Layer module for operating a robotic system

Abstract

The invention relates to a kind of for accessing to the layer module in operating robot system, with robot side interface bank, operating side interface bank and third interface bank, wherein robot side interface bank has the geometric connection profile for position centering fixed on the industrial robot of operating robot system or robot adapter and the cable introduction part for accommodating the fixed wiring of the electrical function assembly arranged in layer module and industrial robot, wherein operating side interface bank has the geometric connection profile for position centering with operating tool or with the detachable engagement of layer module element connected in front of operating tool by means of engagement connection, and the group of electrical energy contact, signal contact and data contact, and it relates to an operating robot system with such layer module and with at least one arm of industrial robot. By means of the invention, a kind of layer module is developed, which enables industrial robot to use in combination with different operating tools and is used for the operation task of transformation.

Description

Technical Field

[0001] The present invention relates to a layer module for accessing an operating robot system, the layer module having a robot-side interface port, an operating-side interface port and a third interface port, wherein the robot-side interface port has a geometric connection profile for being fixed centrally on an industrial robot of the operating robot system or on a robot adapter, and a cable entry portion for accommodating fixed wiring of electrical functional components arranged in the layer module and the industrial robot, wherein the operating-side interface port has a geometric connection profile for centrally and detachably connecting with an operating tool or a layer module element connected in front of the operating tool by means of a snap-on connection, as well as a group of electrical energy contacts, signal contacts and data contacts, and relates to an operating robot system having such a layer module and an industrial robot having at least one arm. Background Art

[0002] DE 10 2018 008 648 A1 discloses a layer module in the form of a communication module, which forwards external data to an electronic device arranged in the housing of a gripping unit. Summary of the Invention

[0003] The present invention is based on the problem of developing a layer module which enables the use of an industrial robot in conjunction with different handling tools and for varying handling tasks.

[0004] This problem is solved by the features of the independent claims. To this end, the electrical functional component is electrically connected to electrical power contacts, signal contacts, and data contacts on the operator side. The electrical functional component includes at least one energy store and a third interface bank. The third interface bank is part of an operator interface for temporarily controlling signals and / or data that can be transmitted via the operator-side interface bank, wherein the third interface bank has at least one manually operable switch block or a bank for a plug connection that can be manually engaged and disengaged.

[0005] In a handling robot system, a layer module is fixed to the arm of an industrial robot or to a robot adapter fixed to the arm of the industrial robot and is electrically connected to the industrial robot via fixed wiring. Layer module components and a handling tool fixed thereto are fixed to the layer module via a detachable snap connection, or the handling tool is fixed to the layer module via a detachable snap connection.

[0006] The layer module is fixed to the arm of the industrial robot as a fixed component. The layer module is electrically connected to the industrial robot by fixed wiring. The energy, signal and data control of the operating tool is carried out by electrical functional components arranged in the layer module. A transmission device connected to the gripping unit is provided from the layer module. In order to enable the operating robot system to adapt to new processing tasks without problems, the operating side interface shore is designed for rapid replacement. For this purpose, the operating side interface is mechanically designed as a detachable snap-on connection. The electrical connection is achieved, for example, by means of fixed contacts on one interface shore and spring-loaded contact pins on the other interface shore. When replacing the operating tool or workpiece connected to the layer module, programming in the layer module can be carried out tool-specifically and workpiece-specifically. This can be done during the main time of the previous process. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Further details of the invention are apparent from the dependent claims and the following description of exemplary embodiments.

[0008] Figure 1 : Layer module with robot side interface port;

[0009] Figure 2 : Layer module with operation side interface shore;

[0010] Figure 3 : The matrix of the layer module;

[0011] Figure 4 : embedded parts;

[0012] Figure 5 : cross section of layer module;

[0013] Figure 6 : Figure 5 cross section;

[0014] Figure 7 : layer module element;

[0015] Figure 8 : Block diagram of a first variant of an electrical functional component;

[0016] Figure 9 : Block diagram of a second variant of the electrical functional component;

[0017] Figure 10 : Figure 9 A block diagram of a variant with an expanded functional scope;

[0018] Figure 11 : Figure 10 A block diagram of a variant with a learning module;

[0019] Figure 12 : Figure 10A block diagram of a variant with a security module;

[0020] Figure 13 : Operate the robotic system. DETAILED DESCRIPTION

[0021] Figures 1-6 The layer module 10 and some of its parts are shown. The layer module 10 is used in the operating robot system 1, see Figure 13 A single manipulation robot system 1 includes an industrial robot 2 and a manipulation tool 4 connected to the industrial robot 2. The industrial robot is, for example, a six-axis robot in the form of a vertical articulated arm robot. Other configurations of the industrial robot 2 are conceivable, such as a gantry robot, a column robot, a polar coordinate robot, a SCARA robot, and the like.

[0022] The layer module 10 is inserted on the arm 3 of the robot 2 between the joint of the robot 2 and, for example, at least one operating tool 4. The operating tool 4 is, for example, a gripping unit 4. The gripping unit 4 can be designed to have, for example, a rigid working member 5, a flexible working member, a magnetic working member, etc. It can be electrically, pneumatically, or hydraulically actuated. Gripping units 4 with rigid working members 5 are, for example, parallel grippers with linearly adjustable gripping jaws 5, gripping units with pivotable gripping jaws 5, clamping grippers, etc. Gripping units with flexible working members can, for example, be vacuum grippers, bellows grippers, etc. In all gripping units 4, the supply of the drive medium is carried out from the industrial robot 2 through the layer module 10 to the gripping unit 4.

[0023] When the operating robot system 1 is in operation, the operating tool 4 is positioned in the receiving position and the storage position by means of the robot axis. The workpiece is then gripped and released by means of the operating tool 4. For example, the movement of the gripping jaws 5 relative to the workpiece is carried out specifically for this workpiece.

[0024] The layer module 10 is designed in the shape of a cylindrical disk. It has a robot-side interface bank 11 and an operator-side interface bank 31. The robot-side interface bank 11 and the operator-side interface bank 31 form the mutually facing end sides 12 and 32 of the layer module 10. In this embodiment, the layer module 10 has a diameter of 75 mm and a height of 24 mm.

[0025] Figure 1An isometric view of a layer module 10 with a robot-side connection land 11 is shown. The layer module 10 can be attached directly to a robot using this robot-side connection land, for example. However, it is also conceivable to provide a robot adapter, such as an adapter plate, between the layer module 10 and the robot arm. For central attachment to the robot arm or the robot adapter, the robot-side connection land 11 has a geometric connecting contour 13. In the present embodiment, this connecting contour includes a centering ring 14 and at least one eccentrically arranged centering pin receptacle 15. It is also conceivable to use a single, for example rectangular, centering pin receptacle for positioning and securing the layer module 10 on the robot-side connection land 11. Furthermore, in this embodiment, the geometric connecting contour 13 includes a drilling pattern 16, for example, with four through-holes 17 arranged on a common pitch circle. These through-holes 17 can be configured as counterbores. Fastening screws for attaching the layer module 10 to the robot adapter or directly to the robot arm, for example, are inserted into these through-holes 17. Other configurations for fastening the layer module 10 to the robot adapter or the robot arm are also conceivable.

[0026] For example, in the middle, the interface port 11 on the robot side is Figure 1 、 Figure 5 and Figure 6 The illustrations of the layer module 10 have a removable closure cover 18. In these illustrations, the closure cover 18 closes the end-side cable feedthrough 19. Through this cable feedthrough 19, which, for example, forms a power, signal, and data line feedthrough 19, a cable harness 6 can be routed from the industrial robot 2 to the layer module 10. This cable harness is used to secure the layer module 10 to the robot arm. Another cable feedthrough 21 is provided on the circumference 51 of the layer module 10. This additional cable feedthrough 21, which, for example, forms a power, signal, and data line feedthrough 21, can also be designed to be closable. Instead of the first-mentioned cable feedthrough 19, this additional cable feedthrough 21 can be used to route electrical connections 6 from the industrial robot into the interior 52 of the layer module 10. In this case, the circumference 51 forms part of the robot-side interface bank 21 of the layer module 10. It is also conceivable to route only the power cables between the industrial robot 2 and the electrical functional components 100 of the layer module 10 through the cable ducts 19; 21. The signal exchange and / or data exchange can then take place, for example, wirelessly.

[0027] The layer module 10 shown also has two groups, each with two media connections 53, 54. These media connections 53, 54 continue into media lines 55, 56, which pass through the layer module 10 parallel to the longitudinal axis 65 of the layer module 10. The two groups of media lines 55, 56 have different diameters. In this exemplary embodiment, the diameter of the narrower media line 55 is 60% of the diameter of the other media line 56. Each of the media lines 55, 56 also has a radially oriented connection 57 that opens into the circumferential surface 51.

[0028] Furthermore, a switch 92 is arranged on the circumferential surface 51 . The switch is designed as a manually operable button and is part of an operating interface 91 of the floor module 10 .

[0029] Figure 2 An isometric view of a layer module 10 with an operating-side connection bank 31 is shown. A layer module element 200 can be detachably fixed to this operating-side connection bank 31, see Figure 7 , or operating tool 4. In this embodiment, the interface bank 31 on the operating side has two eccentrically arranged guide element receptacles 33, 34 as part of the geometric connecting contour 83. These guide element receptacles 33, 34 have, for example, different depths. They are oriented parallel to the longitudinal axis 65. The guide element receptacles 33, 34 have different cross-sections. Figure 2 and Figure 5 In the illustration of FIG, the guide element receptacle 33 shown on the left has a larger cross section than the guide element receptacle 34 shown on the right.

[0030] In this embodiment, the layer module 10 is designed in a shell-like manner at the operator-side interface 31. The layer module has a free, circumferential edge 35 of constant height. The inner wall 36 of the edge 35 forms a radial centering ring 36. The end face 37 of the edge 35 lies, for example, in a normal plane relative to the longitudinal axis 65. Two opposing edge sections are formed as surrounding edges 38. In this embodiment, the surrounding edges 38 each cover a 36-degree sector. These surrounding edges 38 are oriented inward. In cross section, the surrounding edges 38 are wedge-shaped. In this embodiment, their upper side 39 and lower side 41 enclose a 5-degree angle. The vertical line at the apex of this angle is oriented in the direction of the longitudinal axis 65.

[0031] A set of electrical contacts 42 is arranged at the interface bank 31 on the operator side, offset relative to the longitudinal axis 65. In this exemplary embodiment, the electrical contact set 42 comprises ten contacts with end-side contact surfaces 43. These are power contacts 44, signal contacts 45 and data contacts 46. These contacts 44-46 are arranged in two rows, for example. Figure 2In the illustration of , the contact surfaces 43 lie in a common plane that is fixed relative to the housing 61 of the layer module 10 and is perpendicular to the longitudinal axis 65. Instead of being rigid, the electrical contacts 44-46 can be designed to be spring-loaded individually or in groups.

[0032] The media lines 55 , 56 each have a sealing element 58 , for example an O-ring, at the operator-side connection bank 31 .

[0033] The housing 61 of the layer module 10 has a base body 62, see Figure 3 , and two inserts 81 inserted into the base, see Figure 4 A cover 63 arranged on the access bank 31 on the operator side closes off a central region 64 of the layer module 10 .

[0034] The base body 62 has a base 66 and two outer wall regions 67. A depression 68 for accommodating an insert 81 is formed between the wall regions 67. In the present embodiment, the two depressions 68 are of equal size. In addition to the through-holes 17, two groups of three countersunk holes 69 extend through the base 66. These countersunk holes 69 open into the support surface of the depressions 68. Centering holes 71 are provided between the countersunk holes 69.

[0035] The two depressions 68 each cover a sector angle of 90 degrees. The boundary surfaces 72 of the depressions 68 are oriented radially relative to the longitudinal axis 65, for example.

[0036] In this embodiment, the base body 62 is made of aluminum. The elastic modulus of this material is, for example, 70,000 Newtons per square millimeter.

[0037] In this embodiment, two inserts 81 are constructed identically to each other. They have a shell segment-shaped configuration. In the upper region, a surrounding edge 38 is formed on the insert 81.

[0038] The insert 81 is made of steel, for example. The modulus of elasticity of this material is 210,000 Newtons per square millimeter. This modulus is therefore three times the modulus of elasticity of the base body 62. The material can be selected so that the modulus of elasticity of the insert 81 is greater than twice the modulus of elasticity of the base body 62. It is also conceivable to use the insert 81 as a replacement part. For this purpose, it can be made of plastic, for example.

[0039] When assembling the layer module 10, each insert 81 is inserted into the countersunk portion 68. Centering pins and fastening screws 82 inserted into the countersunk holes 69 hold and secure the insert 81. The electrical functional component 100 is installed in the central area 64 of the base body 62. This central area 64 is then closed, for example, by means of a cover 63.

[0040] Figure 5 and Figure 6The diagrams show mutually orthogonal sectional views of a layer module 10. In each of these figures, the robot-side interface bank 11 is shown at the bottom and the operator-side interface bank 31 is shown at the top.

[0041] The two surrounding edges 38 each define a latching element receptacle 47. The two latching element receptacles 47 are designed to be mirror images of one another. They are opposite one another.

[0042] The two guide element receptacles 33, 34 each have an entry bevel 48 and a cylindrical receiving area 49. For example, the cylindrical receiving area 49 of the guide element receptacle 34 with the smaller diameter is longer than the cylindrical receiving area of ​​the guide element receptacle 33 with the larger diameter.

[0043] An electrical functional component 100 is arranged between the two guide element receptacles 33 , 34 in the interior 52 of the layer module 10 . The electrical functional component comprises, for example, a printed circuit board 101 on which at least one energy store 102 , a radio module 103 and a switching element 104 are arranged.

[0044] Energy storage 102 is formed, for example, by a capacitor used in a DC circuit. During high accelerations of the tool, additional energy can be provided to the drive motor of tool 4 using energy storage 102. This can, for example, reduce the effects of load peaks on industrial robot 2.

[0045] Radio module 103, for example, includes a transmitter and a receiver. These are designed, for example, for frequencies in the 2.4 GHz range. The corresponding frequencies in this range can be matched to the frequency of the paired station. The voltage applied to radio module 103 is, for example, 3.1 to 4.2 volts. The bidirectional radio module is, for example, designed as an asynchronous serial communication module, such as a UART, Bluetooth, or WLAN.

[0046] Furthermore, a switching element 104 is arranged on the printed circuit board 101. This switching element can be switched by means of a button 92 that can be actuated via the circumference 51 of the layer module 10. In this embodiment, the button 92 and the switching element 104 together form a switch group 92, 104 in the form of multifunctional buttons 92, 104. Multiple actuation of the button 92 switches the electrical functional component 100 between different operating modes, for example.

[0047] The printed circuit board 101 is connected both to the circumferential surface 51 and to the robot-side end face 12 by means of channel-like energy, signal and data feeds 19 , 21 .

[0048] After the electrical functional component 100 has been inserted into the interior 52 of the layer module 10, the push button 92 is mounted, for example, so that it rests on the switch element 104. If necessary, an intermediate tappet can be inserted between the switch 92 and the switch element 104. Other sequences for assembling the layer module 10 are also conceivable.

[0049] When mounted on the arm 3 of the industrial robot, the floor module 10 is centered on the arm 3 of the industrial robot 2 using the robot-side connection pads 11 and secured using screws inserted into the through-holes 17. For example, electrical cables 6 or cable assemblies routed laterally or centrally from the industrial robot arm are passed through the strain reliefs 22 of the power, signal, and data feeds 19 and 21 and secured to the connection block 105 of the printed circuit board 101. It is also conceivable to route the cables 6 for power, signal, and data transmission from the floor module 10 and secure them to the industrial robot 2. It is also conceivable to use separate cables 6 or cable harnesses that are secured both to the industrial robot 2 and in the floor module 10.

[0050] The layer module 10, which is fixed to the industrial robot 2 and permanently wired thereto, first has a free operator-side interface port 31. This operator-side interface port 31 includes a geometric connection contour 83 for detachably connecting to the operator tool 4 or to a layer module element 200 connected upstream of the operator tool 4 in a centrally located position. Furthermore, it includes a set 42 of power contacts 44, signal contacts 45, and data contacts 46. Furthermore, in this exemplary embodiment, media lines 55, 56 in the form of pneumatic line structures are provided at this operator-side interface port 31.

[0051] At the operating side interface port 31, for example, Figure 7 The layer module element 200 shown in FIG. Figure 13 The layer module element 200 has an interface land 201 that is complementary to the operator-side interface land 31 of the layer module 10 . In the present embodiment, the interface land has two guide elements 202 , 203 of different cross-sections. The distance between the two guide elements 202 , 203 and the ratio of their diameters correspond to the corresponding dimensions of the guide element receptacles 33 , 34 . It is also conceivable to connect the operating tool 4 to the operator-side interface land 31 .

[0052] The layer module element 200 also has two locking elements 211 and 212 that are positioned opposite each other and can be displaced in the radial direction. In this exemplary embodiment, the two locking elements 211 and 212 are identical in design. Each locking element 211 or 212 has a central guide slot 213 for receiving the guide flange 204 of each guide element 202 or 203. Together with the respective guide element 202 or 203, the guide slot 213 limits the radial travel of the locking elements 211 and 212. The guide slot 213 is oriented radially relative to the longitudinal axis 205 of the layer module element 200. This longitudinal axis 205 of the layer module element 200 is aligned with the longitudinal axis 65 of the layer module 10 when the layer module elements 200 are connected.

[0053] On its outer side, each locking element 211; 212 has a gripping area 214. Figure 7 In the illustration, the cantilevered hook 215 is positioned below and spaced apart from the gripping area 214. Here, the gripping area 214 extends beyond the hook 215 by more than 30% of the component length measured in the radial direction. In this embodiment, the wedge angle between the hook upper side 216 and the hook lower side 217 is 5 degrees. This also corresponds to the angle that the hook upper side 216 forms with the normal plane relative to the longitudinal axis 205. Spring elements 221 are each positioned between the locking elements 211 and 212 of the layer element module 200 and the main body 206. These spring elements bias the locking elements 211 and 212 radially outward relative to the main body 206. Both locking elements 211 and 212 are made, for example, of the same material as the insert 81. Other configurations of the locking elements 211 and 212 are also conceivable. For example, the layer module element 200 could be configured with a single operating element that controls all locking elements 211 and 212.

[0054] The interface bank 201 of the layer module element 200 also has a set of electrical contact pins (not shown here). These contact pins extend from the interface bank 201 in a spring-loaded manner. The arrangement of the contact pin set corresponds to the arrangement of the electrical contact set 42 on the operating-side interface bank 31 of the layer module 10. For example, each contact 44-46 of the layer module 10 corresponds to a contact pin of the layer module element 200. When the layer module element 200 is connected to the layer module 10, the contact pins contact the layer module-side contacts 44-46 with their end faces. The contacts 44-46 and the contact pins can also be configured as a plug or multiple plugs and a socket or multiple sockets.

[0055] The layer module element 200 can have, for example, continuous pneumatic lines that are oriented, for example, parallel to the longitudinal axis 205 .

[0056] When connecting the layer module element 200 or the handling tool 4 to the layer module 10, the locking elements are applied, for example manually or with the aid of a device, counter to the force of the spring element 221. The locking elements 211, 212 are radially displaced relative to the body 206 toward the longitudinal axis 205 until the outer circumference of the hook 215 is smaller than the inner circumference of the surrounding edge 38. The layer module element 200 is placed on the layer module 10. Here, the guide elements 202, 203 are inserted into the guide element receptacles 33, 34. This determines the position of the layer module element 200 relative to the layer module 10. As the two coupling partners 10, 200 approach further in the joining direction 231 oriented along the longitudinal axes 65, 205, the radial centering ring 36 of the layer module 10 surrounds the annular flange 207 of the layer element module 200. The contact pins contact the electrical contacts 44-46 of the layer module 10. The spring elements of the contact pins are loaded, ensuring the contact pins' contact force against the contacts 44-46. Furthermore, media lines for liquid and / or gaseous media can be connected to one another, for example by plugging them together.

[0057] Once the edge 35 of the layer module 10 rests against the layer element module 200, the load on the gripping area 214 is relieved. The locking elements 211 and 212 are moved radially outward by means of the spring elements 221. The hook 215 engages the surrounding edge 38 from behind. The upper side 216 of the hook 215 slides along the lower side 41 of the surrounding edge 38. This elastic expansion allows the two coupling partners 10 and 200 to engage with each other in a form-fitting and force-fitting manner. This creates a self-locking snap-in connection between the layer module 10 and the layer module element 200 or the handling tool 4.

[0058] To release the coupling, the locking elements 211, 212 are moved radially inwards by means of a gripping area 214 or a plurality of gripping areas 214 under the load of the spring element 221. The latching connection is released. For example, the layer module element 200 can now be lifted from the layer module 10 against the coupling direction 231.

[0059] The two complementary, mutually couplable interface banks 31, 201 of the layer module 10 and the layer module element 200 or the handling tool 4 can also be designed differently. For example, the mechanically adapted geometries 83; 202, 203, 207, 211, 212, the electrical contacts or individual parts of the media connection can be arranged on the respective other interface bank 201; 31. For example, the power contacts 44, the signal contacts 45, and the data contacts 46 of the layer module 10 can then be designed to be spring-loaded.

[0060] Figure 8The block diagram shows a first variant of an electrical functional component 100 of a layer module 10. The radio module 103 is designed, for example, to exchange data with a mobile terminal or a stationary terminal. Via the third interface port 91, which forms the operator-side interface port 91, signals or data from the operating tool 4 can be read, for example, or additional control data for the operating tool 4 can be input. As described above, the energy storage device 102 in this embodiment forms a buffer memory.

[0061] In this embodiment, the electrical component 100 also includes an NPN-PNP logic converter 106. This allows the electrical component 100 to communicate with two currently common logic systems of the industrial robot 2. For example, this can be switched using the multifunction buttons 92 and 104. These multifunction buttons 92 and 104 are also used, for example, to release the industrial robot 2. The industrial robot 2 can be designed as a lightweight robot, for example.

[0062] exist Figure 9 , a block diagram of another variant of an electrical functional component 100 is shown. This functional component 100 includes an application computer 107 and a data storage unit 108. The functional component 100 has a power supply group 109. In this power supply group, energy from, for example, the industrial robot 2 is converted into connection data for the operating tool 4 and the application computer 107. The voltage required in the operating tool 4 is, for example, a 24-volt DC voltage. An interference suppression group 111 for active and passive interference suppression is connected downstream of the power supply group 109. The energy storage device 102, not shown here, is configured, for example, as described in conjunction with the previous exemplary embodiments.

[0063] The application computer 107 has, for example, three processors. In this embodiment, the first processor has a clock frequency of 264 MHz, the other processor has a clock frequency of 1.2 GHz, and the third processor has a clock frequency of 1.6 GHz. The first-mentioned processor is used, for example, for direct external control. The circuit board of the application computer 107 has dimensions of, for example, 30 mm by 30 mm. Its height, including accessories, is, for example, one millimeter. The application computer 107 is fixedly connected to the group 42 of operating-side contacts 44-46. For example, the operating tool 4 is connected bidirectionally from the contact pins on the layer module element side by means of electrical conductors. Multiple operating tools 4 can be controlled by one layer module 10. Figure 9 In the diagram of , application computer 107 is connected to two groups 42 of electrical contacts. Light emitting diodes 112 are connected to application computer 107 to display operating states.

[0064] The non-volatile data storage unit 108 connected to the application computer 107 is electrically buffered and has a memory capacity of, for example, twice 16 Mbytes. In this embodiment, it has eight pins. Its dimensions are, for example, 8 mm by 5.3 mm by 2 mm.

[0065] Furthermore, a digital input and output unit 113 is connected to the application computer 107. In this exemplary embodiment, it is electrically connected to the data and signal lines of the connecting cable 6 that are routed through the power, data, and signal supply lines 19 and 21. This creates a digital connection between the application computer 107 and the controller of the industrial robot 2. This connection extends via the robot-side interface bank 11 of the layer module 10.

[0066] A changeover switch 114 is arranged between the application computer 107 and the user-side interface bank 91. The dimensions of the changeover switch 114 are, for example, 9 mm by 9 mm by 1.6 mm. A socket 115 for two plugs is arranged on the user-side interface bank 91. The socket 115 is a manually removable plug-in connection bank 115. This plug-in connection enables, for example, the exchange of external data with the application computer 107 in both directions at a high data rate. A radio module connected to the changeover switch 114 can be provided as an additional bidirectional user interface. This radio module is configured, for example, as described in conjunction with the first exemplary embodiment.

[0067] In use Figure 9 When the electrical functional component 100 shown in FIG is input, the programs and data required for positioning the operating tool 4 are input into the controller of the industrial robot 2. The data and programs required for controlling the movement of the working member 5 of the operating tool 4 are transmitted to the application computer 107 and its data storage unit 108 via the interface port 91 on the operator side. This can be done by wired connection via the socket 115 or wirelessly via a radio module. The application computer 107 communicates with the controller of the industrial robot 2 using digital data, for example, to fine-tune the positioning for gripping a workpiece. The working member 5 of the operating tool 4 is controlled by the application computer 107. This control is carried out, for example, not only in relation to the structure of the operating tool 4, but also in relation to the geometry and structure of the workpiece to be gripped.

[0068] If another workpiece is to be gripped, for example, another gripping contour can be used on the application computer 107. This allows batch 1 workpieces to be received without problems and interruption. During gripping, the control of the industrial robot 2 is only adapted if the positioning of the handling tool 4 is changed. The workpiece-specific control of the working element 5 of the handling tool 4 is implemented exclusively by means of the application computer 107.

[0069] When using another operating tool 4, a tool-specific program is fed to the application computer 107 via a user interface. In this case, when positioning the operating tool 4, a setpoint-actual correction is also performed digitally via fixed wiring between the application computer 107 and the controller of the industrial robot 2. Thus, workpiece- and / or tool-specific programs for controlling and regulating the gripping elements of the operating tool can be created and used largely independently of the programming of the industrial robot 2. For example, a programming language specific to the operating tool can be used.

[0070] Figure 10 Shown in Figure 9 1 shows an expanded variant of the electrical functional assembly 100. The application computer 107, data storage unit 108, and switch 114, along with the connected components, are constructed as described in conjunction with the previous exemplary embodiment. The power supply group 109 is buffered, reducing the effects of current peaks, such as those occurring during acceleration of the gripping element 5. An additional radio module 103 is connected to the switch 114. The additional radio module operates bidirectionally, for example, in the 2.4 GHz or 5 GHz range. In this exemplary embodiment, operator-specific programs can also be installed on an external computer. During operation of the operating robot system 1, communication takes place between the application computer 107 and the external computer, for example, via the radio module 103. Outside the main operating system of the operating robot system 1, communication between the external computer and the application computer 107 can also take place via a plug-in connection bank 115 at the operator-side interface bank 91.

[0071] Furthermore, a switch element 104 is provided. This is, for example, part of a switch group 92, 104. This switch group can be actuated by an operator using switch 92. Thus, it is possible to switch between different operating modes of the application computer 107, for example manually. The interface between the application computer 107 and the controller of the industrial robot 2 can be configured as described above. However, it can also be implemented as a fieldbus 116. The data interface can also be configured as an asynchronous serial data interface, such as RS 485.

[0072] In this embodiment, an application computer 107 and a higher-capacity data storage unit 108 can also be used. For example, an operating system and / or a programmable logic controller can be installed in the application computer 107. The operating system is, for example, a real-time operating system. The programmable logic controller is programmed, for example, via the operator-side interface port 91. The programmable logic controller can control multiple operating tools 4. Furthermore, process data, event data, and maintenance data are collected in the application computer 107 and / or the data storage unit 108. This data can then be read, for example, via the operator-side interface port 91.

[0073] exist Figure 11 A block diagram of another variant of an electrical functional component 100 is shown in FIG. Figure 10 A variant has an additional learning module 117. Tool-specific and workpiece-specific data acquired during machining is compressed. For example, a mean value is formed from multiple actual data. This can include energy data, sensor data, repeated calibration data, and so on. For example, data compression is performed for each combination of operating tool 4 and workpiece. These results are incorporated into the setpoint data provided by application computer 107. This allows electrical functional assembly 100 to self-learn during repeated use of the operating tool 4 and workpiece combination.

[0074] Figure 12 A block diagram of an electrical functional component 100 is shown, which is also based on Figure 10 A variation of . Figure 12 The variant shown in has an additional safety module 118. This safety module, for example, has two redundantly constructed interfaces 119, 121. In addition, there is a connection with the application computer 107. One of the interfaces 121 is connected to the actuator 122 of the working member 5 of the operating tool 4. The other interface 119 is connected to the field bus 116. When external interference occurs, for example, when the protective grid is opened, the working mechanism 5 of the operating tool 4 is switched to a forceless or force-reduced state by means of the controller and safety module 118 of the superior. This can, for example, be achieved by reducing or cutting off the energy transmitted via the operating side interface 31. It is also conceivable to transmit a signal for reducing the force of the working member 5 or switching to a forceless state to the operating tool 4 through the interface 31 of the operating side. For example, when the working member 5 is matched with the load shape received, even if the working member 5 is forceless, it can also be ensured that it is reliably maintained.

[0075] It is also conceivable to connect the safety module 118 to a sensor located on the operating tool 4. The sensor can be an inductive or capacitive proximity switch, a light barrier, or the like. For example, if a collision is imminent, the proximity switch is damped or the light barrier is interrupted. When the sensor switches, an alarm signal is generated in the safety module 118 and transmitted to the controller of the industrial robot via the operator-side interface port 11. The operating tool 4 can then be moved out of the danger zone, for example, using the industrial robot 2.

[0076] Combinations of the individual embodiments are also conceivable.

[0077] Description of Reference Numerals

[0078] 1 Operating the Robot System

[0079] 2 Industrial Robots

[0080] 3 2 arms

[0081] 4 Handling tools, gripping units

[0082] 5.4 working member, grabbing jaw

[0083] 6 Cables, power, data and signal conductors

[0084] 10-layer module, coupling counterpart

[0085] 11 Interface port on the robot side

[0086] 12 End side, robot side

[0087] 13 Geometric connection profiles

[0088] 14 Centering ring

[0089] 15 Centering pin receiving area

[0090] 16 Drilling diagram

[0091] 17 through holes

[0092] 18 Closure cover

[0093] 19 Cable entry, energy, signal and data entry, end side

[0094] 21 Cable entry, energy, signal and data entry, peripheral side

[0095] 22 Strain relief

[0096] 31 Operation side interface port

[0097] 32 End side, operation side

[0098] 33 Guide element receptacle

[0099] 34 Guide element receptacle

[0100] 35 Edge

[0101] 36 35 inner wall, radial centering ring

[0102] 37 35 end face

[0103] 38 Surrounding Edge

[0104] 39 38 upper side

[0105] 41 38 lower side

[0106] 42 electrical contact groups

[0107] 43 contact surface

[0108] 44 electrical energy contacts

[0109] 45 signal contact

[0110] 46 data contacts

[0111] 47 Snap-fit ​​element accommodating portion

[0112] 48 Entering the Slope

[0113] 49 Cylindrical receiving area

[0114] 51 Circumference

[0115] 52 Interior Space

[0116] 53 Media Interface

[0117] 54 Media Interface

[0118] 55 medium line

[0119] 56 medium line

[0120] 57 interfaces

[0121] 58 Sealing element

[0122] 61 housing

[0123] 62 matrix

[0124] 63 Cover

[0125] 64 Central Area

[0126] 65 vertical axis

[0127] 66 bottom

[0128] 67 Wall Area

[0129] 68 sinking part

[0130] 69 countersunk hole

[0131] 71 Centering hole

[0132] 72 boundary surface

[0133] 81 Inserts

[0134] 82 Fastening bolts

[0135] 83 31 geometric connection outline

[0136] 91 Third interface port, operator side interface port

[0137] 92 Switch, part of a switch group, part of a multi-function button

[0138] 100 electrical functional components

[0139] 101 Circuit Board

[0140] 102 Energy Storage Device

[0141] 103 Radio Module

[0142] 104 Switch element, part of a switch assembly, part of a multifunction button

[0143] 105 connection block

[0144] 106 NPN-PNP Logic Converter

[0145] 107 Applied Computers

[0146] 108 data storage unit

[0147] 109 Power Supply Group

[0148] 111 Interference Removal Group

[0149] 112 LEDs

[0150] 113 Digital Input and Output Units

[0151] 114 Toggle Switch

[0152] 115 socket, plug-in connection shore

[0153] 116 Robot side data interface, fieldbus

[0154] 117 learning modules

[0155] 118 Security Module

[0156] 119 118 interface

[0157] 121 118 interface

[0158] 122 actuator

[0159] 200-layer module components, coupling partners

[0160] 201 Interface shore side

[0161] 202 guide element

[0162] 203 guide element

[0163] 204 guide flange

[0164] 205 200 vertical axis

[0165] 206 200 main body

[0166] 207 annular flange

[0167] 211 Locking piece

[0168] 212 Locking piece

[0169] 213 guide slot

[0170] 214 Grab Area

[0171] 215 Hook

[0172] 216 hook upper side

[0173] 217 Hook bottom

[0174] 221 Spring element

[0175] 231 Joint direction

Claims

1. A layer module (10) for connecting to an operating robot system (1), the layer module having a robot-side interface port (11), an operating-side interface port (31) and a third interface port (91), in, The robot-side interface port (11) has a geometric connection contour (13) for being fixed centrally on an industrial robot (2) or a robot adapter of the operating robot system (1), and a cable lead-in portion (19; 21) for accommodating fixed wiring of an electrical functional component (100) arranged in the layer module (10) and the industrial robot (2). The operating-side interface bank (31) has a geometric connection contour (83) for a centrally located, releasable connection with an operating tool (4) or with a layer module element (200) connected in front of the operating tool (4) by means of a snap connection, and a group (42) of electrical power contacts (44), signal contacts (45) and data contacts (46), wherein the electrical functional component (100) is electrically connected to the electrical power contact (44), the signal contact (45) and the data contact (46) on the operating side, The electrical functional component (100) comprises at least one energy storage device (102) and the third interface shore (91), wherein the electrical functional component comprises a circuit board (101) on which the at least one energy storage device (102) is arranged, and The third interface bank (91) is part of an operator interface for temporarily controlling signals and / or data that can be transmitted via the operator-side interface bank (31), wherein the third interface bank (91) has at least one manually operable switch group (92, 104) or a bank (115) for a plug connection that can be manually engaged and disengaged.

2. The layer module (10) according to claim 1, characterized in that At least one media line (55; 56) passes through both the robot-side interface bank (11) and the operator-side interface bank (31).

3. The layer module (10) according to claim 1, characterized in that The cable lead-through (19) passes through the robot-side end face (12) of the layer module (10).

4. The layer module (10) according to claim 1, characterized in that The electrical functional component (100) has a logic level converter (106) which can be switched by means of a manually operable switch group (92, 104).

5. The layer module (10) according to claim 1, characterized in that The electrical functional assembly (100) comprises an application computer (107) and a data storage unit (108).

6. The layer module (10) according to claim 5, characterized in that The electrical functional component (100) has a robot-side data interface in the form of a field bus or an asynchronous serial data interface between the application computer (107) and the robot-side interface shore (11).

7. The layer module (10) according to claim 5, characterized in that The application computer (107) includes an operating system and / or a programmable logic controller.

8. The layer module (10) according to claim 5, characterized in that The electrical functional component (100) has a learning module (117) which compresses application-specific actual data and actual signals supplied to the layer module (10) via electrical data contacts (46) and signal contacts (45) and supplies them to an application computer (107) for determining new nominal data.

9. The layer module (10) according to claim 6, characterized in that The electrical functional component (100) has a safety module (118), which analyzes the data and signals transmitted to the layer module (10) via the robot side interface port (11) and reduces the energy transmitted via the energy contact (44) or outputs a change signal for operating the tool (4) via the signal contact (45) to reduce the force according to the signal.

10. A handling robot system (1) comprising a layer module (10) according to claim 1 and an industrial robot (2) having at least one arm (3), in, The layer module (10) is fixed on the arm (3) of the industrial robot (2) or on a robot adapter on the arm (3) of the industrial robot (2), and is electrically connected to the industrial robot (2) via fixed wiring, and The layer module element (200) is fixed to the layer module (10) by means of a detachable snap-in connection together with an operating tool (4) fixed thereto, or the operating tool (4) is fixed to the layer module (10) by means of a detachable snap-in connection.

Images