DE10323569A1 - Framework system for chassis assembly in automobile manufacturing industry incorporating unacceptable position alignment indication for associated devices preventing impact with robot arm - Google Patents

Abstract

The framework system (1) provides relative alignment of knee-lever clamping devices (4), suction devices (5), centering pins (6), sensors (7), welding devices, crimping devices (8) and/or riveting devices. At least one of the devices has an indicator (71) cooperating with a reference position (73) of the framework system, for indication of an unacceptable position alignment, e.g. for standstill of the assembly plant.

Description

genus

The Invention relates to a scaffold system, in particular for use in the bodywork of the motor vehicle industry, for arranging toggle-type tensioning devices, suction devices, Centering mandrels, sensors, welding devices, clinching devices, Riveting devices o. The like., Z. For connection to a robot arm or similar.

From the DE 299 05 687 U1 is a scaffolding system previously known, which consists of several tubes which are positively coupled by form-fitting clamps with each other in different planes and / or angles. This scaffold system, referred to as a carrying device, is used in particular for attaching to robots and for connecting tools, such as clamping, gripping and suction devices and other aids, such as valves, sensors or the like, wherein the carrying device consists of at least two rods which are adapted by rod profile Clamps are releasably connected to each other, wherein the rods formed in cross section as a regular octagon and the clamping pieces are designed as a three-piece rod connector in the form of a central rod-shaped rod receiving member with extending in different directions Stangenaufnahmeausnehmungen and rod profile adapted to be fastened to the rod receiving part clamps and other than two-piece tool and tool connection adapter with pad and with clamps. The rods are provided on at least two opposite surfaces with T-shaped undercut grooves, which are provided in this with a fitting hole, can be braced in the groove sliding blocks and the clamping pieces are provided with fitting holes. The rods have the same cross-sectional shape on different cross-sectional sizes, wherein the clamping pieces are provided with corresponding cross-section adapted rod receiving recesses. The rods have internal channels or are designed as hollow profiles. In addition, the Stangenaufnahmeausnehmungen the rod receiving part of the clamping pieces on three cut bar abutment surfaces, wherein the clamping bracket with two surfaces in the applied state abut the rods. As a result, a positive connection between rods and clamping pieces is to be achieved, whereby a positionally accurate and permanent positioning of the tools and tools should be ensured in the context of such a device.

adversely is in this known type, that the rods and thus also the clamping pieces have relatively complicated cross-sectional shapes as octagons and are limited by this special design, even limited.

In contrast, more advantageous are scaffolding systems, use the circular in cross-section aluminum tubes, the at low weight, high rigidity and flexibility, because by means of such aluminum tubes and clamps all possible To reach and arrest levels and angular positions in the room to let. That's why such scaffolding systems are especially for the harsh use in the Rohkarosserfertigung the automotive industry suitable.

Even though those with inside and outside in cross-section circular pipes working scaffolding systems because of their high flexibility preferably used in the bodywork of the motor vehicle industry, must not be overlooked be that the Facility, that is Positioning of the various device parts such. B. toggle clamps, Suction devices, centering mandrels, clinching devices and spot welding devices Furnishings require the bodywork of the automotive industry aimed at high dimensional accuracy guarantee.

By when moving such scaffolding systems by means of robot arms or the like occurring vibrations However, it may happen that one or the other device after a certain period of operation no longer their exact installation position has, so for example, compared to their Einjustierlage - albeit only a small amount - postponed or twisted. This is not always noticed immediately from the outside, In particular, in operation, not readily apparent, whether to Example, a toggle lever device or z. B. a centering pin his exact fit Situation has left.

From the DE 34 43 588 C2 an arrangement for cross-connection of at least two profiles with a knot body is previously known, in which the node body has two cross-shaped, intersecting inside the node body receiving bores and provided at the first and second of the profiles to be joined in each case one cross-section defining the cross-section reducing recess is, wherein the node body integrally formed to secure interconnected by over-plating profiles and the connection is designed so that the second receiving bore of the node body has a larger cross-sectional area than the associated second profile and the second profile is held by wedging in the node body. The nodal body is a ball with a diameter of at least the twice and preferably three to five times the largest cross-sectional dimension of the profiles to be joined. The cross-sectional area of the second receiving bore has a cross-sectional height that is equal to one and a half times the cross-sectional height of the second profile. For wedging a wedge element is provided with a locking device. In the node body a perpendicular to the two intersecting receiving bores extending third receiving bore is provided. The third mounting hole cuts only one of the other two mounting holes. The nodal body has substantially the same wall thickness everywhere. The node body is formed in one piece, wherein the profiles to be joined are secured by wedging. This eliminates screw, so that the connection should not loosen in use due to vibration. The formation of the two mounting holes also allows one or more other receiving holes provided in the one-piece nodal body, so that it is easy to connect a third or fourth profile to the nodal body. The profiles may be polygonal, circular or rectangular in cross section. To the cross connection of this document further includes a wedge element, the correct position can be easily controlled by a then present flush termination.

• – ein Zentralstück und eine Montageeinrichtung zur Anbringung des Zentralstücks an einem Arm, wobei das Zentralstück an dem Arm sich in longitudinaler Richtung nach außen erstreckt,
• – erste und zweite Klemmbauteile, und eine Montageeinrichtung zum Einbau der Klemmbauteile an gegenüberliegenden Seiten des Zentralstückes für eine querverlaufende Bewegung zwischen einer geschlossenen Lage, in der die Klemmbauteile relativ nah zueinander liegen, und einer geöffneten Lage, bei der Klemmbauteile relativ entfernt voneinander liegen,
• – zumindest ein erstes Führungsglied, das auf dem ersten Klemmbauteil montiert ist und sich in Querrichtung zu dem zweiten Klemmbauteil erstreckt, und
• – ein Werkzeugträgerbauteil mit einer ein Führungsglied aufnehmenden Aufnahmeeinrichtung, welche jedem Führungsglied zugeordnet ist, wobei das Trägerbauteil wahlweise zwischen dem ersten und zweiten Klemmbauteil positionierbar ist, um im wesentlichen jede Aufnahmeeinrichtung mit ihrem zugeordneten Führungsglied auszurichten, wobei jedes Führungsglied mit seiner zugeordneten Aufnahmeeinrichtung verriegelnd zusammenwirkt, wenn die Klemmteile zu der geschlossenen Position bewegt werden, um gemeinschaftlich das Werkzeugträgerbauteil zwischen den Klemmbauteilen zu sichern.

The DE 37 13 056 A1 describes a device for a replaceable tool carrier, in particular for a robot arm, which is characterized by

• A center piece and a mounting device for attaching the center piece to an arm, wherein the center piece on the arm extends in the longitudinal direction to the outside,
• First and second clamping members, and mounting means for installing the clamping members on opposite sides of the central piece for transverse movement between a closed position in which the clamping members are relatively close to each other and an opened position in which clamping members are relatively distant from each other,
• At least a first guide member mounted on the first clamping member and extending transversely to the second clamping member, and
• A tool carrier component having a guide member receiving means associated with each guide member, the carrier member being selectively positionable between the first and second clamping members to substantially align each receiving means with its associated guide member, each guide member lockingly cooperating with its associated receiving means; when the clamp members are moved to the closed position to collectively secure the tool support member between the clamp members.

angularly offset to holding elements and Justiergliedern are a light source and an optical sensor disposed transversely to the light source opposite is arranged. When the joint segments in the selected position lie to each other, light from the light source through an opening to get to the sensor. A deviation from the desired position, either by a longitudinal or a transverse movement, or an angular movement of one of the two joint segments in relation to the other one to move out of the opening and thus out of the optical path for the light, so that no light more reaches the sensor. If the deviation reaches too high a value the light coming from the source can no longer be the optical one Reach the sensor. A controller correspondingly switches the power supply of the robot then, for example, the movement of the arm or a clamping tool or to stop the rotation of a drill.

From the DE 100 17 897 C2 is a scaffolding system, in particular for use in the bodywork of the automotive industry, for arranging toggle tensioning devices, suction devices, centering mandrels, sensors, welding devices, clinching devices, riveting devices o. The like., Already known, which is suitable for placement on a robot arm, wherein the scaffolding system two or more on their outer circumferential surfaces cylindrical tubes which are positively coupled by form-fitting clamps with each other in different planes and / or angles, the clamps consist of two to be connected by screws clamp members, which between them an approximately circular cavity for receiving and Have terminals of the respective cylindrical tube, wherein the respective clamp is associated with at least one of brittle fracture-sensitive material existing centering or indicator pin, which indicates the exact position of the clamps and Verl assen the same visually and / or acoustically in the longitudinal and / or circumferential direction of the cylindrical tubes.

From the DE 200 17 129.1 a similar scaffolding system is already known, in which grid tubes are provided, wherein the respective grid tube has a plurality or plurality of arranged over its cylindrical surface in a grid centering and positioning holes, of which either one of the centering and positioning holes with a in one or in a plurality of clamping clamp parts arranged Gegenzentrier- and positioning hole coaxially coincident, and this situation at least until the frictional connection of the relevant clamp by a Absteckdorn or a centering pin, which engages fittingly according to the present operating condition in the selected centering and positioning hole on the one hand and in the corresponding Gegenzentrier- and positioning holes on the other hand, and thereby the relevant device with respect to the accurately positioned grid tube in question.

at scaffolding systems The type described above can not only in a crash, but even while the operation to unwanted relocation of each of the relevant Associated scaffolding system Devices, such as toggle-type tensioners, centering pins, Welding devices, o. Like. Come. The associated adjustment and fitting work require a shutdown of the plant, resulting in corresponding downtime and thus costs the entire production line is connected. Furthermore It may happen that relocations of the corresponding device outside permissible Tolerance ranges delayed be noticed, which can lead to rejects.

Of the Invention is based on the object, a scaffold system of the assumed To create genre in which the troubleshooting on the one hand considerably facilitates and on the other hand ensures that relocation from the scaffolding system associated device devices are quickly detected.

solution

The The object is achieved by the reproduced in claim 1, 2 or 3 Characteristics solved.

Some advantages

at a scaffolding system according to claim 1 is the scaffolding system a reference location associated with at least one or more the devices associated and a movement within of the scaffolding system appealing indicator device is assigned. That's it on the one hand possible, to recognize at any one time, if one or more Devices change their predetermined position within the scaffold system, on the other hand but will as well the possibility opened, to turn off a lengthy troubleshooting, as proposed by the invention solution also the device in question, leaving the given place has, can be identified immediately. As a result, are at necessary adjustment and repair work no long downtime more of the entire production line required, resulting in corresponding Cost savings, but also to avoid faulty productions contributes.

at the solution according to the sibling Claim 2 is the reference location outside of the scaffolding system. This reference location can be attached to a machine on the floor of a Hall or the like may be provided. The reference location then works with the various associated with the devices of the scaffold system Indicator devices together.

In all cases can each triggered Signals of a central display, control and / or regulating device, supplied will be at least displayable on a monitor, for example.

Of the independent claim 3 describes an inventive solution, in which is the reference location on the robot arm or a robot adapter element, For example, the mounting plate for the scaffold system, is located.

Other inventive embodiments

Further inventive embodiments are in the claims 4 to 18 described.

at Embodiment according to claim 4 are any deviations from predetermined tolerances or at all Site relocations in the scaffolding system arranged device parts such as toggle lever jigs or the like, centrally, for example, on a monitor displayed.

According to claim 5, deviations are only indicated if they are outside lie a predetermined tolerance range.

advantageously, can Deviations according to claim 6 acoustically and / or optically, for example centrally, displayed, recorded or audible be made.

claim 7 beats this is a solution before, in which the display is made analog, while at the solution according to claim 8, the display digitally, for example on a Monitor, done.

advantageously, is according to claim 9, each of the devices, for example a toggle tensioning device, a transmitter and the reference location at least one recipient assigned.

The reference location can according to claim 10 but also have at least one transmitter, while each device is equipped with a receiver.

at the embodiment according to claim 11, the reference location has a receiver for all transmitters of the device. It is also conceivable that one sender in turn the individual stations, in particular intermittently polls. This intermittently Query can be done, for example, every second.

advantageously, is the device or the reference location with a laser probe equipped. A laser probe acts like a switch, thus sending a laser beam off, which reflects at a suitable location and to the laser probe thrown back which then performs a switching function. The reflector can for Example be set up at the reference location, so that in any case each device should be provided with such a laser probe, while for example, the reference location located on the robot adapter plate or may be in another suitable location - claim 12 or 13.

From It is particularly advantageous if the individual assigned to the scaffold system Devices, such as toggle-lever tensioning device, welding device or the like are equipped with sensors whose power supply simultaneously to the power supply of the indicator device concerned or of the reference location, for example a laser probe. So it is known, for example, from toggle tensioners, Microswitch, induction switch or the like of a so-called Cassette, that is a replaceable component, assigning it by means of Sensors possible is to remotely display the respective position of a tensioning arm - indirectly. The required for this Power supply according to the invention also for supplying the indicator device and / or the reference location be used - claim 14th

The claims 15 to 18 describe advantageous embodiments of the invention.

In the drawing is the invention - partly schematic - for example illustrated. Show it:

1 a scaffold system with various arranged device parts in perspective view;

2 a clamp in perspective view, shown partially broken off;

3 a section along the line III-III of 2 ;

4 a centering and indicator pin in the side view;

5 a perspective view;

6 a section along the line VI-VI of 5 ;

7 a cut accordingly 6 , partly broken off, after a shearing off of the centering and indicator pin;

8th the connection of a so-called adapter plate to a scaffold system in perspective view;

9 the connection of an adapter plate to a scaffold system in perspective view;

10 in turn, the connection of an adapter plate to a scaffolding system in perspective view;

11 a scaffolding system in so-called U-type with various clamps and adapter plate, in perspective view;

12 a framework system in so-called Christmas tree embodiment, with various clamps and adapter plates in perspective view;

13 a further embodiment of the invention, with a so-called scaffolding system in H-design, with various clamps in perspective view;

14 a connection between a scaffold system and a frame with a clamp and

15 the basic structure of a scaffolding system with stand.

In the drawing, the invention is illustrated in application to a scaffold system with two-piece clamps. One speaks in this context of so-called "half-shell technique", although the two halves of the clamps do not need to represent in mathematical sense, each half of the entire clamp so if in these documents the term "half-shell technique" is used, so this is not in the strictly speaking mathematically meaning the half split of the clamp, but this expression refers to the "bipartite" of the clamp version to include a cylindrical tube on its outer circumference.

The scaffolding system is in 1 total with the reference numeral 1 designated. Basic element of this framework system are aluminum tubes with inside and outside circular cross-sectional shape of the same or different diameters. In the drawing, only two such aluminum existing cylindrical tubes by the reference numeral 2 respectively. 3 have been designated.

When Fasteners come Clamps into consideration, the following to be described in detail and which are formed in so-called "half-shell technique", this means consist only of two components, which are releasable by screws are connected and which between their to be screwed together Parts of the relevant pipe or pipes frictionally with the shape of the Outer surface of the Tubes adapted surfaces enclose.

A scaffolding system 1 used according to the invention z. B. as standard designs three constructive base frame, namely the U-type according to 11 , the T-shape according to 12 and the H-type according to 13 ,

For the arrangement of the various devices such as toggle lever tensioning devices 4 , Suction devices 5 , Centering pins 6 , Welding devices (not shown), sensors 7 , Clinching devices 8th and to the connection of the different pipes 2 and 3 serve clamps, of which in 1 only the clamps 9 and 10 are provided with reference numerals. The whole scaffolding system 1 is provided with such clamps to arrange in the different planes and angular positions, the devices to be fastened and also lock after their installation and Einjustieren.

With the reference number 11 is a robot arm designated, which is associated with a robot, not shown, through which the scaffold system can be moved, for example, raised and swung.

The from the 2 to 4 apparent clamp 10 is formed such that in each case two clamping clamp parts 12 . 13 or 13 and 14 a circular tube 2 or another cylindrical tube 3 ability to hold power. For this purpose, the clamp member is 12 provided with four through holes of the same diameter, inserted through the provided in the illustrated embodiment with hexagon head screws and threaded blind holes 22 of the clamp member 13 can be screwed to the clamp parts 12 and 13 force-locking against each other and thereby the aluminum tube 2 between the clamp ring parts 12 and 13 firmly clamp firmly. For this purpose, both have the clamp section 12 as well as the clamp section 13 one recess each 15 respectively. 16 that correspond to the periphery of the pipe 2 are designed extending, so that a whopping plant the clamp parts 12 and 13 on the cylindrical periphery of the tube 2 results.

As you can see, the outer and inner diameter of the tube 2 considerably larger than the corresponding diameter of the tube 3 whose longitudinal axis 17 offset by 90 degrees to the longitudinal axis 18 of the pipe 2 runs and in the off 2 and 3 apparent representation below the tube 2 is arranged. The clamp section 14 also has four through holes, which are not visible in detail from the drawing and also reach through the four equally sized screws with hexagon heads and not shown, provided with threaded blind holes of the clamp member 13 engage, so that the clamp member 14 against the clamp member 13 can be tightened. Of the four the clamp section 12 associated screws is only one screw with the reference numeral 19 have been designated, while of the four the clamp member 14 associated screws only the screw 20 has been designated by a reference numeral. The remaining screws are designed accordingly. The screws 19 and 20 and the other unsigned screws extend with their longitudinal axes parallel to each other.

The 2 and 3 let also recognize that in the clamped state of the aluminum tubes 2 and 3 between the respective clamp ring parts 12 and 13 or 13 and 14 one gap distance each 23 respectively. 24 is provided, so that the clamp parts 12 and 13 or 13 and 14 be re-tensioned, if necessary.

Also between the clamp ring parts 13 and 14 are recesses 25 respectively. 26 provided, the periphery of the pipe to be clamped 3 are adapted in shape, so that a whopping investment on the cylindrical periphery of the tube 3 results in order to clamp this optimally and over a large area.

Like from the 2 and 3 it can be seen are the two clamp ring parts 12 . 13 or 13 . 14 each one of glass or a glassy, brittle plastic existing centering and indicator pin 27 respectively. 28 assigned. The centering and indicator pen 27 respectively. 28 passes through each coaxially arranged through holes 29 respectively. 30 , in the the vertex of the clamp section 12 and in the clamped tube 2 are arranged. The diameter of the two through holes 29 and 30 can be made the same size, such that the centering and indicator pin fits snugly against the bore walls. With 31 is a rod-shaped section 31 ( 4 ) of the centering and indicator pin 27 designated. The rod-shaped section 31 is cylindrical and has at its out of the bore 30 of the clamping piece 12 outstanding end portion has a considerably enlarged diameter in the signal head 32 on. The signal head 32 may be provided with a conspicuous coloration, for example a bright, large fluorescent coloration, so that it in any case conspicuously above the outer peripheral edge of the clamp member 12 is apparent.

To the cylindrical rod-shaped section 31 closes a considerably enlarged in diameter, barb-shaped end portion 34 in one piece. Instead of the barb-shaped configuration can here also a bead or otherwise enlarged in diameter end portion 34 be provided. The end section 34 is resilient in the illustrated embodiment and consists of a rubber-like properties having polymer, for example polyurethane or polyamide, or of resilient metal. The end section 34 can with the section 31 be connected by gluing or the like. In this way it is possible to use the centering and indicator pen 27 in the aligned holes 29 . 30 put in, with the end section 34 is elastically deformed and after its exit from the through hole 30 in the interior of the pipe 2 expands again ( 3 ). Thereafter, the centering and indicator pin can not readily from the holes 29 . 30 be pulled out.

Also the centering and indicator pen 28 is formed and arranged in the same way as the centering and indicator pin 27 , so that the description of the centering and indicator pen 27 also for the centering and indicator pen 28 applies, in particular what the 4 concerning clear construction of the items. The individual parts of the centering and indicator pin 27 respectively. 28 are like this in 4 which is why in parentheses after the reference numeral " 27 "the reference number" 28 "was set to make it clear that this representation and description also for the centering and indicator pen 28 applies.

The clamp according to 2 and 3 thus makes it possible to have two tubes crossing each other at right angles with their longitudinal axes 2 and 3 to connect with each other frictionally and with respect to the respective two clamping clamp parts 12 respectively. 13 or 13 and 14 through the centering and indicator pins 27 respectively. 28 to center in an appropriate position to each other.

In the embodiment according to 5 and 6 are also two clamp parts 35 respectively. 36 provided by several bolts against a pipe 2 frictionally clamped. Again, you can see a gap distance 37 between the clamp ring parts 35 and 36 , Of the screws, only the one screw was 38 provided with a reference numeral. The remaining screws are formed and arranged accordingly and each engage in threaded blind holes of the clamp member 35 one. Otherwise, the screws 38 provided with hexagon heads. Clearly recognizes again a centering and indicator pin, the sake of simplification also the reference numeral 27 carries and is designed and arranged in the same way as this in connection with the centering and indicator pins 27 and 28 why the same reference numerals have been used for parts of the same function. The clamp parts 35 and 36 have recesses 39 respectively. 40 on, with which the clamp parts 35 and 36 the pipe to be clamped 2 peripherally enclose and pinch.

The clamp section 35 also has a clamping shoulder 41 in one piece, that's out 6 apparent rear clamp section 36 overhanging and here also with a recess 42 ( 5 ) for the peripheral enclosure of a pipe 3 is provided by a lower clamp member 43 with recesses 44 is trapped. The recess 44 is again the circumference of the pipe 3 adapted shape, so that there is a whopping investment. The clamp section 43 is also with gap distance 45 to the clamping shoulder 41 arranged so that it can be tightened over two spaced screws. From these screws is off 6 just a screw 46 recognizable. Also this screw 46 and the hidden screw have hexagon heads. The clamping shoulder 41 is also a centering and indicator pen 27 assigned, which is formed and arranged in the same way, as in connection with the centering and indicator pins 27 the embodiment according to 2 and 3 has been shown and described, so that the same reference numerals have been used for parts of the same function.

All Centering and indicator pins exist in all illustrated embodiments from a brittle fracture sensitive Material, in particular of glass.

Shifts the tube by some circumstance 2 respectively. 3 the framework according to the invention system relative to a device to be held, for example, a toggle lever device 4 , so the corresponding centering and indicator pin 27 . 28 sheared. This is in 7 illustrated schematically. For this purpose, the centering and indicator pin may be weakened in the central region or provided with a predetermined breaking point. The centering and indicator pin can then turn against the illustration 7 also in his hole 29 tilted, so that the operator can already recognize this. In the subsequent manipulation of the scaffolding system, for example by a robot arm 11 , the scaffolding system is displaced in space, for example, tilted or pivoted, so that the sheared off part of the centering and indicator pin with the signal head 32 out of the hole 29 falls out and / or protrudes from this tilted so that the operator immediately recognizes that the device in question no longer has their exact fitting position. It can then be taken immediately the appropriate measures to remedy this error, that is, to bring the corresponding terminal point with the associated device back into the exact fit installation position, which is then marked again by a new centering and indicator pin. This also applies to the centering and indicator pin of the clamping shoulder 41 and for all other from the drawing apparent centering and indicator pins. It has been shown that when using glass, the centering and indicator pin is ejected outright after shearing out of the holes.

How to get out of the 8th and 9 recognizes, is every clamp 10 one adapter plate each 47 assigned. Also the embodiment according to 10 has such an adapter plate 47 , This embodiment differs from the other clamps in that the two-part clamp 48 two clamp parts 49 . 50 has, which are non-positively connected by a total of six hexagon socket screws.

Also in the embodiment according to 11 has a middle clamp a directed upward (in the drawing plane) adapter plate 51 , Such an adapter plate 52 is also off in the embodiment 12 in the middle length of the tube 2 to recognize. Furthermore, the embodiment according to 13 an adapter plate 53 larger dimension, with their in the central region of the two parallel to each other with their longitudinal axes extending tubes 2 two clamps 48 corresponding 10 are arranged. The adapter plates 47 and the following are for connection of other device parts (not shown).

In the embodiment according to 14 is a clamp 54 via an adapter plate 56 with a frame 57 connected with a total of four screws with hexagon heads. The clamp 54 is basically like the one in 8th and 9 configured clamps designed.

In the embodiment according to 15 are two aluminum tubes 2 standing upright (seen in the plane of the drawing) on an adapter plate 58 arranged and via clamps 59 respectively. 60 held, each with a flange 61 respectively. 62 with the adapter plate 58 connected is. For this purpose are in the flanges 61 . 62 a total of four holes, of which only one hole 63 respectively. 64 has been provided with a reference numeral. Through this hole grab bolts through which threaded holes in the adapter plate 58 or reach through through holes provided here and are screwed into non-illustrated device parts on the opposite adapter plate 58 are arranged.

The clamps 59 and 60 again consist of two clamp ring parts 65 . 66 respectively. 67 . 68 , which are non-positively connected by a total of four screws with hexagon socket and between them the pipes 2 pinch. For this purpose, the clamp parts 65 . 66 respectively. 67 and 68 with through holes - at least with thread - connected, in the screws 69 respectively. 70 intervention.

In all embodiments shown in the drawing, each of which is a pipe only by two clamping clamp parts arresting components of the clamps additionally provided by centering and indicator pins, each indicating whether the exact position of the pipes 2 or the device parts associated therewith have been left.

In the embodiment described above, of course, the indicator pins can be omitted, as it is also possible, the tubes 2 not circular in cross-section, but for example to make square or polygonal, so that there is a positive connection to the various clamps 9 . 10 and the following comes, as it is also possible to use mixed tubes of different cross-sectional shapes.

With the reference number 71 is in the illustrated embodiment ( 1 ) denotes an indicator device, which is designed for example as a laser probe. The indicator device 71 is via an electrical line 72 electrical energy supplied.

The indicator device, in this case a laser probe 71 , works with a reference location 73 together men, which is designed for example as a reflector. In the case of a laser probe 71 this sends a laser beam to the reflector 73 , The reflected laser beam is from the laser probe 71 added. The values or signals can each be transmitted via the line 72 . 82 to a monitor 74 or passed on to an evaluation unit. This evaluation unit o. The like. May be connected to a central unit, through the appropriate measures, eg. B. the shutdown of the system, from triggering images and / or acoustic signals are initiated. On this deviations can be acoustically and / or visually displayed. If necessary, the reference location 73 also over a line 75 in a suitable manner, for example electronically or electrically or else by radio or by ultrasound or inductively with the monitor or display device 74 keep in touch. The display 74 can not only be a personal computer, but also a differently designed computer, an analog or digital display device.

At the 1 apparent embodiment is the reference location 73 the robot arm 11 or the robot adapter plate assigned. Instead, however, also the indicator device 71 the task of the reflector 73 and the transmitter or the indicator device 71 to a device, in this case on a centering device 76 , be provided.

In this way, everyone can get out 1 apparent device parts, so for example the suction device 5 , a centering pin 6 , the clinching device 8th and the toggle tensioner 4 either with an indicator device 71 , z. B. a transmitter, or a reference location 73 , For example, a reflector, be equipped. Used as indicator devices 71 For example, laser probes provided, is usually a direct optical (visual) connection between the reflector 73 and laser probe 71 required. But it is also possible, the indicator device 71 not as a laser probe, but, for example, as part of a light barrier, as transmitter or receiver and the reference location 73 suitable to design as sender or receiver. True, is in 1 as reference place 73 a rod-shaped reflector shown, however, this may also have a different shape, for example as a plate, sleeve, or other body be configured.

How to get out 1 in cooperation with the clinching device 8th recognizes there is a body called a cassette 77 provided, which are not shown in detail associated with induction switch or micro switch, which via a line 78 electrical energy is supplied. An indicator device 71 is over a line 79 electrically conductive with the electrical supply of the cassette 77 connected via a line 78 electrical energy is supplied. The data may be suitably determined by the indicator device 71 the monitor 74 or the like while the data measured by the microswitch is transmitted via the line 78 or the like may be supplied to another device to remotely display the position of a clinch arm or the like of the clinching device.

Also, the toggle lever device 4 may be associated with a microchip cassette, which by a rear slot, the clamping head by cross-indicating the position of the piston rod and thus - indirectly - the position of a clamping arm. The power supply of the microswitch of the cassette 80 via a line 81 , This can, for example, the indicator device 71 or a transmitter, z. B. a laser probe to be supplied with electrical energy. In general, the respective indicator devices of the various Vorrichtun conditions with the central reference location 73 interact. But it is also possible to have several reference sites, either the scaffolding system 1 Assign itself or a fixed point on the hall floor, on a machine, not shown, on a device or on a jig or a workpiece or the like (all not shown).

The reference location 73 or receiver may also be a workpiece, for. As body panels, be assigned while the indicator device or transmitter 71 the device concerned, for. B. a toggle lever device 4 , a suction device 5 , a centering pin 6 , a sensor 7 or a clinching device 8th can be assigned. It is also possible to exchange the aforementioned devices, that is, so receiver and transmitter each at different positions, for example, either on the device in question, for example, a toggle lever device and the corresponding counterpart, z. B. to arrange a reflector or receiver or the reference location on the workpiece. In this way, relocation, the device in question, z. B. a toggle lever device 4 opposite to the workpiece to be held, also marked.

The in the abstract, in the claims and in the description described and apparent from the drawing features can both individually as well as in any combination for the realization of the invention be essential.

1

scaffolding system

2

pipe

3

pipe

4

Toggle clamp

5

suction device

6

centering

7

sensor

8th

clinch device

9

clamp

10

clamp

11

robot arm

12

Clamp part

13

Clamp part

14

Clamp part

15

recess

16

recess

17

Longitudinal axis of the tube 3

18

Longitudinal axis of the tube 2

19

screw

20

screw

21

screw

22

Blind hole possibly threaded

23

gap distance

24

gap distance

25

recess

26

recess

27

centering and indicator pen, glass pen

28

centering and indicator pen

29

Through hole drilling

30

Through hole drilling

31

Section, rod-shaped

32

signal head

33

longitudinal section

34

end

35

Clamp part

36

Clamp part

37

gap distance

38

screw

39

recess

40

recess

41

clamping shoulder

42

recess

43

Clamp part

44

recess

45

gap distance

46

screw

47

adapter plate

48

clamp

49

Clamp part

50

Clamp part

51

adapter part

52

adapter part

53

adapter part

54

clamp

55

clamp

56

adapter part

57

frame

58

adapter plate

59

clamp

60

clamp

61

flange

62

flange

63

drilling

64

drilling

65

Clamp part

66

Clamp part

67

Clamp part

68

Clamp part

69

screw

70

screw

71

Laser scanner, Indicator device, transmitter

72

management

73

reference location, Receiver, Reflector, reference location

74

Monitor, central display device

75

management

76

centering

77

Cassette, body

78

management

79

management

80

cassette

81

management

82

management

Claims (18)

Scaffolding system, in particular for use in the bodywork of the automotive industry, for arranging toggle-type tensioning devices ( 4 ), and / or suction devices ( 5 ); and / or centering mandrels ( 6 ), and / or sensors ( 7 ), and / or welding devices, and / or clinch devices ( 8th ), and / or of riveting devices, or the like, the devices in question being positively or positively connected to the scaffolding system ( 1 ), with at least one serving as a reference, the scaffold system ( 1 assigned reference location ( 73 ) and at least one or more devices ( 4 . 5 . 6 . 7 . 8th or the like), to local displacements within the scaffolding system ( 1 ) appealing indicator device ( 71 ) with the reference location ( 73 ) of the scaffold system ( 1 ) cooperates. Scaffolding system, in particular for use in the bodywork of the automotive industry, for arranging toggle-type tensioning devices ( 4 ), and / or suction devices ( 5 ); and / or centering mandrels ( 6 ), and / or sensors ( 7 ), and / or welding devices, and / or clinch devices ( 8th ), and / or of riveting devices, or the like, the devices in question being positively or positively connected to the scaffolding system ( 1 ), with at least one serving as a reference, the scaffold system ( 1 assigned reference location ( 73 ) and at least one or more devices ( 4 . 5 . 6 . 7 . 8th or the like), on location displacements outside the scaffolding system ( 1 ) appealing indicator device ( 71 ), with the reference location ( 73 ) of the scaffold system ( 1 ) cooperates. Scaffolding system, in particular for use in the bodywork of the automotive industry, for arranging toggle-type tensioning devices ( 4 ), and / or suction devices ( 5 ); and / or centering mandrels ( 6 ), and / or sensors ( 7 ), and / or welding devices, and / or clinch devices ( 8th ), and / or of riveting devices, or the like, the devices in question being positively or positively connected to the scaffolding system ( 1 ), with at least one serving as a reference, the scaffold system ( 1 assigned reference location ( 73 ) and at least one or more devices ( 4 . 5 . 6 . 7 . 8th or the like), to local displacements within the scaffolding system ( 1 ) with which a robot adapter element, for. B. a robot adapter plate, as a reference location ( 73 ) of the scaffold system ( 1 ) cooperates. Scaffold system according to Claim 1 or one of the subsequent claims, characterized in that movements of the location are carried out on a central evaluation or display device ( 74 ) can be displayed or displayed and optionally forwarded to a central unit. Scaffold system according to claim 1 or one of the subsequent claims, characterized in that only such displacements on a central display element ( 74 ) can be displayed, which lie outside a predetermined tolerance field. scaffolding system according to claim 1 or one of the subsequent claims, characterized characterized in that location deviations are acoustically and / or visually displayable. scaffolding system according to claim 1 or one of the subsequent claims, characterized characterized in that location deviations can be displayed analogously with respect to a predetermined tolerance field. scaffolding system according to claim 1 or one of the subsequent claims, characterized characterized in that location deviations can be digitally displayed with respect to a predetermined tolerance field. Framework system according to Claim 1 or one of the subsequent claims, characterized in that each device ( 4 . 5 . 6 . 7 . 8th ) one transmitter each ( 71 ) and all transmitters have a common reference point ( 73 ) are assigned as recipients. Scaffold system according to Claim 1 or one of Claims 2 to 8, characterized in that the reference location in question ( 73 ) for all devices ( 4 . 5 . 6 . 7 . 8th ) a transmitter and each device ( 4 . 5 . 6 . 7 . 8th ) are each assigned a receiver. Scaffolding system according to claim 1 or one of claims 2 to 8, characterized in that the reference location ( 73 ) for all stations ( 71 ) of the device ( 4 . 5 . 6 . 7 . 8th ) is associated with only one receiver, which scans the individual stations within a predetermined, each constant period of time (clock frequency) and makes deviations from a predetermined tolerance field indicated. Scaffolding system according to claim 1 or one of the subsequent claims, characterized in that the indicator device ( 71 ) is a laser probe and that the laser probe of the respective device ( 4 . 5 . 6 . 7 . 8th ) assigned. Scaffolding system according to claim 1 or one of the subsequent claims, characterized in that the indicator device ( 71 ) is a laser probe and that the laser probe the reference location ( 73 ) assigned. A scaffolding system according to claim 1 or any of the subsequent claims, wherein one or more devices (e.g. 4 ) is associated with a cassette designed as an element, the spaced apart as a switch, in particular micro switch formed switching elements, which are damped by a flag and thereby indirectly indicate the position of a clamping arm over the stroke of the rod, wherein the cassette replaceable on the device in question ( 4 ) is arranged and supplied with electrical energy and remotely indicating the respective measured positions of the tensioning arm via an electrical line, characterized in that to the electrical power supply of the cassette, a transmitter ( 71 ) or a reference location ( 73 ) is connected as a receiver. Scaffold system according to claim 1 or one of the subsequent claims, characterized in that all transmitters and also reference locations ( 73 ) or receiver respectively electrically conductive or electronically wired or the values by radio to a preferably central display ( 74 ) are forwarded. Scaffold system according to claim 1 or one of the subsequent claims, characterized in that the reference location ( 73 ) or the receiver or the transmitter or the indicator device on the workpiece and the respective counterpart, for. B. the receiver or the indicator device ( 71 ), on the device ( 4 . 5 . 6 . 7 . 8th ) is arranged or are. Scaffolding system according to claim 1 or one of the subsequent claims, characterized in that the indicator device or the Sen of the ( 71 ) and the reference site or recipient ( 73 ) work together inductively. Scaffolding system according to claim 1 or one of claims 2 to 15, characterized in that the indicator device or the transmitter ( 71 ) and the reference site or recipient ( 73 ) work together by ultrasound.