DE19548431C2 - Device for the automatic production of recesses and assembly of press-in elements, such as Wooden or plastic dowels - Google Patents

Description

The invention relates to a device for automatic production of recesses and assembly of press-in elements, such as wood or Plastic dowels, fittings, hinges, threaded bushings, corner connectors, Cover caps or the like. The device is suitable for coupling to a mechanical auxiliary device, in particular to a handling device advises, such as an industrial robot.

The invention is suitable for all press-in elements for their assembly The following sub-steps are necessary: Create a recess by drilling and / or milling, possibly with suction or subsequent blowing the resulting chips, if necessary introducing a binder into the previously made recess and insertion of the press-in elements into the gefer made recess with the application of a joining force.

The main area of application of such press-in elements is in the area of entire wood processing industry, in which for the production of Wooden frames and other wooden structures, such as built-in kitchens kitchens or housing programs, such as  any kind of dowels, carcass connections, fittings, hinges, hinges and similar assembly parts are used. Another area of application is in the field of assembly technology. Numerous press-in elements are assembled in accordance with the sub-steps above, the Introducing a binder in most cases does not take place because of the Press-fit elements by force or form locking in the manufactured Recesses are kept. Examples here are, for example, snap connections, bolts, pins, shelf supports and cover caps.

The installation of press-in elements, such as connecting elements, fittings, Hinges, hinges and similar assembly parts are used in the small and medium-sized businesses mainly "traditional". Be the necessary recesses are known with conventional drilling or milling machines. In the further assembly steps if necessary, binding agent is introduced into the recesses by hand and the assemblies are also inserted into the recesses by hand used. The traditional assembly technique is therefore strongly manual, therefore time consuming and costly.

In an article by E. Rumpler: "Significant Savings, Automatic Blind rivet processing shortens installation time compared to manual assembly " in: Maschinenmarkt Würzburg 100 (1994) No. 10, pages 42 to 45 in the field of blind rivet processing a multi-function end effector for one Industrial robots, which describe different processes such as drilling, Perform sealant application, riveting and rivet head machining in series can, however, be regarded as a unit that is exclusively for assembly a specific blind rivet. Each individual process assembly, such as. B. Drilling tool has its own separate drive. This multifunk tion end effector has no modular structure with easily replaceable Modules such as drilling or joining module. They are not a corresponding module change systems available.  

A mechanization solution especially for the assembly of wooden dowels represent such dowel insertion devices, which consist of a hand-held insertion gun consist of a hose system with a delivery unit for the wooden dowels and the wood glue are connected. The driving gun will suitable for driving in the wooden dowels above the previously made recess or hole positioned. By pressing the button The driving gun is first injected with wood glue into the hole and attached then the wooden dowel is driven into the hole. With these dowels drive-in devices there is no complete assembly of the wooden dowels because the Boh must be manufactured in a preceding production step sen.

In the areas of small series and mass production there are single or Multi-spindle drilling or milling machines, which according to the manual setup can perform a special manufacturing task. These machines are mainly used where the through the Manual set up drilling or milling process at several plants pieces of the same kind should take place. The subsequent insertion of the on Press elements can be carried out using separate joining machines in some cases several assembly parts as part of a joining cycle appropriate recesses can use. Especially in the area of wooden dowels assembly exist on the one hand dowel drilling machines and separate machines, pour the glue into the hole and then press in the wooden dowel, on the other hand combination machines, which are a complete assembly of the Carry out wooden dowels, i.e. drill the dowel hole, fill in glue and press in the wooden dowel. The area of application of such machines used for Er Increased productivity and economy are used all thanks to their overall design in very specific assembly areas limited. Furthermore, due to the necessary and relatively high set-up effort in flexible manufacturing hardly used will.  

There are also CNC machining centers with completely separate drilling machines duln and press-in modules, all for the assembly of the assembly parts under consideration carry out the necessary sub-steps. The CNC machining centers can be found mainly in the field of mass production. Disadvantages of this CNC-ge controlled machining centers lie in the enormously high investment costs, the high conversion effort and the difficult process monitoring. Next The use of these CNC machines in the area of frame furniture production Where very complex spatial geometries occur, only insufficient possible.

The invention is therefore based on the object of a device for the auto Matic production of recesses and assembly of press-in elements specify, this device an automation and rationalization Complete assembly of the press-in elements in the small area series production, the varied mass production and special offers tations, and while facilitating assembly in difficult workpiece shapes that were previously only possible with complex machines, such as stationary frame and frame dowel machines in the area the rack furniture production or CNC machining centers, who carried out that can.

The object is achieved by the in the characterizing part of Features specified claim 1 solved. Advantageous configurations are specified in the subclaims.

The present invention is based on the basic idea that a pre direction, which for a rational automatic complete assembly of Ein press elements is preferably suitable in wood-based materials, for example flange-mounted an industrial robot, a modular device structure must have, so that both a serial assembly process concept and a can be done on a commission basis, and with a single flexible Device different press-in elements with corresponding  cutting tools, such as drilling or milling modules, mon can be tiert.

To implement the basic considerations according to the invention, at commission-wise installation of press-in elements initially several or many cutouts in various mounting positions with one and the the same cutting tool as drilling or milling module manufactured and possibly those left in a recess Chips are blown out with a blow-out unit. The cutting tool, like drilling or milling module, is via a module change system in the Basic carrier module of the device according to the invention added. After machining, such as drilling or milling desired recesses, the cutting tool will now, like Drilling or milling module, against a joining tool or Joining module exchanged in a module changing system, whereby the joining unit or the joining module the required press-in elements removed from a preparation unit and with an insertion unit under open Bring a joining movement and a joining force into the previously manufactured ones Inserts in different mounting positions. At cost reduction is the basic carrier module with at least one linear unit working drive unit equipped, which has at least one Kop peleinheit at least the feed of a substituted cutting Tool, such as drilling or milling module, and the joining movement an inserted joining tool or joining module. The monitoring and control of the fully automatic assembly process takes over an evaluation and control unit.

When coupling the device to a handling device, such as an industrial robot, is the second time the same Monta position with a joining tool that has been changed into the basic module drawing module uses the repeatability of a robot,  which is known to far outperform a robot exceeds.

Compared to the commission on the serial assembly concept the above-mentioned assembly steps, make recess, possibly Blow out, insert press-in element, one after the other from the device processed one and the same assembly position. For this, the fiction appropriate device or the module carrier plate of the basic support germoduls equipped with at least two module changing systems. The before direction or its basic carrier module is at the beginning of the Monta once placed in the assembly position - in which they then during all Partial steps remain - in such a way that this changes into a first module changed cutting tool, such as drilling or wise milling module, in a first stop position for the selected assembly position is in working position - now the desired recess manufactured and chips may be blown out - then the module Carrier plate opposite a base plate of the lead in the completely same position base module by a linear unit in such a way that inserted into a second module change system at the same time as the drilling module changed joining tool or module in a second application the striking position for the same assembly location is in the working position - now the desired press-in element by the joining tool respectively - module used -. In the above first stop position Module carrier plate is the cutting tool and in the above ge called second stop position, the joining tool over corresponding Coupling units driven by the same drive unit.

The device according to the invention thus has a number of advantages:

The device according to the invention allows flexible fully automatic comm full assembly of different press-in elements. Due to the modular Ge the entire structure can be assembled according to the assembly process concept  one serial, the other commission-based. In Verbin with an industrial robot during commission-based assembly exploits the higher repeatability of a robot while in the case of a serial assembly process, the robot according to the invention direction with inserted cutting tool, such as drilling cover approximately milling module, and joining tool or module once positioned at the installation site and the device during all subsequent Assembly steps are not moved by the robot, that is, the end the robot's effector remains stationary. Spanabhe's working positions The tool and the joining tool are made by one method alone Module carrier plate achieved by a linear unit, which is crucial for loading acceleration and accuracy of the assembly process.

Furthermore, the modular overall structure of the invention allows direction the assembly of different press-in elements (Fasteners, fittings, hinges, hinges, etc.) with a single gene device, the specific adaptation to the respective assembly parts by flexibly inserting the appropriate joining tool mode or at least its preparation unit and even tuell also of the cutting tool, such as drilling or Milling module is achieved.

The overall modular structure of the device reduces the conversion effort a minimum.

With complete assembly, assembly, throughput and delivery are reduced times, what a significant productivity increase can be expected.

The device enables, among other things, assembly on workpieces (for Example sofa frames), which so far only with due to their complex shapes special stationary rack drilling and separate driving machines can be carried out. The device according to the invention enables Production of recesses and the insertion of press-in elements  at an angle to the surface - by moving the module carrier plate automatically the cutting tool, such as drilling or Milling module and the joining tool or module, the same Angle adjustment. Up to now, this oblique-angled assembly could at most through CNC machining centers, but with different machining heads be accomplished - here the device according to the invention provides a much cheaper solution.

A computer aided process control, process control and process Monitoring guarantees high flexibility of the device in terms of machining, such as drilling or milling, the Joining task, binding agent task, module change gears, the pneumatic and hydraulic as well as the electrical control and the movements within the device.

Developments of the invention are the subject of the dependent claims.

The module carrier plate is advantageously parallel to the base plate of the Move the basic module, perpendicular to the parallel axes of the two module change systems, the free travel path is best the same the distance between the two parallel axes, so that in the two An the cutting tool, such as drilling or milling module, or the joining tool or module in the working position find (claims 2 and 3).

So that the interchangeable cutting tools, such as drilling cover roughly milling modules, no longer need their own drive at all it is very advantageous to place the drive unit on the base plate of the base support train module as a linear and rotary unit, its non-rotating Part effects the feed of the cutting plant via coupling units die and the joining movement of the joining tool, while it is rotating Part via a coupling unit, the rotation of those in the working position Tool holder of a cutting tool causes. Instead of one  The cutting tool can also be used with a simple tool holder a tool change system for a turret tool holder or be equipped with a collet system (claim 4).

For the introduction of binders into the previously made and possibly from blown recess is a when using disproportionate binder Dispenser module provided that releasably relate to the base support module the module carrier plate is connected. After a substitution of a joining tool or module in a module changing system of the basic carrier module is the dispenser module via the joining tool pivoted, for example by a linear unit around a pivot point. The Dispenser module is advantageously with a binder metering device and a, for example, right-angled stop, which in Direction of the main axis of the inserted joining tool by a Li on a corresponding counter-stop on the joining tool is pushed. According to the invention, this counterstop is on the joint tools regardless of their geometry from the dimensions of the insert arranged press elements. This makes it possible to dose the binder to position in such a way that the binder through a on top appropriately shaped glue nozzle at the front end of the binder doo siereinrichtung from above - if the module carrier plate of the basic carrier module is aligned horizontally - diagonally into the previously made recess can be injected. This offers the further advantage that this Assign a separate additional work cycle for the introduction of binder can be saved. The binder is either a small internal one or taken from a larger external glue store with feed hose. When installing pre-glued press-in elements, for example wood dowel, the dispenser module only uses water as a binding agent in the Injection molded (claims 5, 6, 7).

To remove machining, such as drilling or Milling, chips and dust is either an end  Blower unit with a blow-out nozzle, a suction unit with bellows and brushes wreath or a complete suction system with a fully enclosed assembly cell provided (claims 8 and 9).

The joining unit exists to expand the modular device structure Stuff from an interchangeable, unit designed as a module to provide press-in elements and from a replaceable as Module-trained insertion unit for applying a joining movement and -force for the press-in elements. For the different geometries and Types of press-in elements are provided in each case, and so far necessary, also insert unit exchanged (claim 10).

An insertion unit of a joining tool is advantageously with a guide columns equipped, on which a plate is guided against compression springs which is possibly attached via connecting elements at least one plunger, which inserts the press-in element into the cutout (claim 11).

When using an internal press-in element memory of a provisioning unit unit of a joining tool or module is, for example, as a magazine loaded with a compression spring is formed. When in use of an externally arranged press-in element memory are the press-in elements from a storage, organization and separation device a delivery hose a Einpreßelementeschieber a provision unit of a joining tool supplied (claims 12 and 13).

When using pre-portioned binder, there is a before preferred embodiment, the dispenser module with an internal memory for encapsulated glue portions, such as glue beads, from one with a compression spring loaded magazine that a preparation unit of a joining plant is stored in the joining direction. When using an externally arranged Storage for encapsulated glue portions, these are stored by a Ordering and separating device via a conveyor hose  Glue bead pusher fed to a preparation unit of a joint Tool is upstream in the joining direction (claims 14 and 15).

The different storage options for A outlined above pressing elements and binders, in unportioned and portioned form, are can be combined as required so that the user has an extremely flexible device is made available to his individual changing needs with regard to workpiece requirements and lot sizes only by exchanging the corresponding modules and units can be adapted at any time.

So that the exchangeable cutting tools, such as drilling or milling modules and joining tools or modules or insertion units, do not all have to be equipped with a separate drive unit, a drive unit 2 or 19 is provided on the basic carrier module, which in the respective working position with the two above modules is engaged via coupling units. The coupling unit between cutting tool and linear unit 2 for the feed is form-fitting by coupling strut and coupling block, the coupling unit between cutting tool and linear and rotary unit 19 for the linear part or feed is also form-fitting by coupling strut and a recess in the non-rotating part of the coupling unit 23 , and the coupling unit for the rotary part is non-positively formed by a rotating part of the coupling unit 23 to a spin del or tool holder of the cutting tool. The transfer of the joining movement and force to a joining tool takes place from the linear unit 2 from the coupling bracket 5 to the coupling bracket 46 of an insertion unit, and from the linear and rotation unit 19 via a non-rotating part of a coupling unit 23 to a plunger mounting plate 43 of an insertion unit of a joining tool (claims 16 and 17).

Different cutting tools designed as a module that be preferably consist of a drilling and / or milling module, depending on the bear  processing task can be changed into a module change system. As well different joining tools designed as modules are related wise modules for different geometries and types of press-in elements changed into a module changing system.

When using the device according to the invention on a handling device, such as an industrial robot, it is a particularly advantageous development for a fully automatic assembly process of the press-in elements to provide module supply and storage stations 200 with corresponding interfaces as docking stations, on which, as required, entire modules or parts thereof can be automatically replaced by the industrial robot: complete cutting tools or parts thereof, such as tool holder with cutting tool or tool changing system with at least one cutting tool or only cutting tools and complete joining tools with a supply unit and insert unit for other press-in elements or a supply unit or only their internal magazine for the same Press-in elements, filled with press-in elements. The stations 200 thus serve for the defined storage of modules that are not currently required or parts thereof and for receiving the currently required and / or for filling internal magazines (claim 20).

In an assembly cell for different press-in elements or the same press-in elements with different geometries, at least one module preparation and storage station 200 is provided for a required joining module or a required press-in element, the stations 200 for joining modules with an internal magazine advantageously having a device for storing, arranging, Separation, for example with vibratory feeders, and for magazine filling with press-in elements are permitted. If more pressing elements are required, several stations 200 for magazine filling with press elements can accelerate the assembly process by simultaneous mounting and magazine filling (claims 20 and 21).

For monitoring an automatic assembly process of the press-in elements position sensors, such as electrical Switches, inductive or capacitive sensors or light barriers are used, which the positions of different modules, units and elements, such as Example of correct clamping of a cutting tool and one Joining tool in the module changing systems, presence of a Cutting tool in the inserted cutting tool, Presence of a press-in element or a glue bead, if any used in the associated magazine or slider or the bottom sitions of different linear units continuously as signals to the off pass on values and control unit, which the received positions with Comparing target values of the current process situation and in the case of a process abnormal situation aborts or interrupts the assembly process and a acoustic and / or visual warning signal and / or a display of the present triggers the fault situation on an output unit for an operator (Claim 22).

To control and regulate a fully automatic assembly process of the Press-fit elements are advantageously set process parameters depending ability of different input parameters by comparison with one in the off value and control unit stored process parameter file determined. After that the current process parameters are then determined according to the Target process parameters are set and actuated using actuators and sensors The following parameters are used as input parameters Question: Type and design of the press-in elements to be assembled, such as Example fluted or smooth dowels, material pairing of workpiece / press-in element and their moisture content, press-in element diameter and tolerance, off saving diameter and depth, press-in depth and viscosity of the binder. Process parameters, such as feed speed, acceleration power, force and speed of a cutting tool of a metal cutting machine Tool, insertion speed, acceleration and force of an operation  Setting unit of a joining tool, amount of binding agent of the dispenser module per Recess, and timing of sub-steps and the overall process are advantageously set and regulated (claim 23).

The dispenser module mounted on the basic carrier module can be particularly useful advantageous for the controlled application of binders to workpiece surfaces outside of recesses for press-in elements as preparation for the Gluing can be used. In particular one from an industrial robot guided device according to the invention is suitable for the application of binder for the gluing of wooden parts, for example furniture frame parts, to furniture positions that are fixed on a robot table.  

The invention is described below without limiting the principle of solution using exemplary embodiments with reference to the drawings described by way of example, to the rest of the disclosure all details according to the invention not explained in detail in the text is expressly referred. Show it:

Fig. 1a and 1b schematically a first embodiment of a basic carrier module according to the inven tion with two module changing systems and a linear unit as a drive unit; Top view and side view.

Figs. 2a and 2b schematically shows a second embodiment of a selsystemen OF INVENTION Basic to the invention the carrier module with two module Wech and a linear and rotating unit drive unit as to; Top view and side view.

FIGS. 3 and 4 embodiment of an inventive drilling relation ship as Fräsmoduls; Top view and side view.

FIGS. 5 and 6 basic carrier module with an inserted drilling or milling module in the working position; Top view or side view.

FIGS. 7 and 8 First and second variant of a module-change system in the base module (detail A of Fig. 6).

FIGS. 9 and 10 embodiment of a joining module of the invention; Top view and side view.

Fig. 11, 12 and 13 base support module with inserted joining module in Ar beitsstellung; Top view and two side views.

Figs. 14 and 15 base module having mounted thereon Dispensermodul; Top view and side view.

Fig. 16a, 17a and 18a base support module with an inserted drilling or as milling module, joining module and dispenser module with Li neaeinheit 2 as a drive unit; Top view and two side views.

Fig. 16b, 17b and 18b base support module with inserted drilling or as milling module, joining module and dispenser module with Li near- and rotation unit 19 as a drive unit; Top view and two side views.

Fig. 19 and 20 base module with drilling or milling module, joint module and Dispensermodul and exhaust unit and exhaust unit; Top view and side view.

Fig. 21a embodiment of a device according to the invention with an external binder pressure vessel.

Fig. 21b module preparation and storage stations for joining module with internal magazine, each with a device for storing, organizing and separating the press-in elements, with vibratory spiral conveyor, and for magazine filling.

Fig. 22 embodiment of a device according to the invention with joining module with external memory for press-in elements and pre-portioned binder with associated devices for storing, organizing and separating.

Fig. 23 embodiment of an assembly cell for flexible automatic assembly of wooden dowels of different dimensions and other press-in elements, such as expansion sleeves, cover caps, universal connectors, snap-in connectors and carcass connectors and corresponding module supply and storage stations and a module supply and storage station for drilling or Milling modules and their parts.

For an overview, it should be mentioned at this point that exemplary embodiments of the inventive modular devices are shown in FIGS. 16 to 20. Basic carrier modules are shown in FIGS . 1 and 2, drilling or milling modules in FIGS . 3 to 6, joining modules in FIGS . 9 to 13 and dispenser modules in FIGS . 14 and 15.

FIGS. 1a and 1b show a first embodiment of a erfindungsge MAESSEN base support module 100 in plan view and side view showing the central module of the device according to the invention. On the base plate 9 of the base support module 100 , the module support plate 13 is linearly displaceably fixed by a linear unit 7 via two guides, which for example consist of the slide rails 10 and 11 , the slide carriages 10.1 and 10.2 and the stops 12 , 12 'necessary to limit the linear movement, 'can be constructed. The Modulträ carrier plate 13 may have a first module exchange system 110 with Linea clean unit 14, thrust bearing 15, 15' 12 "and 12 '', recesses 16, 16 'and the pressure plate 17 to receive a drill or router module 120 changeable. For Interchangeable mounting of a joining module 150 , the module carrier plate 13 is equipped with a second module changing system 115 with linear unit 14 ', counter bearing 15 ", 15 "", recesses 16 ", 16 "" and pressure plate 17 '. One on the base plate 9 attached linear unit 7 , for example a piston-cylinder drive 8 is connected via a connection angle 8 'to the module carrier plate 13 and un d produces the linear relative movement in the arrow directions 7 ′ and 7 ″ between the base plate 9 and the module carrier plate 13 . A linear unit 2 , which guides a plate 4 with two coupling units 5 and 6 , with a plate-side coupling block 6 for a drilling or milling module 120 and a plate-side coupling block 5 for a joining module 150 , plate 9 is mounted on the base. The defined movement of the plate 4 in the arrow directions 2 'and 2 "is carried out via the linear unit 2 , for example a spindle 3 with a motor 1. The motor of this and the other linear units works according to one of the known drive principles, such as Electric, pneumatic or hydraulic motors The various linear units can alternatively be driven pneumatically or hydraulically, such as a rodless pneumatic cylinder.

FIGS. 2a and 2b show a second embodiment of a erfindungsge MAESSEN base support module 100 in plan view and side view, to instead of a linear unit 2 is a linear and rotary unit 19 as to drive unit including a is the replaced drilling or milling module 120 whose rotating movement and a is the replaced Fügemo dul 150 is provided. The linear and rotary unit 19 is fixed to the mounting plate 20 and 21 with the base plate 9 . The linear and rotary unit transmits the linear and rotating movement into a coupling unit 23 via a movement element 22 . Its rotating part introduces a rotating movement into a drilling or milling module 120 , which is used to drive the drilling spindle, and a non-rotating part of coupling unit 23 introduces a linear movement into a drilling or milling module 120 , which is used for the drilling or milling module 120. or milling feed is used. The linear and rotary unit 19 thus has the great advantage that the individual interchangeable drilling or milling modules 120 no longer need to be equipped with any drive. If the module carrier plate 13 is now moved such that an inserted joining module 150 moves under the linear and rotary unit 19 instead of a drilling or milling module 120 , the linear movement of the linear and rotary unit 19 can be used for joining or inserting a press-in element in a recess to be drilled before.

FIGS. 3 and 4 show an embodiment of a drilling or Fräsmoduls 120 according to the invention in top view and side view. On a plate 35 , in addition to module change wedges 36 and 36 ', a linear guide is attached, which can be constructed, for example, from a slide rail 33 and slide 34 and 34 '. A plate 32 which is displaceable near the plate 35 carries a holding plate 24 with a holding pin 25 , a coupling unit with a coupling bracket 26 and coupling strut 27 and a motor 28 , such as an electric, pneumatic, hydraulic motor, which uses the linear and Rotation unit 19 on the base module 100 can be omitted. A cutting tool 31 , which is held in a tool holder 30 , is driven via a drilling spindle 29 by the motor 28 or alternatively via the movement element 22 and via the coupling unit 23 by the linear and rotary unit 19 . The tool holder 30 can be designed as a drill head with at least one drilling or milling tool 31 or as a tool changing system, which can be, for example, a collet system, a turret head or an assembly that manages at least one drilling or milling tool and is completely interchangeable.

Fig. 5 and 6 show a drilling or milling module 120 of FIG. 3 and 4 and switches to a base module 100 of Fig. 1a and 1b by means of a Mo dulwechselsystems 110th If the module carrier plate 13 of the basic carrier module 100 is moved with the linear unit 7 to the right stops 12 ′ and 12 ″ ″, as shown in FIG. 5, there is a coupling unit 26 with a coupling bracket 26 with a coupling strut 27 with that on the plate 4 attached coupling block 6 a positive connection to the linear unit 2 . Thus, a method of the plate 4 by the linear unit 2 causes a linear relative movement of the plate 32 relative to the base module, whereby the feed necessary for drilling or milling is effected. If the module carrier plate 13 is moved via the linear unit 7 to the left stops 12 and 12 ", the coupling strut 27 loses the form-fitting connection with the coupling bracket 6. In order now to allow an uncontrolled movement of the upper part or the linearly movable assembly ( 34 , 34 ' , 32 , 24 , 25 , 26 , 27 , 28 , 29 , 30 and 31 ) of the drilling or milling module 120 , a holding plate 24 with holding pins 25 is provided on the plate 32 , which at the moment when the described Form locking between coupling strut 27 and coupling bracket 6 is lost, is already in a suitable L-shaped holding device 37 and is thus held in a defined position by friction.

In Fig. 7, the detail A of the module change system 110 , 115 shown in Fig. 6 is shown enlarged. For changing a drilling or milling module 120 into a base support module 100 , wedge bearings 36 and 36 'of the plate 35 are pushed through the recesses 16 and 16 ' of the module support plate 13 until the plate 35 bears completely against the module support plate 13 . The linear unit 14 , for example a piston-cylinder drive, is actuated and presses the wedge bearing 36 onto the counter bearing 15 'via a pressure plate 17 . In the same way, the Keilla ger 36 'is pressed onto the counter bearing. This ensures that a drilling or milling module 120 is secured on the module carrier plate 13 . To replace the drilling or milling module 120 , the piston-cylinder drive 14 is switched off, as a result of which the piston moves back with the pressure plate 17 , the frictional connection is released and the drilling or milling module 120 can be released from the module carrier plate 13 . In a second embodiment of the module changing system, which is shown in Fig. 8, the wedge bearings 36 and 36 'are replaced by two Füh approximately 57 bolts. Here, the guide pin 57 , which is attached to the plate 35 , is pushed through a recess designed in accordance with the geometry of the guide pin 57 in the module carrier plate 13 , so that the guide pin 57 is completely centered in the recess from the module carrier plate 13 . A securing wedge 60 is now pushed by a linear unit 63 , for example by a piston-cylinder drive, into a suitably shaped recess in the guide pin via a rod 62 , which is suitably mounted in a bearing device 61 for receiving the forces and moments that occur . The old guide pin 57 , which is native to the wedge bearing 36 ', is used in the same way as a wedge bearing 36 ' to secure a drilling or milling module on the base support module.

FIGS. 9 and 10 show an embodiment of a Fü invention gemoduls 150 in plan view and side view, which is suitable in the illustrated embodiment, for joining or insertion of cylindrical Einpreßelementen such as wooden dowels, Spreizmuffen, for the case of game shelf supports, or sleeves. According to the invention, a joining module 150 consists of an exchangeable supply unit 160 and an insert unit 170 . The provision unit 160 shown in FIG. 9 consists of a magazine 40 , the stored and ordered press-in element supply being in a storage area 39 , for example for wooden dowels, which is pushed in the direction of the plunger 42 via a compression spring 41 . The one shown in Fig. 9 and 10, setting unit 170 consists of cylindrical clinch fasteners from a plunger 42, a plunger mounting plate 43, a connecting plate 44, a shock to the guide columns 48 and 48 'with compression springs 49 and 49' and at 50 and 50 'out plate 45 and a coupling unit from Kop pelbock 46 and coupling strut 47 . If a force now acts on the coupling strut 47 in the direction of the press-in element magazine 40 , the column-guided plate 45 moves against the spring forces of the pressure springs 49 and 49 'in the direction of the magazine 40 and at the same time moves the plunger 42 with the plunger mounting plate 43 and the connec tion plate 44 is connected to the column-guided plate 45 . The plunger 42 pushes via this linear movement a press-in element, for example a wooden dowel, stored directly under the plunger 42 in the magazine 40 , through the magazine 40 into the previously made recess or bore. Now does not apply the force acting on the coupling strut 47 , the column-guided plate 45 by the spring forces of the compression springs 49 and 49 'to the stops 50 and 50 ', that is pushed back into their starting position. After the plunger 42 has left the magazine 40 , the press-in elements still remaining in the storage area 39 are pushed to the left by the spring force of the compression spring 41 and immediately fill the empty space in the magazine 40 created by the press-in element that has just been installed.

Fig. 11, 12 and 13 show a joining module 150 of FIG. 9 and 10 in a base module 100 of Fig. 1a and 1b by means of a module Wech selsystems substitute 115 having which has the same functionality as the module change system 110 for the drilling or milling module 120 . If the module carrier plate 13 of the basic carrier module 100 , on which the joining module is exchangeably fastened, is located at the stops 12 'and 12 ''', that is to say in the right stop position, this would be the working position for an inserted drilling or milling module, the coupling block 5 , which is moved via the spindle-operated linear unit 2 , ineffectively moves past the coupling strut 47 of the insertion unit 170 of the joining module 150 . If, on the other hand, the module carrier plate is moved by the linear unit 7 to the stops 12 and 12 ", that is to say to the left stop position, the joining module is in the working position, that is to say the coupling unit comes into operation, the coupling block 5 moving forward receives the coupling strut 47 and presses the unit running on the guide columns 48 and 48 'in the direction of the magazine 40 , whereby the insertion of a press-in element, for example a wooden dowel, with appropriate positioning of the device in front of a previously made recess is achieved Travel of the module carrier plate between the two stop positions is advantageously equal to the distance between the main axes 121 and 171 of an inserted drilling or milling module (see FIG. 5) and an inserted joining module (see FIG. 11), so that the respective stop positions correspond to the respective working positions of the corresponding modules rake.

Fig. 14 and 15 show an embodiment of a dispenser module 180 according to the invention on the module carrier plate 13 of a Grundträgermo duls detachably installed 100th A plate 54 is rotatably connected to the module carrier plate 13 via a cross strut 55 such that by retracting a linear unit 56 , a piston-cylinder drive which is rotatably fastened to the plate 54 and the module carrier plate 13, pivoting away of the plate 54 is reached by the module carrier plate 13 . In this way, the space necessary for changing a joining module 150 is created. On the plate 54 is secured against rotation, a linear unit 53 , a piston-cylinder drive, which causes a linear movement of the Leimdosierein device 52 . After a joining module 150 has been inserted into the module change system 115 of the module carrier plate 13 , the plate 54 is pivoted back into a position parallel to the module carrier plate by extending the piston-cylinder drive 56 , whereupon a stop 52 ′ of the binary metering device 52 via the non-rotating piston Cylinder drive 53 is pushed onto a stop 52 "of a joining module 150 (compare FIGS . 15, 18a and 18b). According to the invention, the stop 52 " is attached to the different joining modules in such a way that the main front surfaces 58 and 59 follow from the joining module and dispenser module the extension of the linear unit 53 , regardless of different dimensions of the press-in elements, for example different dowel lengths, and regardless of different geometries of the joining module. This ensures that the glue nozzle 51 , which is installed at the top of the bin demitteldosiereinrichtung 52 , is optimally positioned with regard to their glue application task over the previously made recess, for example, a dowel hole. To remove the joining module, the sub-steps just listed must be carried out in reverse order, that is, retracting the piston-cylinder drive 53 , retracting the piston-cylinder drive 56, and removing the joining module 150 .

FIG. 16a, 17a and 18a show an embodiment of a erfindungsge MAESSEN device in which Bezie in a base module 100, a drilling hung as routing module 120, a joining module 150 and a Dispensermo are used dul 180, in plan view and two side views. The Mon days operation of a press-in element begins with the module carrier plate 13 of the basic carrier module 100 through the linear unit 7 , here by a piston-cylinder drive to the right stops 12 'and 12 ''' ge. This results in a positive connection of the coupling unit with the coupling strut 27 and the coupling bracket 6 . By means of a method of the linear unit 2 , for example spindle-operated, the drilling feed necessary for producing a recess, for example a dowel hole, is generated. The cutting tool 31 is driven by the motor 28 via the tool holder 30 and the drilling spindle 29 . After the recess is made in an automated assembly in accordance with important parameters, such as drilling depth, feed force, feed speed and acceleration, and the plate 32 of the drilling or milling module 120 is again in the basic position, the module carrier plate 13 is passed through the linear unit to the left against the stops 12 and 12 "procedure, whereby the holding pin 25 of the plate about the retainer 26 of the drill with the linearly displaceable assembly relationship as Fräsmoduls 120 is connected, moves in a suitable holding device 37th by traversing the module carrier plate 13 is now the plunger 42 of the insertion unit of the joining module 150 directly in front of the above-ge-built recess, positioned, for example, an anchor bore and the Dispensermodul is positioned directly above the fabricated groove. This working position for joining and Dispensermodul is shown in Fig. 16a Darge The dispenser Module 180 now fills the glue in, for example, a dowel hole in a suitable amount, whereupon the plunger 42 pushes the pressing element, for example the wooden dowel, into the dowel-filled dowel bore in the manner described above by the spindle-operated linear unit 2 . The linear movement for joining the press-in elements can be regulated with regard to important parameters, such as, for example, joining depth, joining speed and joining acceleration. The module carrier plate 13 is then moved in preparation for the assembly of the next press-in element to the right stops 12 'and 12 '''.

In the right and left stop position of the module carrier plate 13 benge advantageously exactly the same spatial coordinates for the penetration points of the main axis 121 of drilling or milling module and the main axis 171 of the joining module each with the workpiece surface without the entire device, for example from an in industrial robots, should be moved.

Fig. 16b, 17b and 18b show a second embodiment of an OF INVENTION to the invention device, in which respect to FIG. 16a, 17a and 18a as a common driving unit for a drilling or milling module 120, and a joining module 150, a linear and rotary unit 19 instead of a linear unit 2 is provided so that the motor 28 can be saved on the respective drilling or milling modules. The module carrier plate 13 is located to the right stops 12 'and 12' '', the plate 32 is verbun a drilling or Fräsmoduls 120 via a coupling block 26.1 and a coupling strut 27.1 with the non-rotating part of a coupling unit 23, the drive unit 19, a form-fitting the. The drive unit 19 , which is connected to the base plate 9 via fastening plates 20 and 21 , generates a linear movement via a suitable movement element 22 , which moves the coupling unit 23 near, on the other hand, a rotary movement into a rotating part of the coupling unit 23 initiated. The task of the coupling unit 23 is that a first part initiates the rotation movement for driving the cutting tool 31 into the tool holder 30 during the drilling process and that a second part initiates the linear movement via coupling strut 27.1 and coupling block 26.1 on the plate 32 of a drilling or milling module, which causes the necessary drilling feed.

During the joining process (module carrier plate 13 on the left stops 12 and 12 "), only a linear movement is generated by the drive unit 19 and the movement element 22 , which pushes the coupling unit 23 onto the plunger mounting plate 43 and thus the wooden dowel or other press-in element In this version, the force for the joining movement is not applied via coupling strut 47 , but directly on the tappet mounting plate 43 .

In this variant, it should be noted using a linear and rotary unit 19 that the arrangement of the drive unit 19 , the movement element 22 and the coupling unit 23 constricts the module change range for drilling or milling modules and joining modules. If the module change area for special modules, for example special joining modules, is no longer sufficient, then the drive unit 19 , the loading movement element 22 and the coupling unit 23 must be attached to the base plate 9 in a suitable manner, such that they can be pushed or pivoted.

FIGS. 19 and 20 show an embodiment of an inventive device, in which an additional exhaust unit 130, and a suction unit 140 are in use. The machining process of drilling or milling in wood, for example, releases a large amount of wood chips and wood dust. So that these impurities do not lead to malfunctions in mechanical, electrical and electronic assemblies, they are removed by a suction unit 140 directly on the drilling or milling module. The delivery rate of the suction unit must be designed in accordance with the CE standards so that the maximum permissible proportion of wood dust particles per m ^{3 of} breathing air is observed. The suction unit consists of a bellows 74 with a brush ring 75 , a flexible exhaust hose 76 and a conveying fan with a separating filter that sucks in the direction of arrow 78 . The wood chips remaining in the hole should be blown out so that the press-in elements, e.g. dowels, can be driven in without any problems. For this purpose, a blow-out nozzle 77 is arranged inside the bellows 74 as a blow-out unit 130 , through which compressed air is blown into the bore after production of the bore. In this way, wood chips and wood dust are reliably blown out of the hole and conveyed out of the processing area by the suction unit. If the device is inserted within a fully encapsulated assembly cell, the extraction of, for example, wood shavings and wood dust can be replaced directly on the cutting tool by a total extraction of the fully encapsulated assembly cell. In this case, too, the bores must be blown out by a blow-out unit 130 .

Fig. 21a shows an embodiment of a device according to the invention, in which the dispenser module 180 is equipped with an external memory in the form of a binder pressure container 65, which is set up outside the device, and conveys the glue via a hose 64 to the binder dispenser 52 of the dispenser module. The joining module 150 shown in FIG. 21a contains a supply unit 160 with a magazine 40 , which has a certain supply of cylindrical press-in elements here, for example wooden dowels. After this supply is exhausted, the joining modules 150 are completely replaced or only their preparation unit 160 , depending on requirements, and are filled with pressing elements by a module preparation and storage station 200 external to the direction (see FIG. 21b). As shown in FIG. 21b, these module supply and storage stations 200 can consist of a vibratory spiral conveyor 67 or 67 'and a magazine filling device 66 or 66 '. Several of these stations 200 can be used to provide joining modules for assembling press elements of different geometries.

In the context of other embodiments supply the same Einpreßele can the joining module to Einpreßelementen at a high demand elements, for example, same wooden dowels of the same dimensions, with a suitable tube-feeding to be carried out, see Fig. 22. The deployment units 160 of the joining modules have 150 then no storage area, but a Einpreßelementeschieber 70 , for example by a rodless pneumatic cylinder 72 ben ben the press-in elements under the plunger 42 pushes. For this purpose, for example, cylindrical press-in elements are fed from a storage-order and separating device, such as a vibratory feeder 67 ", with a sliding mechanism via conveying hose 68 to a press-in element slide. If pre-portioned binders are used, glue beads can be fed from a storage order and separating device 67 '''with a sliding mechanism via a delivery hose 69 to a glue bead slide 71 which, for example, is driven by a rodless pneumatic cylinder 73 , pushes the glue beads in front of the plunger 42. The joining process must be such that the glue bead slide 71 with glue bead and a press element slide 70 with press-in elements then be found under the plunger when the plunger 42 carries out the linear joining movement.

Fig. 23 shows an embodiment for an assembly cell in which a flexible and fully automatic assembly of wooden dowels and other press elements is carried out using the example of an upholstered frame. Here, the device for automatic assembly of Einpreßele elements is handled by an industrial robot. In the background there are numerous module supply and storage stations 200 with vibratory feed conveyors 67 and magazine filling devices 66 which, in addition to the joining modules for the wooden dowels of different diameters and lengths, which are necessary for the assembly of the upholstered furniture frame, also joining modules for other press-in elements, such as covers Provide caps, universal connectors, snap-in connectors, body connectors and expansion sleeves. Furthermore, a module preparation and storage station 200 for drilling or milling modules 120 is arranged in the rear cell area, which provide the drilling or milling modules required for producing the bores and their replaceable individual parts, such as cutting tools, for example. A cell computer as an evaluation and control unit takes over all tasks that occur in the context of assembly control, assembly regulation and assembly monitoring.

If one considers, for example, the assembly of a wooden dowel with the 6 mm using the example of the upholstered furniture frame in FIG. 23, the robot moves the assembly device according to the invention controlled by the cell computer, which is coupled to the industrial robot, for example via a flange or a tool changing system , with the base support module 100 first to the corresponding module preparation and storage station 200 , at which the drilling or milling module with the drilling tool with a diameter of 6 mm is received in the assembly device. To accommodate the joining module, which has, for example, stored the wooden dowels 6 × 20 mm, the robot moves the assembly device to the corresponding module preparation and storage station 200 in a controlled manner by the cell computer. After the assembly device is suitably positioned over the upholstered furniture frame, the dowel hole is made in order to insert the wooden dowel after the binding agent has been inserted. After all wooden dowels of this type have been mounted on the upholstered furniture frame, the robot moves the mounting device to the corresponding module supply and storage station 200 , at which the joining module is replaced. Now the joining module for the type of wooden dowel to be installed next is replaced. Then the drilling or milling module clamped in the assembly device is changed back to the module preparation and storage station in order to accommodate the new drilling module. The newly configured mounting device now moves to the sofa frame to mount the wooden dowels 8 × 40 mm etc. If many identical press-in elements are installed one after the other so that the storage capacity of a joining module is not sufficient, a second module supply and storage station for the same is advantageously used Press-fit elements provided. In this way, one joining module or its preparation unit is in use in the assembly device, while the other can be temporarily filled with press-in elements in a module preparation and storage station with magazine filling device.

Other press-in elements, such as covers, can also be used caps, universal connectors, snap-in connectors, body connectors and expansion sleeves must be installed within this assembly cell. For this the Monta device only the appropriate drilling or milling module and pick up the corresponding joining module.

As an alternative to the exemplary embodiment shown in FIG. 23, the device according to the invention can also be operated semi-automatically as a hand-guided mounting device with a support device, such as a truss guide with a fixing device. Fully automatic use within an automation system, such as a CNC machining center, is also possible.

For flexible, fully automatic installation of press-in elements advantageously a monitoring, control and regulation of the Monta process by using a cell computer to ensure a safe Ren and reliable operation of the device according to the invention len.

The following monitoring devices in the form of posi tion sensors are provided.

The correct clamping of a drilling or milling module 120 and a joining module 150 in the module changing systems 110 , 115 can be checked either by suitably mounted electrical switches or by inductive or capacitive sensors. The presence of the cutting tool 31 in the clamped and exchanged drilling or milling module 120 can be monitored either by a light barrier, the light beam of which is interrupted by the clamped drill, or by a capacitive or inductive sensor which reacts accordingly to the presence of the cutting tool.

Furthermore, a switch is to be provided in the joining model 150 within the magazine of the provision unit 160 in the region of the press-in element which is to be installed next, which determines the availability of the press-in element. This can be used to check whether the magazine is empty or whether a conveyor jam inside the magazine prevents the presence of a press-in element at its mounting position. Furthermore, magnetically operated electrical signal transmitters are to be attached to the corresponding positions of the various linear units 2 , 7 , 19 , 53 , 56 etc. or their pneumatic cylinders in order to be able to continuously check and monitor the piston rod positions during the assembly process. The dispenser module 180 is also monitored in accordance with the embodiment variant. If, for example, pre-portioned glue beads are used as binders, their availability can be determined via a light barrier or a switch at the corresponding position. If a glue bead is available, it is conveyed at the appropriate time by the rodless pneumatic cylinder 73 in front of a wooden dowel. The conveying movement of the piston rodless pneumatic cylinder 73 is also monitored via magnetically actuated electrical signal transmitters, so that the glue bead must be available in the joining direction in front of the press-in element when the process is running correctly. If unportionated white glue with an external binding medium pressure container is used as the binder, the metered injection of the white glue can be monitored by a flow meter within the delivery line of the white glue. Alternatively, a pre-chamber system can be used in the binder metering device 52 . A pre-chamber takes on the press-in-specific amount of white glue and stores it until a displacement mechanism brings the white glue from the pre-chamber through the glue nozzle into the recess.

The information of this monitoring device and positioning sensors (switches, inductive and capacitive sensors, light barriers, magnetically operated electrical switches and flow meters) are forwarded to a cell computer, continuously evaluated and compared with the current process target situation. Should this monitor system recognizes a process abnormal situation, so the Monta The process was aborted and the operator, for example, the reason for this displayed on the output device and or generates an alarm signal.

An evaluation and control unit 190 , for example a cell computer, also takes over process control and process control in addition to process monitoring. The input parameters of the assembly process to be carried out are entered as part of a control program. If, for example, wooden dowels are considered as press-in elements, the following input parameters are taken into account: dowel type (corrugated, swelling, smooth, knot dowels), pairing material: dowel material (wood: beech, mahogany; plastic: knot dowels, etc.), workpiece material (wood: Spruce, oak, ash, etc.), dowel diameter, hole diameter, hole depth, press-in depth, dowel tolerances, moisture content of the mating materials, glue bead or viscosity behavior of the binder.

Depending on the input parameters entered, are now marked with Comparison with a process parameter file stored in the cell computer Target process parameters determined. Target process parameters are, for example: Speed of the cutting tool, drilling feed speed, drilling feed thrust acceleration, drilling feed force, press-in speed, on press acceleration, press-in force, binder addition, and sequential and timing of the sub-processes and thus the overall assembly pro zesses. Then according to the determined target process parameters the current process parameters are set using actuators and sensors and regulated.  

If, for example, a servo motor is used to drive the linear unit 2 , the evaluation and control unit transfers the corresponding travel commands determined in a control program to the servo motor control. The servo motor control regulates the servo motor according to the commands given. During the motor movement, the evaluation and control unit continuously receives information from the servo motor control about the current motor speed and the current motor current. At the end of the motor movement, the servo motor control informs the evaluation and control unit whether the motor movement has been carried out correctly. This makes it possible to monitor the drilling and the press-in process with regard to its process parameters, such as travel speeds, travel accelerations and travel distances. If there is a malfunction in the traversing movement, the control program of the evaluation and control unit recognizes this and suitable measures can be taken.

If the device according to the invention is used as a robot-guided tool in used within an assembly cell, this can be with an optical Image recognition system can be equipped. With the image recognition system stem can be checked whether the workpiece to be machined exists and is available in the correct machining position. Furthermore, a optical image recognition system take over monitoring tasks, such as the presence as an alternative to a light barrier a cutting tool or the introduction of the binder chen.

Reference list

1

engine

2nd

Linear unit

3rd

spindle

4th

plate

5

Coupling block or coupling unit

6

Coupling block or coupling unit

7

Linear unit

8th

Piston-cylinder drive

8th

'Connection angle

9

Base plate

10th

Slide rail

10.1

Sliding car

10.2

Sliding car

11

Slide rail

11.1

Sliding car

11.2

Sliding car

12th

,

12th

',

12th

'',

12th

'''Attack

13

Module carrier plate

14

,

14

'' Piston-cylinder drive (= linear unit)

15

,

15

',

15

'',

15

'''Counter bearing

16

,

16

',

16

'',

16

'''Recess

17th

,

17th

'Printing plate

18th

19th

Linear and rotation unit (= drive unit)

19th

'' Drive for linear and rotary unit

20th

Mounting plate

21

Mounting plate

22

Movement element

23

Coupling unit

23.1

Recess in the coupling unit

24th

Retaining plate

25th

Retaining pin

26

Coupling stand

27

,

27.1

Coupling strut or coupling unit

28

engine

29

Drilling spindle

30th

Tool holder or change system and possibly coupling unit

31

Cutting tool

32

plate

33

Slide rail

34

,

34

'' Slide car

35

plate

36

,

36

',

36

'',

36

'''Wedge bearings

37

Holding device

38

plate

39

Storage area for cylindrical press-in elements, for example wooden dowels

40

,

40

',

40

'' Magazine for cylindrical press-in elements, for example wooden dowels

41

Compression spring

42

Pestle

43

Ram mounting plate and possibly coupling

44

Connecting plate

45

column-guided plate

46

Coupling stand

47

Coupling strut or coupling unit

48

,

48

'' Pillars

49

,

49

'' Compression springs

50

,

50

'' Stop for the column-guided plate

51

Glue nozzle

52

Binder dosing device

52

'' Binder dosing device stop

52

"Counterstop on the joining module

53

non-rotating piston-cylinder drive (= linear unit)

54

plate

55

Cross strut

56

Piston-cylinder drive (= linear unit)

57

Guide pin

58

Front surface of the joining module

59

Front surface of dispenser module

60

Safety wedge

61

Storage device

62

pole

63

Piston-cylinder drive (= linear unit)

64

tube

65

Binder pressure vessel

66

,

66

'' Magazine filling device

67

,

67

',

67

'',

67

'''Vibratory bowl feeder

68

Press-in element conveyor hose

69

Glue bead delivery hose

70

Wooden dowel slide

71

Glue bead pusher

72

rodless pneumatic cylinder

73

rodless pneumatic cylinder

74

bellows

75

Brush wreath

76

Exhaust hose

77

Exhaust nozzle

78

Suction device of a conveyor fan, not shown

110

Module change system

115

Module change system

120

cutting tool, in particular drilling or milling module

121

Main axis of cutting tool

130

Blow-out unit

140

Suction unit

150

Joining tool or joining module

160

Staging unit

170

Insert unit

171

Main axis of insert unit

180

Dispenser module

190

Evaluation and control unit

200

Module provision and storage station

Claims (23)

1. Device for coupling to a mechanical auxiliary device, in particular a handling device for the automatic production of recesses and assembly of press-in elements, such as wooden or plastic dowels, fittings, hinges, threaded bushings, corner connectors, cover caps or the like, with a cutting tool, in particular a Drilling and / or milling module for the production of recesses, with a joining tool and with an evaluation and control unit, characterized in that for realizing a module-like structure, a basic carrier module ( 100 ) is equipped with a module carrier plate with at least two module changing systems ( 110 , 115 ) ( 13 ), which can be moved by a linear unit ( 7 ) relative to a base plate ( 9 ),
that in a first stop position ( 12 , 12 '') of the module carrier plate ( 13 ), the chip-removing tool ( 120 ) accommodated in the first module changing system ( 110 ) and designed as a module by a drive unit ( 2 , 19 ) via associated coupling units ( 6 / 27; can be driven 23 / 27.1, 23/30),
that in a second stop position ( 12 ', 12 ''') of the module carrier plate ( 13 ) which in the second module changing system ( 115 ) received, designed as a module joining tool ( 150 ), through the drive unit ( 2 , 19 ) via associated coupling units can be driven (5/47, 23/43),
that a main axis ( 121 , 171 ) of the exchanged cutting tool ( 120 ) in the module carrier plate ( 13 ) and the insertion tool ( 150 ), which is inserted infrequently, has the same position relative to the base plate ( 9 ) in their respective working position, and
that the at least one linear unit drive unit ( 2 , 19 ) on the base plate ( 9 ) of the base support module ( 100 ) is arranged. 2. Device according to claim 1, characterized in that the free travel of the module carrier plate ( 13 ) perpendicular to the parallel axes Sen of the two module changing systems ( 110 , 115 ) is equal to the distance between these axes. 3. Device according to claims 1 or 2, characterized in that the module carrier plate ( 13 ) of the base carrier module ( 100 ) is arranged parallel to the base plate ( 9 ) and is movable. 4. Device according to one of the preceding claims, characterized in that the on the base plate ( 9 ) of the Grundträgermo module ( 100 ) arranged drive unit as a linear and Rotationsein unit ( 19 ) is formed, which not only via the coupling unit ( 23 ) causes the feed, but also the rotation of a tool holder ( 30 ) of the cutting tool ( 120 ) which is changed into a module changing system ( 110 ) and is in the working position. 5. Device according to one of the preceding claims, characterized in that when using non-portioned binder, a dispenser module ( 180 ) for introducing binder into the previously prepared recess with the base support module ( 100 ) is releasably connectable. 6. The device according to claim 5, characterized in that the dis pensermodul ( 180 ) after replacement of the joining tool ( 150 ) is pivotable about such, z. B. by a linear unit ( 56 ) about a pivot point that the dispenser module ( 180 ) has a binder metering device ( 52 ) with a stop ( 52 '), which in the longitudinal direction by a linear unit ( 53 ) on a counter-stop (52 ") of the joining unit Stuff ( 150 ) can be pushed so that the binder can be introduced into the recess through a glue nozzle ( 51 ) at the front end of the binder metering device ( 52 ) by oblique injection from above, the counter-stop ( 52 ") on different joining tools ( 150 ) is arranged regardless of the dimensions of the press-in elements and the geometry of the joining tools. 7. The device according to claim 6, characterized in that in the binder metering device ( 52 ) for mounting pre-glued A press elements, such as. B. wooden dowels, water can be used as a binder. 8. Device according to one of the preceding claims, characterized in that the cutting tool ( 120 ) is equipped with a blow-out unit ( 130 ) for blowing out the chips remaining in a recess. 9. Device according to one of the preceding claims, characterized in that to remove chips and dust, the cutting tool ( 120 ) has a suction unit ( 140 ) with bellows ( 74 ) and brush ring ( 75 ), or, when using a full encapsulated assembly cell, for which a total suction is provided. 10. Device according to one of the preceding claims, characterized in that the joining tool ( 150 ) has a supply unit ( 160 ) designed as a module for providing the press-in elements and an insert unit ( 170 ) designed as a module for applying a joining movement and a joining force. 11. The device according to claim 10, characterized in that a setting unit ( 170 ) of the joining tool ( 150 ) has a through guide columns ( 48 , 48 ') and against compression springs ( 49 , 49 ') guided plate ( 45 ), at least a plunger ( 42 ) that fits the press-in element into a recess. 12. The apparatus of claim 10 or 11, characterized in that the preparation unit ( 160 ) of the joining tool ( 150 ) as a pressurized with a compression spring ( 41 ) magazine ( 40 ) is formed for the Einpreßele elements. 13. Device according to one of claims 10 to 12, characterized in that the preparation unit ( 160 ) of the joining tool ( 150 ) has a press-in element slide ( 70 ), which of a storage, ordering and separating device ( 67 ") by a conveyor hose ( 68 ) is fed with press-in elements. 14. Device according to one of claims 1 to 4 and 8 to 13, characterized in that when using pre-portioned binder, the dispenser module ( 180 ) as one of the preparation unit ( 160 ) of the joining tool ( 150 ) upstream in the joining direction, acted upon with a Druckfe Magazine for encapsulated glue portions, such as glue beads, is formed. 15. Device according to one of claims 1 to 4 and 8 to 13, characterized in that when using pre-portioned binder, the dispenser module ( 180 ) as one of the preparation unit ( 160 ) of the joining tool ( 150 ) in the joining direction upstream glue bead slide ( 71 ) which is fed by a storage, organization and separation device ( 67 ") through a conveyor hose ( 69 ) with encapsulated glue portions. 16. Device according to one of the preceding claims, characterized in that a positive connection between the cutting tool ( 120 ) and the linear unit ( 2 ) by a coupling unit in the form of a coupling strut ( 27 ) and a coupling bracket ( 6 ) can be formed, or
that a positive connection between the cutting tool ( 120 ) and linear and rotary unit ( 19 ) for the linear part by a coupling unit in the form of a coupling strut ( 27.1 ) and a cutout ( 23.1 ) in the non-rotating part of the coupling unit ( 23 ) is formed , and
that a non-positive connection between the cutting tool ( 120 ) and the linear and rotary unit ( 19 ) for the rotary part can be formed from a rotating part of the coupling unit ( 23 ) to a spindle or to a tool holder ( 30 ) of the cutting tool. 17. Device according to one of the preceding claims, characterized in that for the transmission of a joining movement and force on the joining tool ( 150 ), the linear unit ( 2 ) a coupling block ( 5 ) or the linear and rotary unit ( 19 ) a non-rotating part have the coupling unit ( 23 ), which in each case bring about the introduction of force into the insertion unit ( 170 ) via a coupling bracket ( 46 ) or the plunger mounting plate ( 43 ). 18. Device according to one of claims 1 to 17, characterized in that in the working position of a in a module changing system ( 110 , 115 ) exchanged joining tool ( 150 ) for fixing the Modulträ gerplatte ( 13 ) in a stop position, a frictionally acting holding device ( 37 ) with retaining pin ( 25 ) is provided. 19. Device according to one of the preceding claims, characterized in that the module changing systems ( 110 , 115 ) for centering and fixing at least two wedge-shaped counter bearing ger ( 15 , 15 ', 15 ", 15 "") or at least two securing wedges ( 60 ) have, which each by linear units ( 14 , 14 ', 63 ) the clamping of at least two wedge bearings ( 36 , 36 ', 36 ", 36 ''') or with a recess provided guide pin ( 57 ), which are firmly connected to the chip-removing tool ( 120 ) and the joining tool ( 150 ). 20. Device according to one of the preceding claims, characterized in that when using the device on a handling device such as. B. an industrial robot, depending on requirements complete cutting tools ( 120 ) or parts thereof, such as tool holder ( 30 ) with cutting tool ( 31 ) or tool changing system ( 30 ) with at least one cutting tool ( 31 ), and complete joining tools ( 150 ) with the preparation unit ( 160 ) and an insertion unit ( 170 ) or the preparation unit ( 160 ) or only their internal magazine ( 40 ) at module preparation and storage stations ( 200 ) can be exchanged automatically. 21. The apparatus according to claim 20, characterized in that in each case at least one module preparation and storage station ( 200 ) for the associated joining tools ( 150 ) is provided in an assembly cell for different press-in elements, the module providing and storage stations ( 200 ) for joining tools with internal Magazine are equipped with a device for storing, organizing, separating and for magazine filling with press-in elements. 22. Device according to one of the preceding claims, characterized in that position monitoring sensors, such as electrical switches, inductive or capacitive sensors, or light barriers, are provided for monitoring an automatic assembly process of the press-in elements,
which the positions of different modules, units and elements such as correct clamping of a cutting tool ( 120 ) and a joining tool ( 150 ) in the module changing systems ( 110 , 115 ), presence of a cutting tool ( 31 ) in the exchanged cutting tool ( 120 ),
Presence of a press-in element or a glue bead in the associated magazine ( 40 e.g.) or slide ( 70 , 71 ) or positions of the various linear units ( 2 , 7 , 14 , 14 ', 19 , 53 , 56 , 63 ),
as signals to the evaluation and control unit ( 190 ), which compares these positions with target values of the current process situation and, in the event of a process-abnormal situation, aborts the assembly process and an acoustic and / or visual warning signal and / or a display of the error situation on an output unit triggers for an operator. 23. Device according to one of claims 10 to 22, characterized in that for the control and regulation of an automatic Mon day sequence of the pressing elements by means of actuators and sensors ver various process parameters, such as feed speed, acceleration, force and speed of a cutting tool of the cutting tool ( 120 ), insertion speed, acceleration and force of the insertion unit ( 170 ) of the joining tool ( 150 ), amount of binding agent of the dispenser module ( 180 ) per recess, and time sequence of partial steps and the overall process, depending on various input parameters, such as type and Execution of the press-in elements to be assembled, material pairing of workpiece / press-in element and their moisture content, press-in element diameter and tolerance, recess diameter and depth, press-in depth and viscosity of the binder, by comparison with a process parameter file stored in the evaluation and control unit the evaluation and control unit ( 190 ) can be controlled.