Layer module, adapter system and layer module system

Abstract

The invention relates to a layer module for use on a robot, comprising an input side with an input side mechanical adaptation geometry and an output side with an output side mechanical adaptation geometry, wherein the input side mechanical adaptation geometry and the output side mechanical adaptation geometry are configured complementarily to one another, wherein the layer module has at least one electric, electromechanical, hydraulic and / or pneumatic functional component, and wherein the functional component can be contacted electrically, hydraulically and / or pneumatically on the input side and / or on the output side, to an adapter system composed of at least two such layer modules and to a layer module system composed of the adapter system and a fixture, wherein the fixture is connected force-fittingly and / or form-fittingly to the free input side or to the free output side of the adapter system. The layer module has at least two spring-loaded, slidably or pivotably supported locking elements and at least two longitudinally oriented guide elements which are configured differently in terms of geometry. A quickly exchangeable layer module, an adapter system with such a layer module and a layer module system with an adapter system are developed by the invention.

Description

Technical Field

[0001] This invention relates to a layer module for use on a robot, the layer module comprising an input side having an input-side mechanical adaptation geometry and an output side having an output-side mechanical adaptation geometry, wherein the input-side and output-side mechanical adaptation geometries are constructed to complement each other, wherein the layer module has at least one electrical, electromechanical, hydraulic, and / or pneumatic functional component, and wherein said functional component is capable of contacting the input side and / or output side electrically, hydraulically, and / or pneumatically. This invention also relates to an adapter system comprising at least two such layer modules and a layer module system comprising an adapter system and a fixing member, wherein the fixing member is force-fitted and / or form-fittedly connected to a free input side or a free output side of the adapter system. Background Technology

[0002] Layer modules and an adapter system having multiple layer modules are known from DE 10 2017 009 319 B3. Summary of the Invention

[0003] The technical problem upon which this invention is based is to develop a quickly replaceable layer module, an adapter system having such a layer module, and a layer module system having an adapter system.

[0004] This technical problem is solved by a layer module. To this end, the layer module has at least two spring-loaded, slidably or pivotally supported locking members and at least two guide elements oriented longitudinally in the layer module and geometrically differently constructed. Each locking member surrounds a guide element, thereby allowing the layer module to be force-fitted and / or form-fitted with a fastener having a fastener outlet complementary to the input or output side and / or with at least one other layer module.

[0005] In an adapter system consisting of at least two such layer modules, the output side of the first layer module is connected to the input side of the second layer module in a force-fit and / or form-fit manner.

[0006] In a layered modular system, the output side of the fixture is constructed in a complementary manner to the input or output side of the adapter system that is coupled thereto.

[0007] During layer module assembly, the relative positions of each layer module are determined by guide elements. Spring-loaded locking elements, after engagement, forcefully and shape-fit to ensure the relative positions of the layer modules. Attached Figure Description

[0008] Further details of the invention will be derived from the following description of the illustrative embodiments.

[0009] Figure 1 : The camera module as a layer module;

[0010] Figure 2 : Figure 1 The bottom view;

[0011] Figure 3 Embedded components;

[0012] Figure 4 First guiding element;

[0013] Figure 5 Second guiding element;

[0014] Figure 6 Locking components;

[0015] Figure 7 : Figure 1 The cross-section of the layer module;

[0016] Figure 8 : Figure 1 A longitudinal section view parallel to the vertical longitudinal center plane;

[0017] Figure 9 : Force measurement module as a layer module;

[0018] Figure 10 : Figure 9 The bottom view;

[0019] Figure 11 The lower part of the main body of the shell;

[0020] Figure 12 The upper part of the main body of the shell;

[0021] Figure 13 : Figure 9 Isometric cross-sectional view of the layer module;

[0022] Figure 14 : A layer module that serves as the computation module;

[0023] Figure 15 : Figure 14 A cross-sectional view of the layer module in the middle;

[0024] Figure 16 : A layer module that serves as the nozzle module;

[0025] Figure 17 : Figure 16 A cross-sectional view of the layer module;

[0026] Figure 18 : A variant of the nozzle module;

[0027] Figure 19: Nozzle module with central supply;

[0028] Figure 20 : A cross-section of a layer module with a gripping element;

[0029] Figure 21 Fasteners;

[0030] Figure 22 A system consisting of two layers of modules;

[0031] Figure 23 : A fastener used as a Y-shaped fastener;

[0032] Figure 24 : A layered modular system with fasteners. Detailed Implementation

[0033] Figures 1-8 Layer module 30 and some of its components are shown. This layer module 30 is used, for example, in an industrial robot. It is mounted, for example, on the robot arm between joints and, for example, at least one tool, such as at least one handling tool, machining tool, measuring tool, camera, etc. The handling tool is, for example, a gripping tool, a pushing tool, a pulling tool, etc. It can be electrically, pneumatically, or hydraulically operated. The machining tool is, for example, a cutting or non-cutting tool, such as a milling cutter, drill bit, saw, bending punch, etc. Layer module 30 can also be arranged on the robot arm without a downstream connecting tool, for example, when layer module 30 is configured as camera module 31.

[0034] Here, a single layer module 30 can be arranged on an arm. Alternatively, multiple such layer modules 30 can be interconnected on an arm. The sequentially connected layer modules 30 can be configured differently. Each layer module 30 has a functional component 41. The individual functional component 41, for example, has electrical, optical, pneumatic, and / or hydraulic inputs and converts them into electrical, electromechanical, pneumatic, and / or hydraulic outputs. Each layer module 30 can have a different functional component 41. For example, a conveying device then follows the last of these layer modules 30.

[0035] In this embodiment, the single layer module 30 is configured as a disk. It has a housing 51 defined along its longitudinal direction 35 by an input side 52 and an output side 81. Figure 1 and Figure 2 In the diagram, the input side 52 is located above, while the output side 81 is located below. For example, the input side 52 points towards the robot's arm, and the output side 81 points towards the gripping tool. The layer module 30 can also be designed such that the side referred to here as the output side 81 faces the robot's arm. Thus, the side referred to as the input side 52, for example, points towards the handling device.

[0036] In the illustrated embodiment, layer module 30 carries camera system 151, which is oriented in the direction of output side 81. Camera system 151 is part of functional component 41 of layer module 30.

[0037] The input side 52 is shell-shaped. It has a cover region 53 and an edge 54 extending beyond the cover region. In this embodiment, two guide element receptacles 55 and 56 of different sizes are arranged in the cover region 53 of the base 61. Figure 1 In the illustration, the guide element receiving portion 55 on the right has a larger cross-section than the guide element receiving portion 56 on the left.

[0038] On the side of the cover region 53 away from the camera system 151, the layer module 30 has two pneumatic channels 36. These pneumatic channels each have an annular sealing insert 57 at their input-side channel inlets 86. In this embodiment, the two channel inlets 86 constitute the layer module side portion of the pneumatic input interface 181.

[0039] Two sets of electrical input contacts 58 are arranged between the guide element receptacles 55, 56 and the camera system 151. They form an electrical interface port 183 on the input side. In this embodiment, each set 38 has five input contacts 58. Each input contact 58 is configured as a spring-loaded contact pin 59 and protrudes from the plane of the cover region 53.

[0040] Edge 54 is constructed in annular shape and completely surrounds cover region 53. It has a flat upper side 62, oriented, for example, perpendicular to the longitudinal direction 35 of layer module 30. In this embodiment, edge 54 has two inserts 71. These inserts 71 are arranged, for example, opposite each other. Figure 1 In the upper region of the illustration, they have inwardly pointing surrounding edges 72. The inner cavity 42 of the layer module 30 is covered by a cover 64. In this embodiment, the surrounding edges and guide element receiving portions 55, 56 define the mechanical adaptation geometry 185 on the input side of the layer module 30.

[0041] The housing 51 of the layer module 30 is formed, for example, by a substrate 61 and the insert 71. In this embodiment, the substrate 61 is made of aluminum. The elastic modulus of this material is, for example, 70,000 Newtons per square millimeter.

[0042] Figure 3An insert 71 is shown. In this embodiment, two inserts 71 are constructed identically to each other. They have a shell-segment shape configuration. A surrounding edge 72 covers a sector area, for example, 67 degrees. Each surrounding edge 72 is wedge-shaped in cross-section. In this embodiment, its upper side 73 and its lower side 74 form an angle of 5 degrees. The perpendicular line from the vertex of this angle is oriented along the longitudinal axis 45. When the insert 71 is installed, the upper side 73 lies in the plane of the flat surface 63 of the edge 54. Outside and below the surrounding edge 72, the inner diameter of the insert 71 corresponds to the inner diameter of the edge 54 of the base 61. The outer diameter of the insert 71 corresponds to the outer diameter of the base 61.

[0043] In this embodiment, the insert 71 is made of steel. The elastic modulus of this material is 210,000 Newtons per square millimeter. Therefore, this elastic modulus is three times that of the substrate 61. These materials can be chosen such that the elastic modulus of the insert 71 is greater than twice that of the substrate 61. Alternatively, the insert 71 can be considered as a replacement part. For this purpose, they can be made of plastic, for example.

[0044] The output side 81 of layer module 30 is Figure 2 As shown in the figure, it has a base plate 82 from which two guide elements 121 and 131 extend. Furthermore, two sets of contact plates 83 39 are arranged on the base plate 82. In this embodiment, these contact plates form an output-side electrical interface shore 184. In this embodiment, the output side 81 also has two pneumatic connectors 84. These pneumatic connectors 84 form a layer module-side portion of the pneumatic output interface 182 in this embodiment.

[0045] The two guiding elements 121 and 131 are configured with different geometries. Figure 2 The guide element 121 shown on the left in the view, referred to below as the first guide element 121, has a narrower guide element head 128 than the second guide element 131 shown on the right. In this embodiment, the two guide elements 121 and 131 are configured as guide pins 121 and 131. The guide elements 121 and 131 may also be configured as pins or cones, etc.

[0046] Figure 4 The first guide bolt 121 of an embodiment is shown. Figure 5 The second guide pin 131 of this embodiment is shown. The two guide pins 121, 131 have, for example, the same length. In this embodiment, they are made of the same material as the insert 71.

[0047] The first guide bolt 121 has an external thread 122, the nominal size of which corresponds to the nominal size of the threaded hole in the base 61. A guide flange 123 is connected to the external thread 122, the diameter of which is larger than the nominal size of the threaded hole. A support flange 124 is adjacent to the guide flange 123.

[0048] Mounting section 125 is adjacent to the support flange 124 of the first guide bolt 121. In this embodiment, the mounting section has two parallel wrench faces 127 disposed on its outer peripheral surface. A guide bolt head 128 is connected to the mounting section 125. In this embodiment, the guide bolt head is configured as a spherical crown.

[0049] The second guide pin 131 also has external threads 132 and a guide flange 133. They are constructed in the same manner as the corresponding area of ​​the first guide pin 121. The support flange 134 of the second guide pin 131 is constructed, for example, to be the same length as the sum of the support flange 124 and the mounting section 125 of the first guide pin 121. The guide head 135 of the second guide pin 131 is also spherically shaped. The second guide pin 131 has an internal hexagon 136 on its end face.

[0050] A locking element 91 or 111 is movably supported on each of the two guide elements 121 or 131. Each locking element 91 or 111 has an outwardly facing gripping area 92. The two locking elements 91 or 111 are arranged opposite each other on the layer module 30. In this embodiment, they are located in a common plane perpendicular to the longitudinal axis 45 of the layer module 30. It is also conceivable that the offset angle between the two locking elements 91 or 111 relative to each other is different from 180 degrees. For example, they may be offset from each other in the range of 90 degrees to the aforementioned angle. The gripping area 92 may be designed to be flat or arched outward or inward. In this embodiment, the locking elements 91 or 111 and the guide elements 121 or 131 define the mechanical adaptation geometry 186 of the output side of the layer module 30.

[0051] Alternatively, one of the guide elements 121 and 131 and its corresponding locking element 91 and 111 can be arranged on the input side 52, while the other guide element 131 and 121 and its corresponding locking element 111 and 91 can be arranged on the output side 81. Embodiments with more than two guide elements 121 and 131 are also conceivable. The two locking elements 91 and 111 can also be operated by means of a gripping area 92.

[0052] exist Figure 6The image shows locking elements 91 and 111. In this embodiment, the two locking elements 91 and 111 are constructed identically to each other. However, it is also conceivable that the two locking elements 91 and 111 are designed, for example, to have different widths. Each locking element 91 and 111 has a central guide elongated hole 93 for receiving the guide flange 123 and 133 of the corresponding guide element 121 and 131. The support surface 106 of the guide elongated hole 93 is used to support the support flange 124 and 134 of the corresponding guide bolt 121 and 131, see [reference]. Figure 7 This also prevents the locking elements 91 and 111 from lifting or tilting relative to the housing body 61 when the layer module 30 is assembled. The guide elongated hole 93 is radially oriented relative to the longitudinal axis 45 of the layer module 30.

[0053] In addition, each locking element 91; 111 also has guide strips 94 on two sides. The guide strips 94 are parallel to the guide elongated holes 93. In the assembled layer module 30, the guide strips 94 are guided in the guide grooves 65 of the housing body 61.

[0054] On its outer side, locking element 91; 111 has a gripping area 92. Figure 6 In the illustration, a protruding hook 96 is provided above and spaced apart from the gripping area 92. Here, the gripping area 92 protrudes beyond the hook 96 by 30% of the component length measured in the radial direction. The hook 96 is arc-shaped in the top view of the locking member 91;111. The arc length is 38 degrees in the normal plane relative to the longitudinal axis 45. In the cross-section, see... Figure 7 The hook 96 is constructed in a wedge shape. In this embodiment, the wedge angle between the upper hook side 97 and the lower hook side 98 is 5 degrees. This is also the size of the angle between the lower hook side 98 and the normal plane relative to the longitudinal axis 45. The hook 96 has an guide ramp 99 adjacent to the lower hook side 98 at its free end. The angle between the guide ramp 99 and the upper hook side 97 is 30 degrees in this embodiment. Each locking member 91; 111 has two spring receptacles 101 on its rear side facing the longitudinal axis 45. These spring receptacles are opposite to the same type of spring receptacles of the base 61 when the layer module 30 is assembled. In this embodiment, the two locking members 91, 111 are made of the same material as the insert 71.

[0055] Above each locking element 91; 111, the layer module 30 has a gripping or guiding recess 67. Each gripping or guiding recess 67 has, for example, a circular segmental base surface 68 and a constant height. The guide surfaces 69 of the two gripping or guiding recesses 67 are oriented at least partially parallel to each other. Each gripping or guiding recess 67 may also have a trapezoidal, circular, elliptical, rectangular, or other cross-section. In this embodiment, the maximum depth of the gripping or guiding recess 67 corresponds to its height.

[0056] The camera system 151 of the camera module 31 includes a camera housing 152, an optical unit 153, and an illumination unit 154. The camera housing 152 is molded or fixed to the cylindrical peripheral surface 43 of the layer module 30. In this embodiment, it protrudes from the layer module 30 in two longitudinal directions 35.

[0057] Figure 7 A cross-section of the layer module 30 is shown. In this illustration, the input side 52 is arranged above and the output side 81 is arranged below. Embedded members 71 are fixed in the base 61, with their surrounding edges 72 facing each other. See also... Figure 8 The cover 64 and camera housing 152 enclose the cavity 42 of the layer module 30. A circuit board 141 is arranged, for example, within the cavity 42. This circuit board may be equipped with electrical components, such as data processing and storage units.

[0058] The center lines of the guide element receiving portions 55 and 56 are aligned with the center lines of the guide elements 121 and 131. Figure 7 In the view, the first guide element receiving portion 56 is located above the first guide element 121. In this view, the second guide element receiving portion 55 is located above the second guide element 131. Here, the first guide element receiving portion 56 is configured to receive the first guide element 121 of the additional layer module 30, and the second guide element receiving portion 55 is configured to receive the second guide element 131.

[0059] Two guide pins 121 and 131 are screwed into the base 61. Each guide element 121 and 131 passes through a locking element 91 and 111 in a guide hole 93 and movably supports the locking element. The rear gripping hook 96 points outward. Each locking element 91 and 111 is supported on the base 61 by two spring elements 112. For example, the spring element 112, designed as a compression spring 112, is supported here in the spring receiving portion 101 of the corresponding locking element 91 and 111 and in the spring receiving portion of the base 61. Each locking element 91 and 111 is loaded radially outward by means of the spring element 112. Here, the stroke of each locking element 91 and 111 is limited by the corresponding guide elements 121 and 131.

[0060] exist Figure 8 The text is a jumbled collection of characters and phrases, seemingly from different sources and lacking coherent sentences. A direct translation wouldn't be meaningful. Figure 7 The equiaxial longitudinal section in the normal plane of the cross section. Figure 8 The cross section passes through the pneumatic channel 36 and the electrical wire 37. In this diagram, the input side 52 of the layer module 30 is also on top and the output side 81 is also on the bottom.

[0061] A single pneumatic channel 36 connects the input side 52 of the layer module 30 to the output side 81. It is arranged parallel to the longitudinal axis 45 of the layer module 30. Corresponding channel outlets 87 and inlets 86 are located at... Figure 8 In the diagram, they are stacked vertically, one above the other. For example, a sealing insert 57 is arranged on the input side 52 and an abutment flange 85 is arranged on the output side 81. The opposite arrangement is also conceivable.

[0062] It is conceivable that the two pneumatic channels 36 are used for different tasks. Thus, for example, one pneumatic channel 36 can deliver air or nitrogen from the input side 52 to the output side 81. The other pneumatic channel 36, for example, delivers a pneumatic medium in the opposite direction. Therefore, for example, a double-acting valve in a handling device can be operated. Alternatively, for example, in the case of a suction gripper, the two pneumatic channels 36 can be used to generate negative pressure on the suction cup and for unloading.

[0063] Inside the layer module 30, each pneumatic passage 36 may have a reversing valve or a shut-off valve. Therefore, for example, when the layer module 30 is used as an end module, loss of pneumatic medium and contamination of the pneumatic passages can be prevented.

[0064] A single pneumatic channel 36 may also have branches. For example, the area of ​​electrical components may be supplied with sealed air to prevent contaminants from entering. Air may also be used to purge the area in front of the lens 155 of the camera system 151 and / or in front of the illumination unit 154 to ensure consistent optical behavior. The sealing plate of, for example, the lens 155 may also be pneumatically manipulated.

[0065] A single electrical wire 37 also connects the input side 52 to the output side 81. Each contact pin 59 is electrically connected to a contact plate 83. Here, each electrical wire 37 is arranged parallel to the longitudinal axis 45 of the layer module 30.

[0066] The electrical wires 37 are, for example, energy, data, and signal wires. At least some of these electrical wires 37 are connected to the camera system 151. These include, for example, two energy wires, at least one data wire, and at least one signal wire. They supply, for example, the control and analysis module 142 of the camera system 151. This control and analysis module 142 includes, for example, a data processing and storage unit 145. The data processing and storage unit 145 includes, for example, a computing unit 143 and a data storage unit 144. Using the control and analysis module 142, the functions of the camera 156 and the lighting device 154 are controlled, and the information detected by the camera 156 is analyzed. In the computing unit 143, this information may be randomly analyzed and then stored in the data storage unit 144.

[0067] Transmitting and receiving components can also be configured in layer module 30. Therefore, random data can be queried directly from layer module 30, for example. Control commands for camera 156 can also be input, for example.

[0068] Layer module 30 may also have an energy storage device. This energy storage device can, for example, buffer the power supply to storage unit 144. Therefore, for example, after layer module 30 is removed, the data stored in data storage unit 144 can still be read.

[0069] Figures 9-13 A layer module 30 is shown, illustrating the configuration of the force measurement module 32. The input side 52 and output side 81 of this layer module 30 are constructed, for example, as described in conjunction with the first embodiment. A cover 64 encloses the cavity 42 of the layer module 30. The force measurement module 32 also has continuous electrical wires 37 and pneumatic channels 36 from the input side 52 to the output side 81. They are constructed as described in conjunction with the camera module 31. The construction of the guide elements 121, 131, guide element receptacles 55, 56, and locking elements 91, 111 also corresponds to the construction described in conjunction with the first embodiment.

[0070] Housing 51 has an input-side housing member 161 and an output-side housing member 171. See also Figure 11 The output-side housing 171 is made, for example, of the material of the base 61 in the first embodiment. See also Figure 12 In this embodiment, the input-side housing 161 is made of the same material as the insert 71 of the camera module 31. In the assembled state, the input-side housing 161 and the output-side housing 171 are screwed together in the central region.

[0071] The output-side housing 171 has guide grooves 65 on both sides for locking elements 91, 111. These locking elements are constructed as described in conjunction with the first embodiment. The output-side housing 171 has a circuit board support 172 on its side opposite to the guide grooves 65. Two centering bolt receptacles 174 are formed on the center tab 173 passing through the circuit board support 172. In the assembled state of the force measurement module 32, a data processing and storage unit 145 is arranged here, see [reference]. Figure 13 .

[0072] The data processing and storage unit 145 includes, for example, a computing unit 143, a data memory 144, and an energy storage device. These components are constructed, for example, as described in conjunction with the first embodiment.

[0073] Four conduits 175, 176 protrude from the side of the output-side housing 171 opposite to the guide groove 65. Two of these conduits 176 surround the pneumatic passage 36. The other two conduits 175 form an empty tube for the electrical conductor 37. Between each pair of conduits 175, 175; 176, 176 of the same type, an internal thread 177 is introduced into the output-side housing 171.

[0074] See Figure 12The input-side housing 161 is constructed as a spoked wheel. It has an outer ring 162 into which a surrounding edge 72 is integrated. Guide element receptacles 55 and 56 are also rigidly connected to the outer ring 162. The geometry of the guide element receptacles 55 and 56 and their arrangement relative to the surrounding edge 72 correspond to the construction and arrangement of these components in the camera module 31.

[0075] The hub 163 of the input-side housing 161 has two centering bolt receptacles 164, which are aligned with the centering bolt receptacles 174 of the center tab 173 when the force measurement module 32 is assembled. During the assembly of the force measurement module 32, for example, two centering bolts 165 center the output-side housing 171 and the input-side housing 161 together. Furthermore, a threaded hole 166 is provided in the hub 163 for receiving a cover sealing bolt 167. Additionally, two opposing eyelets 168 are formed on the hub 163. During the assembly of the force measurement module, the input-side housing 161 and the output-side housing 171 are secured to each other by bolts. These bolts pass through the eyelets 168 and are secured in the internal threads 177.

[0076] In this embodiment, the outer ring 162 and hub 163 are interconnected by four radially oriented spokes 169. Each spoke 169 has, for example, a rectangular cross-section, wherein its extension in the longitudinal direction 35 is greater than its extension in the direction tangential to the circumferential direction. Strain gauges are mounted on the spokes 169 and, for example, on the hub 163. For example, two strain gauges are fixed on each spoke 169.

[0077] In the assembled force measurement module 32, the outer ring 162 is rotatable and / or movable relative to the hub 163 and the output-side housing 171 in the event of deformation of the spokes 169. The deformation of the spokes 169, measured by means of strain gauges, is a measure of force and torque, with the output-side housing 171 loaded relative to the input-side housing 161 by said force and torque. Based on the resistance change of the strain gauges, the calculation unit 143 can determine the direction and amount of deformation. The results are stored, for example, as a single value and / or as an average value in the data memory 144. If necessary, the values ​​thus determined can be timestamped. The calculation unit 143 and / or the data memory 144 can have transmitting and receiving components. These transmitting and receiving components are constructed, for example, as described in conjunction with the first embodiment.

[0078] For power supply, data transmission, and signal transmission, the data processing and storage unit 145 is connected to the electrical conductor 37. The force measurement module 32 can also be loaded with sealed air.

[0079] Figure 14 and Figure 15A layer module 30 with a configuration of computing module 33 is shown. In this layer module 30, the output side 81 is also designed to be complementary to the input side 52. In this embodiment, this applies not only to the mechanical adaptation geometries 185, 186, but also to the pneumatic connectors 181, 182 and the electrical interface ports 183, 184. However, it is also conceivable that only the mechanical connecting elements 56, 121; 55, 131; 72, 91; 72, 111 are configured to be complementary to each other. Not only the mechanical adaptation geometry 186 on the output side, but also the mechanical adaptation geometry 185 on the input side is constructed, for example, identically to the corresponding adaptation geometries 185, 186 described in conjunction with the above embodiments.

[0080] Within the cavity 42 of the computing module 33, a data processing and storage unit 145 is arranged as a functional component 41. The data processing and storage unit 145 is connected to the electrical wires 37 in terms of energy, signal, and data. The data processing and storage unit 145 includes, for example, the same components as the data processing and storage unit 145 of the force measurement module 32. By means of this data processing and storage unit 145, data detected by sensors of the gripper can be analyzed and compressed. Therefore, for example, it is possible to calculate control commands for the robot from the actual data from the sensors. Data regarding the wear of the gripping device or its components can be obtained from the compressed data. The cavity 42 of the computing module 33 can also be loaded with sealed air. The pressurized air required for this purpose flows out, for example, from the pneumatic passage 36 through a reversing valve and / or a throttle valve.

[0081] Figure 16 and Figure 17 A layer module 30 with a nozzle module 34 configuration is shown. In this layer module 30, the input side 52 and the output side 81 are also configured to complement each other. For example, the pneumatic interfaces 181, 182, electrical interface ports 183, 184, and mechanical adaptation geometries 185, 186 on the layer module side are constructed as described in conjunction with the above embodiments. However, it is also conceivable that only the mechanical adaptation geometries 185, 186 are designed to be complementary to each other.

[0082] In this embodiment, the nozzle module 34 has two optional nozzle inlets 191, 192 and one nozzle outlet 193. Each nozzle inlet 191, 192 is arranged on the peripheral surface 43 of the nozzle module 34. A nozzle 195, 196 is arranged between each nozzle inlet 191, 192 and the longitudinal channel 194. The corresponding nozzles 195, 196 taper towards the longitudinal channel 194. Both nozzles 195, 196 have replaceable nozzle inserts 197, 198. These nozzle inserts can be configured, for example, as Venturi nozzles. Figure 17In the illustration, the nozzle inlet 191 shown on the right is closed by means of a sealing plate 199. When pressure is applied to the pneumatic line connected to the other nozzle inlet 192, the flow velocity in the longitudinal channel 194 is higher than the flow velocity at the nozzle inlet 192. This nozzle module 34 can, for example, drive a pneumatically operated gripping unit. The pneumatic functional component 41 of the layer module 30 can generate, convert, or transmit negative pressure (e.g., vacuum) or overpressure.

[0083] exist Figure 16 and Figure 17 In the diagram, the longitudinal channel 194 leads to the input side 52. However, it is also conceivable that the inlet 201 of the longitudinal channel 194 is arranged on the output side 81 of the nozzle module 34.

[0084] Figure 18 A variant of the nozzle module 34 is shown. Functional component 41 here has a longitudinal channel 194, which has a conduit 201 on the input side 52 and a conduit 202 on the output side 81. Figure 18 In the diagram, the input-side inlet 201 is closed by means of a cover plate 203. Alternatively, the output-side inlet 202 can also be closed. If necessary, in Figure 16 and Figure 17 In the implementation method, and in Figure 18 In all implementations, a reversing valve, such as an electromagnetically operated one, can be provided for switching airflow. Measuring devices for measuring the pressure and / or volumetric flow rate of the pneumatic medium can also be provided in layer module 30.

[0085] according to Figures 16-18 The layer module 30 may additionally or alternatively include a pressure converter, accumulator, compressor, etc. Electrical control is then performed via electrical wires 37. If necessary, for example, by grounding to a measuring device, a storage and analysis unit 142 may be provided, as described above.

[0086] Figure 19 A cross-sectional view of nozzle module 34 is shown, in which pneumatic passage 36 is connected to nozzle outlet 193. Here, pneumatic passage 36 leads to pneumatic output interface 182. Longitudinal passage 194 is configured in this embodiment as shown in conjunction with the embodiments described above.

[0087] Figure 20 A cross-sectional view of the layer module 30 with a single gripping area 92 is shown. The construction of the guiding elements 121 and 131 and the interface geometry of the locking elements 91 and 111 are shown, for example, in... Figures 1-18 The guiding elements 121, 131, and interface geometry of the layer module 30 shown are identical. Therefore, Figure 20The layer module 30 can be used compatiblely with other layer modules 30 and can be combined with other layer modules 30. Furthermore, the pneumatic channels 36 and electrical wires 37 of other layer modules 30 can also be directly connected. For example, the external dimensions of the housing 51 are consistent with the corresponding dimensions of other embodiments.

[0088] In this layer module 30, the two locking elements 91, 111 can be jointly actuated by a single button 114 having a gripping area 92. The two locking elements 91, 111 are movably supported in the housing 51 and guided by guide elements 121, 131 fixed in the housing 51. The guide elements 121, 131 are, for example, hollow and have internal channels 129, 137. The corresponding guide elongations 93 and hooks 96 are configured as described in conjunction with the first embodiment. Each locking element 91, 111 has a carrying pin 104, 113 that is respectively inserted into the carrying elongations 115, 116 of the button 114.

[0089] The gripping area 92 protrudes radially outward from the layer module 30. In this embodiment, it is loaded towards the removed position by means of two spring elements 118. Figure 20 In the illustration, two spring elements 118, for example configured as compression springs 118, are arranged between the base 61 and the gripping area 92. Other arrangements of the spring elements 118 are also contemplated. In this exemplary embodiment, the two actuating elongated holes 115, 116 are arranged in a V-shape relative to each other. The angle formed by the two actuating elongated holes 115, 116 is, for example, 90 degrees. Actuating bolts 104, 113 are located on the ends of the actuating elongated holes 115, 116 facing the hook 96, respectively. The hook 96 located above the cutting plane is not shown here.

[0090] In the locked position 103 shown, the spring element 118 pushes the two locking members 91, 111 radially outward, for example, through the forced guides 104, 115; 113, 116 of the actuating holes 115, 116 and the actuating bolts 104, 113. The pressure spring 118 is partially loaded and partially compressed relative to its relaxed state. If the button 114 is pushed in by external pressure, the load on the pressure spring 118 increases. The button 114 moves the two locking members 91, 111 towards the center through the forced guides 104, 115; 113, 116. For example, the hook 96 of the locking device is released. After the manually or automatically applied external force is released, the locking members 91, 111 move back into the locked position 103 with spring loading.

[0091] Each spring-loaded locking element 91; 111 can also hook onto another layer module 30 or fixing element 230 from behind, for example, in a pivoting motion about the longitudinal axis 45. Here, at least two locking elements 91, 111 have the same pivoting direction. The locking elements 91; 111 can, for example, be rigidly connected to each other and jointly loaded by means of spring element 112 for locking. In this embodiment, each locking element 91; 111 also surrounds a guide element 121; 131. During pivoting, the operating element 91; 111 is guided along the guide element 121; 131. To release the lock, pressure is applied to one or more buttons. For example, as described above, force is transmitted to each locking element 91; 111.

[0092] This manipulation can also be performed by means of a disc section having an outwardly projecting nose, for example, that can pivot about the longitudinal axis 45. This disc section can be part of or operate on the spring-loaded locking elements 91, 111. It is also possible to operate both locking elements 91, 111 by means of a single disc section.

[0093] In all variations, it is also conceivable that an electric drive device and / or transmission mechanism are connected in the middle.

[0094] exist Figure 21 The image shows a fixture 230. This fixture 230 can be directly attached to the robot arm or attached to the robot arm via an adapter. In this embodiment, the fixture has a fixture inlet 244 with a fixing flange 231 having a fixing hole 232 and a centering device 233. The radial centering device 234 also fixes the position of the fixture 230 relative to the robot arm. For example, a media input section 235 is provided at the center of the fixture 230. Through this media input section, for example, electrical and pneumatic conduits are guided from the robot arm into the cavity of the fixture 230. The fixture outlet 236 is configured, for example, to complement the input side 52 of the layer module 30. Furthermore, a computing unit, an analysis unit, and / or a storage unit can be housed in the fixture 230.

[0095] exist Figure 22 The diagram shows an adapter system 20 consisting of two layer modules 30. The layer modules 30 can be coupled to each other in any order. In the illustrated embodiment, the layer module 30 is a camera module 31. A force measurement module 32 is detachably fixed to the output side 81 of the camera module 31.

[0096] The engagement of the layer modules 30 shown can be performed manually or with the aid of a gripping device. For example, the camera module 31 is already mounted on a robot arm or located in a layer module receptacle, which, for example, is fitted into a gripping or guiding notch 67. The force measurement module 32 is positioned in front of the camera module 31 such that its input side 52 points towards the output side 81 of the camera module 31. The longitudinal axes 45 of the two layer modules 30 are aligned with each other. The two locking elements 91, 111 of the camera module 31 are pressed in. As the force measurement module 32 approaches the camera module 31 further along the mounting direction 21 oriented longitudinally 35, the guide elements 121, 131 of the camera module 31 sink into the guide element receptacles 55, 56 of the force measurement module 32. Due to the different geometries of the two guide pins 121, 131 and their respective guide pin receptacles 56, 55, the force measurement module 32 can be pushed onto the camera module 31 in only one position. Other structural solutions can also be conceived to ensure the radial orientation of the layer modules 30 relative to each other. Once the guide pins 121 and 131 are recessed into the guide pin receptacles 55 and 56 and the two layer modules 31 and 32 are in contact with each other, further movement of the force measurement module 32 relative to the camera module 31 in the mounting direction 21 is not possible. The guide pins 121 and 131 inserted into the guide pin receptacles 55 and 56 center the layer modules 30 in a form-fitting manner relative to the fastener 230.

[0097] Once the input side 52 of the force measurement module 32 abuts against the output side 81 of the camera module 31, the locking elements 91 and 111 are released or unloaded. The locking elements 91 and 111 move outward by means of spring elements 112 and 118. Here, the corresponding hook 96 moves onto the surrounding edge 72. The hook 96 slides along the lower side 74 of the surrounding edge 72 with its hook underside 98. These two wedges further pull the force measurement module 32 and the camera module 31 together in the mounting direction 21. The hook 96 hooks onto the corresponding surrounding edge 72 from the rear. The two layer modules 30 are force-fitted and form-fitted together.

[0098] With the engagement of adapter system 20, the two layer modules 30, 30 are also pneumatically connected to each other, for example. For this purpose, a resiliently deformable sealing insert 57 is used, which is compressed during engagement. Therefore, the separation seam is sealed. It is also possible to guide the pneumatic connection through guide pins 121; 131. When adapter system 20 is engaged, the electrical wires 37 of layer modules 30, 30 are also interconnected, for example. During engagement, the spring-loaded contact 59 on the input side 52 is pressed in by means of the contact plate 83 on the output side 81. Thus, the electrical connection between layer modules 30, 30 is spring-loaded and secured after engagement. A hydraulic connection between layer modules 30, 30 is also possible. Therefore, for example, load current, signals, data, pneumatic media, hydraulic media, etc., can be transmitted. The engagement of the other layer modules 30 is achieved as described above.

[0099] The separation of layer modules 30, 30 can be performed manually or automatically. In both cases, one of the layer modules 30 can be held, for example, in the gripping or guiding notch 67. This is achieved, for example, in a receiving device or by means of a gripper. If desired, the receiving device can be designed as an unlocking device. This unlocking device, for example, operates locking elements 91, 111. By means of button 114 or by means of gripping area 92, the two locking elements 91, 111 move inward against the force of spring elements 112; 118. The locking elements 91, 111 disengage from the surrounding edge 72. The layer module 30 to be removed can now be removed from the other layer module 30 in the opposite direction to the installation direction 21. For example, the removed layer module 30 is stored in a compartment. Subsequently, for example, another layer module 30 can be placed on the first layer module 30.

[0100] Figure 23 A fastener 230 is shown, having a fastener inlet 244 and two fastener outlets 236. In this embodiment, it has a Y-shaped fastener 237 configuration. The robot-side interface 238 of the fastener 230 has, for example, a radial centering device 234 with a centering ring configuration, multiple centering bolts 241, a fastening perforation 242, and a media guide 235. The Y-shaped fastener 237 can be directly fastened to the robot arm or fastened to the robot arm via an adapter using this robot-side interface 238. The fastener 230 may also have a T-shape, for example. It is also conceivable that the fastener 230 is configured with more than two fastener outlets 236.

[0101] The Y-shaped fastener 237 shown has two fastener outlets 236, whose centerlines in this embodiment form a right angle with each other. The two fastener outlets 236 are identically configured. For example, they are configured to be complementary to the input side 52 of the layer module 30.

[0102] In the Y-shaped fixture 237, the electrical and pneumatic wiring from the robot is rearranged and / or regrouped so that it corresponds at the fixture outlet 236 to the pneumatic channels 36 and electrical wires 37 of the layer module 30. Electrical matching of signal levels or signal modulation is conceivable, for example. Furthermore, computing units, analysis units, and / or storage units can be housed in the Y-shaped fixture 237.

[0103] exist Figure 24 The diagram shows a layer module system 10, which includes a fastener 230 and a plurality of layer modules 30. In this embodiment, the fastener 230 has... Figure 23 The configuration of the Y-shaped fastener 237 is shown. Multiple layer modules 30, each with different electrical, electromechanical, or pneumatic functional components 41, are connected to the two fastener outlets 236. Thus, the layer module system 10 includes at least one adapter system 20. The fastener 230 may also have more than two fastener outlets 236.

[0104] exist Figure 24 On the left side of the fixture outlet 236, for example, a camera module 31, a force measurement module 32, a calculation module 33 and a nozzle module 34 are arranged in series.

[0105] A distribution module 44 is connected, for example, downstream of the computing module 33, to the right-side fastener outlet 236. The distribution module 44 integrates, for example, a computing unit and a storage unit. In this embodiment, the two distributor outlets 46 of the distribution module 44 are designed to be smaller than the output side 81 of the preceding computing module 33. The layer module 30 connected downstream of the distribution module 44 is also constructed to be geometrically smaller than the remaining layer modules 30 of the layer module system 10. The structure and installation of each layer module 30 are similar to those described in conjunction with other embodiments. The fastener 230 of the layer module system 10 can also be configured according to... Figure 21 The described embodiments are used for construction.

[0106] Combinations of the various embodiments are also conceivable.

[0107] Explanation of reference numerals in the attached figures

[0108] 10-layer modular system

[0109] 20 Adapter System

[0110] 21 Installation direction

[0111] 30-layer module

[0112] 31 Camera Module

[0113] 32 Force Measurement Module

[0114] 33 Calculation Module

[0115] 34 Nozzle Module

[0116] 35 Vertical

[0117] 36 Pneumatic Channels

[0118] 37 Electrical wires

[0119] Group of 38 electrical contacts

[0120] 39. Contact plate assembly

[0121] 41 Functional Components

[0122] 42 30 inner cavity

[0123] 43 30 circumference

[0124] 44 Allocation Module

[0125] 45 30 longitudinal axis

[0126] Distributor outlets of 46 and 44

[0127] 51. Housing

[0128] 52 Input Side

[0129] 53 Covered Area

[0130] 54 Edge

[0131] 55. Guide element housing, part of a mechanical connecting element.

[0132] 56. Guide element housing, part of a mechanical connecting element.

[0133] 57 Sealing insert

[0134] 58 Input Contacts

[0135] 59. Contact pin, spring-loaded.

[0136] 61 Matrix

[0137] 62 upper side

[0138] 63 54 flat surface

[0139] 64 covers

[0140] 65 Guide groove

[0141] 66 Threaded hole

[0142] 67. Grip or guide notch

[0143] 68 67 base plane

[0144] 69 Guide surface

[0145] 71 Embedded parts

[0146] 72. Enclosing edge, part of a mechanical connecting element.

[0147] The upper side of 73 72

[0148] 74 72 lower side

[0149] 81 Output side

[0150] 82 base plate

[0151] 83 Contact Plate

[0152] 84 Pneumatic connector

[0153] 85 84 abutment flange

[0154] Entrance to Channel 86

[0155] 87 Exit

[0156] 91 Locking element, first locking element, part of mechanical connecting element

[0157] 92. Grasp area

[0158] 93 Guide Elongated Hole

[0159] 94 Guide Strip

[0160] 96 hooks, rear hook

[0161] 97 Hook top side

[0162] 98 Hook bottom side

[0163] 99 Importing Inclined Surfaces

[0164] 101 Spring receiving part

[0165] 103 Lock position

[0166] 104 Carrying bolt

[0167] 106 Support Surface

[0168] 111 Locking element, second locking element, part of a mechanical connecting element

[0169] 112 Spring element, compression spring

[0170] 113 Carrying bolt

[0171] 114 buttons

[0172] 115 Carrying Long Hole

[0173] 116 Carrying long hole

[0174] 118 Spring elements, compression springs

[0175] 121 Guide element, first guide element, guide pin, mechanical connecting element

[0176] Part of the item

[0177] 122 External Thread

[0178] 123 Guide flange

[0179] 124 Support flange

[0180] 125 Installation Section

[0181] 127 Wrench face

[0182] 128 Guide Component Head

[0183] Channel 129

[0184] 131 Guide element, second guide element, guide bolt, mechanical connecting element

[0185] Part of the item

[0186] 132 External Thread

[0187] 133 Guide flange

[0188] 134 Support flange

[0189] 135 Guide Bolt Head

[0190] 136 internal hexagon

[0191] Channel 137

[0192] 141 Circuit Board

[0193] 142 Control and Analysis Module

[0194] 143 computing units

[0195] 144 storage units, data storage units

[0196] 145 Data processing and storage units

[0197] 151 Camera System

[0198] 152 Camera Housing

[0199] 153 optical units

[0200] 154 lighting units

[0201] 155 lens

[0202] 156 cameras

[0203] 161 Input side housing component

[0204] 162 Outer Ring

[0205] 163 hubs

[0206] 164. Retaining part of the heart stabilizer

[0207] 165 Heart-Stabilizing Plugging

[0208] 166 threaded hole

[0209] 167 Cover sealing bolts

[0210] 168 eyelets

[0211] 169 spokes

[0212] 171 Output side housing component

[0213] 172 Circuit board support

[0214] 173 Center-mounted film

[0215] 174. Centering plug receiving section

[0216] 175 catheter

[0217] 176 catheters

[0218] 177 Internal Thread

[0219] 181 Pneumatic input interface layer module side portion

[0220] 182 Pneumatic output interface layer module side portion

[0221] 183 Input-side electrical interface shore

[0222] 184 Output side electrical interface shore

[0223] Mechanical adaptation geometry of the input side of 185 30

[0224] Mechanical adaptation geometry on the output side of 186 30

[0225] 191 Nozzle Inlet

[0226] 192 Nozzle Inlet

[0227] 193 Nozzle outlet

[0228] 194 Longitudinal Channel

[0229] 195 nozzle

[0230] 196 nozzles

[0231] 197 Nozzle Insert

[0232] 198 Nozzle Insert

[0233] 199 Enclosed Panel

[0234] 201 at the 194th merging point at 52.

[0235] 202 at the 194th merging point at 81.

[0236] 203 Cover Plate

[0237] 230 Fastener

[0238] 231 Fixed flange

[0239] 232 Fixing hole

[0240] 233 Centering device

[0241] 234 Radial centering device, centering ring

[0242] 235 Media Input Section

[0243] 236 Output side, fixed component outlet

[0244] 237 Y-shaped fastener

[0245] 238 Interface with the robot

[0246] 241 Heart-Stabilizing Plugging

[0247] 242 Fixing perforation

[0248] 244 Fastener Inlet

Claims

1. A layer module (30) for use on a robot, the layer module comprising an input side (52) having an input-side mechanical adaptation geometry (185) and an output side (81) having an output-side mechanical adaptation geometry (186), wherein, The input-side mechanical adaptation geometry (185) and the output-side mechanical adaptation geometry (186) are configured to be complementary to each other, wherein the layer module (30) has at least one electrical, electromechanical, hydraulic and / or pneumatic functional component (41), and wherein the functional component (41) is capable of contacting the input side (52) and / or the output side (81) in an electrical, hydraulic and / or pneumatic manner, characterized in that, The layer module (30) has at least two spring-loaded locking elements (111; 91) that are slidably or pivotally supported, and at least two guide elements (121, 131) oriented along the longitudinal direction (35) of the layer module (30) and constructed with different geometries. Each of the locking elements (91; 111) surrounds a guide element (121; 131). This enables the layer module (30) to be coupled in force and / or form to a fastener (230) having a fastener outlet (236) complementary to the input side (52) or the output side (81) and / or to at least one other layer module (30).

2. The layer module (30) according to claim 1, characterized in that, All locking elements (91, 111) and all guiding elements (121, 131) are either located on the input side (52) or the output side (81) of the layer module (30).

3. The layer module (30) according to claim 1, characterized in that, Data processing and storage units (145) are arranged in the cavity (42) of the layer module.

4. The layer module (30) according to claim 3, characterized in that, The data processing and storage unit (145) includes a data memory (144) and an energy storage device.

5. The layer module (30) according to claim 1, characterized in that, At least one hydraulic or pneumatic nozzle (195; 196) is arranged in the inner cavity (42) of the layer module.

6. The layer module (30) according to claim 1, characterized in that, Complementary electrical contacts (58, 83) are arranged on the input side (52) and the output side (81), wherein at least one electrical contact (58) on the input side (52) or at least one electrical contact (83) on the output side (81) is configured as a spring-loaded contact pin (59) in the longitudinal direction (35) of the layer module (30).

7. The layer module (30) according to claim 1, characterized in that, On the input side (52) and the output side (81), there are complementary pneumatic connectors (181, 182) connected by a pneumatic channel (36), wherein the pneumatic connector (181) on the input side (52) or the pneumatic connector (182) on the output side (81) has a sealing insert (57).

8. An adapter system (20) comprising at least two layer modules (30) according to claim 1, characterized in that, The output side (81) of the first layer module in these layer modules (30) is force-fitted and / or form-fittedly connected to the input side (52) of the second layer module in these layer modules (30).

9. A layer module system (10) comprising the adapter system (20) and the fastener (230) according to claim 8, wherein, The fastener (230) is force-fitted and / or form-fittedly connected to the free input side (52) or the free output side (81) of the adapter system (20), characterized in that the fastener outlet (236) is complementary to the input side (52) or the output side (81) of the adapter system (20).

10. The layer module system (10) according to claim 9, characterized in that, The fastener (230) has a fastener inlet (244) and at least two fastener outlets (236).

Images