transport device 18, in particular the spatial gantry robot, has the gantry carriage 104. The gantry carriage 104 is provided for supporting the gripper 22. The gantry carriage 104 is provided for moving the gripper 22 along the transport rails 30.

[0062] The transport device 18, in particular the spatial gantry robot, has the transport rails 30. The transport device 18 has a second horizontal rail 32. The second horizontal rail 32 is a transport rail 30 of the spatial gantry robot. The second horizontal rail 32 forms the second axis 106 of the adjustment and measuring system 66. The second horizontal rail 32 is set up and / or mounted in a fixed position on the substrate. The transport device 18 has a stand unit 58. The second horizontal rail 32 is mounted on the stand unit 58. The second horizontal rail 32 is set up and / or mounted in a fixed position relative to the substrate via the stand unit 58. The transport device 18 has a first horizontal rail 34. The first horizontal rail 34 is a transport rail 30 of the spatial gantry robot. The first horizontal rail 34 forms the first axis 92 of the adjustment and measuring system 66.The first horizontal rail 34 is arranged perpendicular to the second horizontal rail 32. The second horizontal rail 32 is aligned parallel to / along a y-axis of the adjustment and measuring system 66. The first horizontal rail 34 is arranged on the second horizontal rail 32 for translational movement.

[0063] The transport device 18 has a vertical rail 60. The vertical rail 60 is a transport rail 30 of the spatial gantry robot. The vertical rail 60 forms the third axis 102 of the setting and measuring system 66. The vertical rail 60 is arranged perpendicular to the first horizontal rail 34. The vertical rail 60 is arranged perpendicular to the second horizontal rail 32. The vertical rail 60 is arranged on the first horizontal rail 34 for translational movement. The gantry carriage 104 is arranged on the vertical rail 60 for translational movement. The gripper 22 is arranged on the vertical rail 60 for translational movement. The first horizontal rail 34 is arranged above one half of the measuring range 38 provided by the setting and / or measuring device 14, as viewed in a vertical direction 36 of the setting and measuring system 66.The first horizontal rail 34 is arranged completely above the measuring area 38, as viewed in the vertical direction 36 of the setting and measuring system 66. The second horizontal rail 32 is arranged above one half of the measuring area 38 provided by the setting and / or measuring device 14, as viewed in the vertical direction 36 of the setting and measuring system 66. The second horizontal rail 32 is arranged completely above the measuring area 38, as viewed in the vertical direction 36 of the setting and measuring system 66.

[0064] The automated setting and measuring system 66 has an identification device 40. The identification device 40 is provided for identifying the tools 10 and / or the tool chucks 12. The identification device 40 is provided for identifying the tools 10 and / or the tool chucks 12 by means of identification elements assigned to the tools 10 and / or the tool chucks 12, such as ID chips or barcodes or the like. In the exemplary embodiment shown in Figure 1, the identification device 40 is designed as a data matrix code reader, which reads ID chips with lasered data matrix codes attached to the tools 10 and the tool chucks 12. The identification device 40 is mounted on the setting and / or measuring device 14. The identification device 40 is arranged below the measuring area 38 of the setting and / or measuring device 14, as viewed in the vertical direction 36.The identification device 40 is arranged next to the measuring area 38 of the setting and / or measuring device 14. The transport device 18 is provided for transporting the tools 10 and / or the tool chucks 12 between the provision device 16 and the identification device 40. The transport device 18 is provided for transporting the tools 10 and / or the tool chucks 12 between the identification device 40 and the setting and / or measuring device 14. The automated setting and measuring system 66 has a protective cover 42. The protective cover 42 surrounds the components of the setting and measuring system 66. The protective cover 42 surrounds the transport device 18. The protective cover 42 surrounds the provision device 16. The protective cover 42 surrounds the setting and / or measuring device 14. The protective cover 42 surrounds the identification device 40.In the embodiment shown in Figure 1, the protective cover 42 is designed as a protective fence. In the illustration in Figure 1, the protective cover 42 is partially formed to allow a view of the components of the setting and measuring system 66. The protective cover 42 has a protective door (not shown). The loading and unloading of the pallet receiving unit 46 takes place through the protective door. The automated setting and measuring system 66 has an operating unit 44. The operating unit 44 is arranged outside the protective cover 42. An operator of the setting and measuring system 66 can access at least functions of the setting and measuring system 66, in particular the computing unit 62, via the operating unit 44 from outside the protective cover 42.

[0065] It is conceivable that the automated setting and measuring system 66 additionally comprises a cleaning device (not shown) for cleaning the tools 10 and / or the tool chucks 12. It is conceivable that the automated setting and measuring system 66 additionally comprises a marking device (not shown) for marking the tools 10 and / or the tool chucks 12. The cleaning device and / or the marking device could also be equipped using the same transport device 18 as the measuring and / or setting device 14.

[0066] Figure 2 shows a schematic perspective view of a section of the pallet receiving unit 46 of the provision device 16 with a pallet 48. The pallet receiving unit 46 has an at least partially automated fastening function. This fastening function is provided for the slip-proof fastening of the pallet 48 in the provision device 16. To perform the fastening function, the pallet receiving unit 46 has at least one raisable and lowerable support element 108. The support element 108 can be moved up and down in a controlled manner by means of a motor- or pneumatically driven lifting unit 110. The lifting unit 110 shown as an example in Figure 2 comprises a rotary cylinder for generating the raising and lowering movements.

[0067] The pallet receiving unit 46 has an at least partially automated alignment function, in particular a centering function. The alignment function is provided for a precise positional alignment of the pallet 48 relative to the transport device 18, in particular to the centimeter, preferably to the millimeter. The pallet receiving unit 46 has a positioning pin 112 to perform the alignment function. The positioning pin 112 is designed to engage in a positioning recess 114 of the pallet 48. Alternatively, the arrangement of the positioning pin 112 and the positioning recess 114 could also be reversed. The positioning pin 112 has a tapered shape. The positioning recess 114 has a funnel shape corresponding to the positioning pin 112.By lifting the pallet 48 by means of the lifting unit 110 to secure the pallet 48 in the pallet receiving unit 46, the positioning pin 112 is inserted into the positioning recess 114 and causes the pallet 48 to deflect until the optimal relative position of the positioning pin 112 and the positioning recess 114 is reached. Preferably, the pallet receiving unit 46 has a positioning pin 112 at more than one corner, in particular at all four corners.

[0068] The pallet receiving unit 46 has a pallet recognition unit 182. The pallet recognition unit 182 is provided for recognizing different types and / or types of pallets 48. The pallet 48 of Fig. 2 has, for example, an identifier 184. The identifier 184 can be identified / read by the pallet recognition unit 182. The identifier 184 is, for example, a commercially available RFID chip integrated into the pallet 48. The pallet recognition unit 182 is, for example, a commercially available RFID reader.

[0069] Figure 3 shows a schematic flow diagram of an automated setting and measuring method. The setting and measuring method is provided for setting and measuring the tools 10 in the tool chucks 12 using the automated setting and measuring system 66. In at least one method step 116, a pallet 48 is loaded by an operator or by a robot outside the setting and measuring system 66. The pallet 48 can be loaded randomly or in an orderly manner with various tools 10 and / or tool chucks 12. In at least one method step 118, the operator or an autonomous transport device (not shown) moves the loaded pallet 48 to the setting and measuring system 66. In at least one further method step 120, the operator or the autonomous transport device logs into the setting and measuring system 66, e.g., via the control unit 44.If another pallet 48 is currently being processed in the setting and measuring system 66, its processing cycle is terminated before the setting and measuring system 66 can be loaded with the new pallet 48. As soon as the processing cycle is completed, the protective door of the protective cover 42 is unlocked. In at least one further method step 122, the operator or the autonomous loading device loads the supply device 16. For this purpose, the protective door of the protective cover 42 is opened. For this purpose, the finished product is removed from the setting and measuring system 66. In addition, if necessary, all buffer locations 50 and reject locations 52 that are still occupied are cleared. The newly loaded pallet 48 is then inserted or pushed into the pallet receiving unit 46.In at least one further method step 124, the new pallet 48 is moved into a designated position within the setting and measuring system 66 by the alignment function and the fastening function. In at least one further method step 126, the protective door of the protective cover 42 is closed, and the machining cycle of the setting and measuring system 66, in which all tools 10 and tool chucks 12 of the pallet 48 are machined, is started. The tools 10 and tool chucks 12 of the pallet 48 are machined according to one of the schemes from the described method for machining tools 10 and / or tool chucks 12. The setting and measuring system 66 can automatically start the machining cycle upon detecting the closing of the protective door or wait for a start command from the operator or the autonomous transport device.In at least one further method step 128, the machining cycle of the setting and measuring system 66 is carried out. The tools 10 and / or tool chucks 12 are moved from the pallet 48 by the spatial gantry robot between the components of the setting and measuring system 66. In at least one further method step 152, at the end of the machining cycle, removal of the pallet 48 containing the now set and measured tools 10 and / or tool chucks 12 is permitted. Figure 4 schematically shows a flow diagram of substeps of method step 128, in which the machining cycle of the setting and measuring system 66 is carried out. In a substep 130, the spatial gantry robot removes a tool 10 and / or a tool chuck 12 from a row 68, 74, 80, 82 of the pallet 48 using the gripper 22.In a further sub-step 132, the spatial gantry robot, in particular a sensor element of the gripper 22, checks whether a tool 10 and / or a tool chuck 12 has been gripped by a removal movement. If no tool 10 and / or tool chuck 12 has been gripped, the spatial gantry robot moves to the next position in the row 68, 74, 80, 82 of the pallet 48 in a further sub-step 134. If a tool 10 and / or tool chuck 12 has been gripped, the spatial gantry robot moves with the gripped tool 10 and / or tool chuck 12 to the identification device 40 in a further sub-step 136. The spatial gantry robot positions an ID chip or a barcode of the tool 10 and / or the tool chuck 12 in a readout area of ​​the identification device 40. In at least one further sub-step 138, the ID chip or the barcode of the tool 10 and / or the tool chuck 12 is read out by the identification device 40.If the tool 10 and / or the tool chuck 12 cannot be identified or the identification device 40 produces another error message, the tool 10 and / or the tool chuck 12 is inserted into one of the reject locations 52 by the spatial gantry robot in a further sub-step 140. If the tool 10 could be identified, the tool 10 and / or the tool chuck 12 is inserted into the holding unit 20 of the setting and / or measuring device 14 in a further sub-step 142. Furthermore, in sub-step 142, the data stored for the identified tool 10 and / or tool chuck 12 is transmitted to the setting and / or measuring device 14, which sets the appropriate setting and / or measuring program based thereon. In a further sub-step 144, the tool 10 and / or the tool chuck 12 is measured and / or adjusted using the setting and / or measuring device 14.If the measuring process and / or the adjustment process could not be carried out successfully, the tool 10 and / or the tool chuck 12 is inserted into one of the reject locations 52 by the spatial gantry robot in a further sub-step 146. If the measuring process and / or the adjustment process was carried out successfully, the tool 10 and / or the tool chuck 12 is inserted into one of the buffer locations 50 or into one of the pallet locations 70 of the pallet 48 in a further sub-step 148. In a further sub-step 150, the next tool 10 and / or the next tool chuck 12 in the row 68, 74, 80, 82 of the pallet 48 or the next row 68, 74, 80, 82 of the pallet 48 is approached by the spatial gantry robot. The aforementioned steps are now repeated for the next tool 10 and / or tool chuck 12.This process is repeated until all tools 10 and / or tool chucks 12 of the pallet 48 have been measured and adjusted and reinserted into the pallet positions 70 of the pallet 48 or have been marked as rejects by being placed on the reject positions 52.

[0070] Figure 5 shows a schematic flow diagram of a method usable in the method of Figures 3 and 4 for processing the tools 10 and / or tool chucks 12, which have been transferred to the provision device 16 by means of a pallet 48 comprising a number n (in the pallet 48 of Figure 1, the number n corresponds to the value 4) of rows 68, 74, 80, 82 of pallet locations 70 occupied / occupable by the tools 10 and / or tool chucks 12. In a first part 72 of the method, the tools 10 and / or tool chucks 12 of the first row 68 of pallet locations 70 are removed one after the other along a first row 68 of pallet locations 70 of the pallet 48, measured, adjusted and temporarily stored in the buffer locations 50 of the provision device 16 in the opposite order.In a second part 76 of the method, the tools 10 and / or tool chucks 12 of the second row 74 are successively removed from the pallet positions 70 along the second row 74 of pallet positions 70 of the pallet 48, which is different from the first row 68, and are then stored in the opposite order in the pallet positions 70 of the first row 68 of pallet positions 70. This continues until, in an n-th part 78, the tools 10 and / or tool chucks 12 of the n-th row 82 are successively removed from the pallet positions 70, measured, adjusted, and then stored in the opposite order in the pallet positions 70 of the (n-1)-th row 80 of pallet positions 70 along an n-th row 82 of pallet positions 70 of the pallet 48, which is different from the first row 68 and the second row 74.In an (n+1)th process part 84, the tools 10 and / or tool chucks 12 temporarily stored in the buffer locations 50 of the provision device 16 are then removed one after the other from the buffer locations 50 and stored in the pallet locations 70 of the nth row 82 of pallet locations 70. Figure 6 shows a schematic plan view of the provision device 16 with the pallet 48 and with the buffer locations 50 and reject locations 52. The buffer locations 50 are marked with the letters A, B, C, D, E and F. The pallet positions 70 of the pallet 48 are labeled column by column with the numbers 1 to 24, whereby the numbers 1 to 6 are assigned to the pallet positions 70 of the first row 68, the numbers 7 to 12 are assigned to the pallet positions 70 of the second row 74, the numbers 13 to 18 are assigned to the pallet positions 70 of the (n-1)th row 80, i.e. here the third row, and the numbers 19 to 24 are assigned to the pallet positions 70 of the nth row 82, i.e. here the fourth row.The table in Figure 7 illustrates the method described in connection with Figure 5 using the letters and numbers in Figure 6. Work step numbers are entered in a first column 156 of the table. A second column 158 of the table lists the respective pallet locations 70 from which a tool 10 and / or a tool chuck 12 is removed in the respective work step (removal locations). A third column 160 of the table lists the respective pallet locations 70 into which the tool 10 and / or the tool chuck 12 is stored after successful measurement and / or adjustment in the respective work step (deposit locations).

[0071] Figure 8 shows a schematic flow diagram of an alternative method for processing the tools 10 and / or tool chucks 12 that can be used in the method of Figures 3 and 4. The alternative method is also intended for processing the tools 10 and / or tool chucks 12 that have been transferred to the provision device 16 by means of the pallet 48 comprising the majority of rows 68, 74, 80, 82 of pallet locations 70 occupied / occupable by the tools 10 and / or tool chucks 12, but differs in the proposed processing scheme. In a method step 86, the tools 10 and / or tool chucks 12 from the first row 68 of pallet locations 70 are removed one after the other along the first row 68 of pallet locations 70 of the pallet 48, measured, adjusted, and temporarily stored in the buffer locations 50 of the provision device 16 in the opposite order.Then, in a further method step 88, the tools 10 and / or tool chucks 12 temporarily stored in the buffer locations 50 of the provision device 16 are successively removed from the buffer locations 50 and returned to their original pallet locations 70 of the first row 68 of pallet locations 70. These two aforementioned method steps 86, 88 are then repeated n-1 times in a subsequent method part 154 until all rows 68, 74, 80, 82 of the pallet 48 have been processed and all tools 10 and / or tool chucks 12 that have been adjusted and measured and not assigned to the reject locations 52 are again arranged in the original pallet locations 70 in the pallet 48, which they had already occupied in the pallet 48 prior to being measured and adjusted by means of the adjustment and measuring system 66.

[0072] Generally, initially unoccupied pallet locations 70 are detected during processing of pallet 48. Furthermore, when a tool 10 and / or a tool chuck 12 is placed in one of the reject locations 52, the actually associated pallet location 70 and / or buffer location 50 generally remains unoccupied in the respective process step 86, 88 and / or process part 72, 76, 78, 84.

[0073] Figure 9 schematically shows a top view of the automated setting and measuring system 66 with the holding unit 20 of the setting and / or measuring device 14, with two pallets 48, 48', and with one of the two horizontal rails 32, 34 of the transport device 18. By way of example, only the first horizontal rail 34 is shown in more detail in Figure 9. However, the function described below could alternatively or additionally be assigned to the second horizontal rail 32. The first horizontal rail 34 has a first axis 164. The first horizontal rail 34 has a second axis 166. The second axis 166 is mounted on the first axis 164 for linear movement in the main extension direction (here: up and down) of the first horizontal rail 34, in particular the first axis 164. The second axis 166 is movable on the first axis 164 only between two end positions 168, 170.Figure 9 shows the gripper 22 in two different exemplary positions. In the left-hand illustration, the second axis 166 is in the first end position 168. In the right-hand illustration, the second axis 166 is in the second end position 170. The gripper 22 is also shown at different positions along the second axis 166. The second axis 166 is pneumatically or hydraulically controlled. The gripper 22 of the transport device 18 is mounted on the second axis 166 for linear movement in the main direction of extension (here: up and down) of the first horizontal rail 34, in particular the first axis 164. The second axis 166 is a CNC-controllable axis for a CNC-controllable movement of the gripper 22. The second axis 166 is a CNC axis. The second axis 166 can be positioned and / or moved much more precisely than the first axis 164.The first axis 164 and the second axis 166 together form a stacked linear unit for movement of the gripper 22. The horizontal rails 32, 34 of Figure 1 can be configured as described in this paragraph or as a single, single-piece rail / single axis, as indicated in Figure 1.

[0074] Figure 10a schematically shows the gripper 22 in two possible positions relative to the holding unit 20 of the setting and / or measuring device 14 and to two pallets 48, 48'. Figure 10b schematically shows the gripper 22 in three further possible positions relative to the holding unit 20 of the setting and / or measuring device 14 and to the two pallets 48, 48'. The gripper 22 is designed as a double gripper 172 for simultaneously gripping at least two tools 10, 10'. The double gripper 172 comprises the two gripping elements 24, 26. The gripper 22 comprises a gripper base 180. The two gripping elements 24 are movably mounted relative to the gripper base 180. The gripper base 180 can be partially formed by a carriage movable on one of the horizontal rails 32, 34 or on the vertical rail 60. The gripper 22 comprises a common gripping element 178. The common gripping element 178 is designed differently from the two gripping elements 24, 26.The gripper 22 forms a first gripping area 174. The gripper 22 forms a second gripping area 176. The gripping areas 174, 176 are separate and distinct from one another. The gripping areas 174, 176 are each provided for at least temporarily gripping tools 10, 10' and / or tool chucks 12. The first gripping area 174 enables at least temporary gripping of a first tool 10, while at the same time a second tool 10' is at least temporarily gripped in the second gripping area 176. The first gripping area 174 and the second gripping area 176 are each delimited on one side by the common gripping element 178. The first gripping area 174 is enlarged by a movement of the first gripping element 24 away from the common gripping element 178 (opening the corresponding part of the gripper 22).The first gripping area 174 is reduced by a movement of the first gripping element 24 towards the common gripping element 178 (closing the corresponding part of the gripper 22).

[0075] The second gripping area 176 is enlarged by a movement of the second gripping element 26 away from the common gripping element 178 (opening the corresponding part of the gripper 22). The second gripping area 176 is reduced by a movement of the second gripping element 26 toward the common gripping element 178 (closing the corresponding part of the gripper 22). The common gripping element 178 is immovable relative to the gripper base 180.

[0076] In Figures 10a and 10b, the various positions of the gripper 22 are circled with capital letters A to E. In an exemplary typical operation of the gripper 22, the positions are carried out one after the other in alphabetical order. In step A, the first tool 10 is removed from the pallet 48. The first tool 10, in particular its shaft, is clamped in the first gripping area 174 by the first gripping element 24 and the common gripping element 178. In step B, the first tool is inserted into the holding unit 20 of the setting and / or measuring device 14. For this purpose, the gripper 22 is moved from the pallet 48 to the setting and / or measuring device 14 via the first horizontal rail 34 and / or the second horizontal rail 32, among other things. In addition, the first gripping area 174 is opened to release the first tool 10 or to transfer the first tool 10 to the holding unit 20.While the first tool 10 is now being measured by the setting and / or measuring device 14, the gripper 22 moves back to the pallet 48 and removes the second tool 10' in step C. The sequence can be analogous to the gripping of the first tool 10. The gripper 22 now transports (also analogously) the second tool 10' to the setting and / or measuring device 14. When the measurement of the first tool by the setting and / or measuring device 14 is finished, the gripper 22 removes the first tool 10 from the holding unit 20 in step D. To do this, the gripper 22 uses the second gripping element 26 and the second gripping area 176, which is currently free because the second tool 10' is located in the first gripping area 174. In step D, the gripper 22 then inserts the second tool 10' into the holding unit 20 directly after the first tool 10 has been removed from the holding unit 20, without having to move back to a pallet 48, 48' beforehand.This allows the measurement of the setting and / or measuring device 14 on the second tool 10' to start quickly, which advantageously reduces downtime. In step E, the measured first tool 10, clamped in the second gripping area 176, is then moved to another pallet 48' or optionally to a scrap pallet, in which the measured tools 10, 10' are stored. Reference numerals.

[0077] 10 tools

[0078] 12 tool chucks

[0079] 14 Setting and / or measuring device

[0080] 16 Provisioning facility

[0081] 18 Transport device

[0082] 20 holding unit

[0083] 22 grippers

[0084] 24 gripping element

[0085] 26 gripping element

[0086] 28 surface normals

[0087] 30 transport rail

[0088] 32 horizontal rail

[0089] 34 Horizontal rail

[0090] 36 Vertical direction

[0091] 38 measuring range

[0092] 40 Identification device

[0093] 42 protective cover

[0094] 44 Control unit

[0095] 46 pallet receiving unit

[0096] 48 pallets

[0097] 50 buffer space

[0098] 52 Committee seats

[0099] 54 occupancy sensor

[0100] 56 tower units

[0101] 58 Stand unit

[0102] 60 vertical rail

[0103] 62 computing unit

[0104] 64 Safety device

[0105] 66 Setting and measuring system series

[0106] Pallet space

[0107] Procedural part

[0108] Row

[0109] Procedural part

[0110] Procedural part

[0111] Row

[0112] Row

[0113] Procedural part

[0114] Process step

[0115] Process step

[0116] Base unit

[0117] First axis measuring carriage optical unit light source

[0118] camera

[0119] Third axis gantry carriage

[0120] Second axis support element lifting unit positioning bolt

[0121] Positioning recess

[0122] Process step

[0123] Process step

[0124] Process step

[0125] Process step

[0126] Process step

[0127] Process step

[0128] Process step Sub-step

[0129] Substep

[0130] Substep

[0131] Substep

[0132] Substep

[0133] Substep

[0134] Substep

[0135] Substep

[0136] Substep

[0137] Substep

[0138] Substep

[0139] Process step

[0140] Procedural part

[0141] Split

[0142] Split

[0143] Split

[0144] Recording interface

[0145] First axis

[0146] Second axis

[0147] Final position

[0148] Final position

[0149] Double gripper

[0150] First gripping area

[0151] Second gripping area

[0152] Common gripping element

[0153] Gripper base

[0154] Pallet detection unit

[0155] Identifier

Claims

September 12, 2024 Claims 1. Automated setting and measuring system (66) for setting and / or measuring tools (10) and / or tools (10) in tool chucks (12), with at least one setting and / or measuring device (14), with at least one provision device (16), in particular designed and arranged separately from the setting and / or measuring device (14), for providing a plurality of tools (10) and / or tool chucks (12), and with at least one transport device (18) which is provided for transporting tools (10) and / or tool chucks (12) between the setting and / or measuring device (14) and the provision device (16), characterized in that the transport device (18) is designed as a spatial gantry robot.

2. Automated setting and measuring system (66) according to claim 1, characterized in that the transport device (18) is provided to insert the tool (10) and / or the tool chuck (12) into a holding unit (20) of the setting and / or measuring device (14), which is provided to hold and / or position the tool (10) and / or the tool chuck (12) during a measuring process and / or during a setting process of the setting and / or measuring device (14).

3. Automated setting and measuring system (66) according to claim 1 or 2, characterized in that the transport device (18) comprises at least one gripper (22) for automated temporary gripping of at least the tool (10) and / or at least the tool chuck (12).

4. Automated setting and measuring system (66) according to claim 3, characterized in that all gripping planes formed by gripping elements (24, 26) of the gripper (22) are arranged and aligned in space such that all imaginary surface normals (28) of the gripping planes are free of intersection points with the spatial gantry robot, in particular with a gantry carriage (104) of the spatial gantry robot and with transport rails (30) of the spatial gantry robot.

5. Automated setting and measuring system (66) according to one of the preceding claims, characterized in that the transport device (18) has at least one first horizontal rail (34) and at least one second horizontal rail (32) arranged at least substantially perpendicular to the first horizontal rail (34), which are each arranged in the vertical direction (36) above one half of a measuring range (38) provided by the setting and / or measuring device (14), preferably completely above the measuring range (38) provided by the setting and / or measuring device (14).

6. Automated setting and measuring system (66) according to one of the preceding claims, characterized in that the setting and / or measuring device (14) is provided for optically measuring the tool (10) and / or the tool chuck (12).

7. Automated setting and measuring system (66) according to one of the preceding claims, characterized by an identification device (40) for identifying a tool (10) and / or a tool chuck (12).

8. Automated setting and measuring system (66) according to claim 7, characterized in that the transport device (18) is provided for transporting the tools (10) and / or tool chucks (12) between the provision device (16) and the identification device (40) and / or between the identification device (40) and the setting and / or measuring device (14).

9. Automated setting and measuring system (66) according to one of the preceding claims, characterized by a protective cover (42) which at least encompasses the components of the setting and measuring system (66), in particular at least the transport device (18), the provision device (16) and the setting and / or measuring device (14).

10. Automated setting and measuring system (66) according to claim 9, characterized by an operating unit (44) which is accessible from outside the protective cover (42).

11. Automated setting and measuring system (66) according to one of the preceding claims, characterized in that the provision device (16) has a pallet receiving unit (46) which is provided for the exchangeable reception and holding of pallets (48) which can be equipped with a plurality of tools (10) and / or tool chucks (12), in particular in rows.

12. Automated setting and measuring system (66) according to claim 11, characterized in that the pallet receiving unit (46) has an at least partially automated fastening function for slip-proof fastening of the pallets (48) and / or an at least partially automated alignment function, in particular centering function, for a positionally accurate alignment of the pallets (48) relative to the transport device (18).

13. Automated setting and measuring system (66) according to claim 11 or 12, characterized in that the pallet receiving unit (46) has a pallet recognition unit (182) for recognizing different kinds and / or types of pallets (48).

14. Automated setting and measuring system (66) according to one of the preceding claims, characterized in that the provision device (16) has a plurality of buffer locations (50) which are provided for the intermediate storage of tools (10) and / or tool chucks (12), in particular removed from a pallet (48), in particular after setting and / or measuring by the setting and / or measuring device (14).

15. Automated setting and measuring system (66) according to one of the preceding claims, characterized in that the provision device (16) has a plurality of reject locations (52) which are provided for storing tools (10) and / or tool chucks (12), in particular removed from a pallet (48), which could not be identified, measured and / or set by the setting and measuring system (66) and / or which were otherwise marked as rejects by the setting and measuring system (66).

16. Automated setting and measuring system (66) according to one of claims 14 or 15, characterized in that the buffer locations (50) and / or the reject locations (52) have occupancy sensors (54).

17. Automated setting and measuring system (66) according to claim 16, characterized by a safety device (64) which is provided to prevent a restart of the setting and measuring system (66) if an occupancy of a buffer location (50) or a reject location (52) is detected by one of the occupancy sensors (54).

18. Automated setting and measuring system (66) at least according to claims 3 and 5, characterized in that at least one of the horizontal rails (32, 34) has a first axis (164) and a second axis (166), wherein the second axis (166) is mounted on the first axis (164) for linear movement in the main direction of extension of the respective horizontal rail (32, 34), and wherein the gripper (22) of the transport device (18) is mounted on the second axis (166) for linear movement in the main direction of extension of the respective horizontal rail (32, 34).

19. Automated setting and measuring system (66) according to claim 18, characterized in that the second axis (166) is a CNC-controllable axis for a CNC-controllable movement of the gripper (22), which can be positioned and / or moved much more precisely on the second axis (166) than the preferably pneumatically or hydraulically controlled second axis (166) on the first axis (164).

20. Automated setting and measuring system (66) according to claim 18 or 19, characterized in that the second axis (166) on the first axis (164) is movable only between two end positions (168, 170).

21. Automated setting and measuring system (66) at least according to claim 3, characterized in that the gripper (22) of the transport device (18) is designed as a double gripper (172) for simultaneously gripping at least two tools (10, 10').

22. Automated setting and measuring system (66) at least according to claim 21, characterized in that the double gripper (172) has a first gripping area (174) at least for an at least temporary gripping of a first tool (10) and a second gripping area (176) different from the first gripping area (174) for an at least temporary gripping of a second tool (10'), wherein the first gripping area (174) and the second gripping area (176) are each delimited on one side by a common gripping element (178).

23. Automated setting and measuring method for setting and / or measuring tools (10) and / or tools (10) in tool chucks (12) by means of an automated setting and measuring system (66) according to one of the preceding claims, characterized in that the tools (10) and / or tool chucks (12) are moved by a spatial gantry robot between the components of the setting and measuring system (66).

24. A method for processing tools (10) and / or tool chucks (12) that have been transferred to a supply device (16) by means of a pallet (48) comprising a number n of rows (68, 74, 80, 82) of pallet locations (70) occupied / occupable by the tools (10) and / or tool chucks (12), by an automated setting and measuring system (66) according to claim 14, comprising the supply device (16) with buffer locations (50), wherein in a first part of the method (72) along a first row (68) of pallet locations (70) of the pallet (48), the tools (10) and / or tool chucks (12) of the first row (68) of pallet locations (70) are successively removed, measured, adjusted, and temporarily stored in the buffer locations (50) of the supply device (16) in the opposite order,wherein in a second process part (76) along a second row (74) of pallet spaces (70) of the pallet (48) different from the first row (68), the tools (10) and / or tool chucks (12) of the second row (74) of pallet spaces (70) are successively removed, measured, adjusted and stored in the opposite order in the pallet spaces (70) of the first row (68) of pallet spaces (70), wherein in an n-th process part (78) along an n-th row (82) of pallet spaces (70) of the pallet (48) different from the first row (68) and the second row (74), the tools (10) and / or tool chucks (12) of the n-th row (82) of pallet spaces (70) are successively removed, measured, adjusted and stored in the opposite order in the pallet spaces (70) of the (n-1)-th row (80) of pallet spaces (70) are stored, and wherein in particular in an (n+1)-th process part (84) the in, the tools (10) and / or tool chucks (12) temporarily stored in the buffer spaces (50) of the provision device (16) are successively removed from the buffer spaces (50) and stored in the pallet spaces (70) of the n-th row (82) of pallet spaces (70).

25. A method for processing tools (10) and / or tool chucks (12) that have been transferred to a supply device (16) by means of a plurality of rows (68, 74, 80, 82) of pallet locations (70) comprising the tools (10) and / or tool chucks (12), by means of an automated setting and measuring system (66) according to claim 14, comprising the supply device (16) with buffer locations (50), wherein in a method step (86) along a first row (68) of pallet locations (70) of the pallet (48), the tools (10) and / or tool chucks (12) of the first row (68) of pallet locations (70) are successively removed, measured, adjusted, and temporarily stored in the buffer locations (50) of the supply device (16) in the opposite order,wherein in a further method step (88) the tools (10) and / or tool chucks (12) temporarily stored in the buffer locations (50) of the provision device (16) are successively removed from the buffer locations (50) and stored back in their original pallet locations (70) of the first row (68) of pallet locations (70), and wherein the two aforementioned method steps (86, 88) are repeated, in particular n-1 times, until all rows (68, 74, 80, 82) of the pallet (48) have been processed.

26. Method according to claim 24 or 25, characterized in that initially unoccupied pallet positions (70) are detected and / or that when a tool (10) and / or a tool chuck (12) is placed in a reject position (52) of the supply device (16), the actually associated pallet position (70) and / or buffer position (50) remains unoccupied in the respective method step (86, 88) and / or method part (72, 76, 78, 84).

Images