Anti-collision cover for tool of cooperative robot

Abstract

An anti-collision cover for a tool of a cooperative robot, the anti-collision cover being provided for elastically holding a bolt and releasing the bolt when the bolt is pushed out of the anti-collision cover, the anti-collision cover extending along a longitudinal axis and comprising:-a mouthpiece for elastically holding the bolt,-a feeding portion for feeding the bolt to the mouthpiece, the feeding part comprises an insertion opening for inserting the bolt into the feeding part and a transition opening for transferring the bolt from the feeding part to the mouth piece, the bolt can be inserted into the feeding part along the longitudinal axis in the feeding direction through the insertion opening, the feeding part and the mouth piece are directly connected along the longitudinal axis of the anti-collision cover and form the anti-collision cover, and the mouth piece is formed by an elastic tongue piece. An elastic tongue piece is arranged at the circumference of the transition opening of the feeding part and extends in the feeding direction along the longitudinal axis of the anti-collision cover, and the elastic tongue piece is adapted to elastically deform when the bolt is pushed out of the mouth piece in the feeding direction, so that the bolt can be released, and then the elastic tongue piece returns to the initial position.

Description

Technical Field

[0001] The invention relates to an anti-collision shield for a tool of a collaborative robot, wherein the anti-collision shield is configured to elastically retain a bolt and release the bolt when the bolt is pushed out of the anti-collision shield, wherein the anti-collision shield extends along a longitudinal axis and comprises:

[0002] - Mouth piece for elastic retaining bolt,

[0003] a feed section for feeding the bolts into the mouthpiece, wherein the feed section comprises an insertion opening for inserting the bolts into the feed section and a transition opening for transferring the bolts from the feed section to the mouthpiece, wherein the bolts can be inserted into the feed section via the insertion opening in a feeding direction along the longitudinal axis,

[0004] Therein, the feed portion and the mouthpiece are directly connected to each other along the longitudinal axis of the anti-collision shield and form the anti-collision shield.

[0005] The invention further relates to a tool for a collaborative robot, the tool comprising at least the anti-collision cover according to the invention. Background Art

[0006] The automation of assembly operations is developing very rapidly and will be of increasing importance in the future. On the one hand, the efficiency of the various assembly tasks is increased by automation measures, and on the other hand, the components to be assembled are assembled faster and faster and as error-free as possible. Workplaces are increasingly being created in which robots and humans as operators work together on the same workpiece in the same workplace in the same workspace.

[0007] In the prior art, there have been a large number of embodiments of overload protection and collision protection devices for robots, which are mostly arranged between the robot and a tool to be used by the robot and fixed to the tool receiving portion of the robot to prevent damage to the tool when it hits an obstacle. For example, different embodiments of overload protection devices appear in documents DE 199 25 688 A1, DE 103 91972 T5 and DE 36 05 505 A1.

[0008] EP 3 782 773 A1 is also known in the prior art. In this patent, a mechanical mechanism is required to push the bolt out of the mouth, wherein the mouth is formed by claws, each of which is elastically supported at the feed part by a shaft and a claw spring. When pushing the bolt out, a force is applied, which pushes the claws apart. Once the bolt is pushed out, the claws are repositioned to their initial position by the claw springs. However, this mechanism is difficult to manufacture in production and requires a plurality of separate parts. Summary of the invention

[0009] Therefore, an object of the present invention is to provide an anti-collision cover that overcomes the disadvantages of the prior art.

[0010] This object is achieved in that the mouthpiece is formed by elastic tongues which are arranged at the circumference of the transition opening of the feed section and extend in the feed direction along the longitudinal axis of the anti-collision shield, wherein the elastic tongues are adapted to be elastically deformed when the bolts are pushed out of the mouthpiece in the feed direction so that the bolts can be released, and then the elastic tongues return to their original positions.

[0011] It can be arranged that the elastic tongue is adapted to

[0012] - Under the action of external force against the feeding direction, and

[0013] - Under the action of external forces transverse to the longitudinal axis of the crash shield

[0014] It deforms and returns to its original position when the external force disappears.

[0015] It can be provided that the elastic tongue gradually tapers from the transition opening along the longitudinal axis.

[0016] It can be provided that the elastic tongue forms a cavity into which the bolt can be inserted, wherein the cavity tapers from the transition opening along the longitudinal axis in the feed direction so that the bolt head can be elastically held by the elastic tongue.

[0017] It can be arranged that the anti-collision cover is made in one piece.

[0018] It can be provided that the transition opening is substantially circular.

[0019] It can be arranged that when the bolt is pushed out of the mouthpiece in the feeding direction, the elastic tongue is elastically deformed transversely to the feeding direction so that the bolt can be released, and then the elastic tongue returns to its initial position.

[0020] It can be provided that the elastic tongues are designed in such a way that an intermediate space is formed between two adjacent elastic tongues, wherein the intermediate space has a substantially circular opening at the connection with the feed portion, which opens into the gap in the feed direction.

[0021] Stress peaks during the elastic deformation of the spring tongue can thereby be avoided.

[0022] The object is also achieved by a tool for a collaborative robot, the tool comprising at least the anti-collision cover according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is explained in more detail below using exemplary drawings. In the drawings:

[0024] Figure 1 A side view of an exemplary crash shield is shown, the crash shield comprising a feed portion and a mouthpiece, the two being directly connected, wherein a bolt can feed the mouthpiece in a feed direction;

[0025] Figure 2 Show Figure 1 A perspective view of a crash shield in FIG.

[0026] Figure 3 Show Figure 1 An end view of the anti-collision shield in the direction opposite to the feeding direction;

[0027] Figure 4 A perspective view showing an exemplary tool for a collaborative robot, the tool comprising Figure 1 Anti-collision shield in.

[0028] Reference numerals list

[0029] Anti-collision cover 10

[0030] Tool 20

[0031] Tool drive 21

[0032] Drive shaft 22

[0033] Axis direction 23

[0034] Delivery hose 24

[0035] Punch 25

[0036] Sensor 26

[0037] Feeding section 100

[0038] Insertion opening 110

[0039] Transition opening 120

[0040] Mouthpiece 200

[0041] Elastic tongue 210

[0042] Middle cavity 211

[0043] Force K1 on ZR

[0044] The force K2 acting transversely to LA

[0045] Vertical axis LA

[0046] Feed direction ZR DETAILED DESCRIPTION

[0047] Figure 1An exemplary crash shield 10 for a tool for a collaborative robot is shown, wherein the crash shield 10 is configured to elastically retain a bolt and release the bolt when the bolt is pushed out of the crash shield 10 , wherein the crash shield 10 extends along a longitudinal axis LA.

[0048] The anti-collision cover 10 includes a mouthpiece 200 for elastically holding the bolts, and a feed portion 100 for feeding the bolts into the mouthpiece 200 .

[0049] The feed section 100 comprises an insertion opening 110 for inserting a bolt into the feed section 100 and a transition opening 120 for transferring the bolt from the feed section 100 to the mouthpiece 200, wherein the bolt can be inserted into the feed section 100 along the longitudinal axis LA in the feed direction ZR via the insertion opening 110. The transition opening 120 is essentially circular here.

[0050] The feed section 100 and the mouthpiece 200 are directly connected here along the longitudinal axis LA of the crash shield 10 and form the crash shield 10 which is manufactured in one piece.

[0051] The mouthpiece 200 is formed by elastic tongues 210 which are arranged at the circumference of the transition opening 120 of the feed section 100 and extend along the longitudinal axis LA of the crash shield 10 in the feed direction ZR. Figure 1 and Figure 2 Furthermore, the elastic tongue 210 forms a cavity into which a bolt can be inserted, wherein the cavity tapers gradually from the transition opening 120 along the longitudinal axis LA in the feed direction ZR, so that the bolt head of the bolt can be elastically held by the elastic tongue 210 .

[0052] The elastic tongue 210 is adapted to be elastically deformed transversely to the feed direction ZR when the bolt is pushed out of the mouthpiece 200 in the feed direction ZR so that the bolt can be released, whereupon the elastic tongue 210 returns to its initial position.

[0053] The elastic tongue 210 is also adapted to deform under an external force K1 opposite to the feeding direction and under an external force K2 transverse to the longitudinal axis of the crash shield, and to return to its initial position after the external forces K1 , K2 disappear.

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[0055] from Figure 1 It can also be seen in FIG. 1 that the resilient tongue 210 starts from the transition opening 120 and tapers along the longitudinal axis LA.

[0056] Furthermore, the elastic tongue 210 is constructed in such a way that an intermediate cavity 211 is formed between two adjacent elastic tongues 210, wherein the intermediate cavity 211 has a substantially circular opening at the connection with the feed part 100, which leads to a gap in the feed direction ZR, and the gap extends all the way to the end of the mouthpiece.

[0057] Figure 3 Shows Figure 1 and Figure 2 1 is an end view of an exemplary crash shield 10 in FIG. 1 against the feed direction ZR, wherein it can be seen that the gaps of the intermediate spaces 211 between the individual elastic tongues 210 extend all the way to the end of the mouthpiece and separate the elastic tongues from one another.

[0058] Figure 4 An exemplary tool 20 in the form of a feed screwdriver tool is shown. The tool 20 has a tool drive 21 with a rotationally fixed drive shaft 22, wherein the axial direction 23 of the drive shaft 22 also corresponds to the axial direction 23 of the tool housing or the housing of the tool. The tool housing has a robot flange, which is provided for connection to a robot gripper arm (not shown here). In a delivery hose 24, the pneumatically separated bolts are fed laterally to the punch 25 of the tool 20. The crash shield 10 is arranged coaxially with the axial direction 23 at the punch 25 of the tool 20. The crash shield 10 corresponds here to the crash shield 10 according to the invention, as shown, for example, in the upper figure.

[0059] The crash shield 10 is supported displaceably relative to the tool housing via a punch 25. The punch can be moved axially into the tool housing under the action of an external force, wherein the punch activates a sensor 26 which is adapted to stop the movement of the robot arm and the drilling or screwing process.

[0060] During the normal screwing process using the tool 20 , the screw falls from the delivery hose 24 via the punch 25 into the crash shield 10 in the feed direction ZR and is held in its position by the elastic tongues 210 of the mouthpiece 200 - this is due to the fact that the screw is not screwed in the same direction as the screw. Figure 4 As can be seen in the figure, the thread of the bolt protrudes from the anti-collision cover 10. Subsequently, the tool insert holder or the bit holder is appropriately moved downward in the axial direction 23 until the bit holder protrudes into the bolt head (not shown) of the bolt and the bolt is pushed out of the anti-collision cover 10 in the feed direction ZR, wherein the elastic tongue 210 is deformed (as described in detail above) so that the bolt is released from the anti-collision cover 10.

Claims

1. A collision shield (10) for a tool of a collaborative robot, wherein: The anti-collision cover (10) is configured to elastically retain the bolt and release the bolt when the bolt is pushed out of the anti-collision cover (10), wherein the anti-collision cover (10) extends along a longitudinal axis (LA) and comprises: - a mouthpiece (200) for elastically retaining the bolt, a feed section (100) for feeding the bolt into the mouthpiece (200), wherein the feed section (100) comprises an insertion opening (110) for inserting the bolt into the feed section (100) and a transition opening (120) for transferring the bolt from the feed section (100) to the mouthpiece (200), wherein the bolt can be inserted into the feed section (100) via the insertion opening (110) in a feeding direction (ZR) along the longitudinal axis (LA), wherein the feed portion (100) and the mouthpiece (200) are directly connected to each other along the longitudinal axis (LA) of the anti-collision cover (10) and form the anti-collision cover (10), It is characterized in that The mouth piece (200) is formed by an elastic tongue (210), which is arranged at the circumference of the transition opening (120) of the feed portion (100) and extends in the feed direction (ZR) along the longitudinal axis (LA) of the anti-collision cover (10), wherein the elastic tongue (210) is adapted to undergo elastic deformation when the bolt is pushed out of the mouth piece (200) in the feed direction (ZR), so that the bolt can be released, and then the elastic tongue (210) returns to its initial position.

2. The anti-collision cover according to claim 1, characterized in that: The elastic tongue (210) is adapted to - under the action of an external force (K1) against the feeding direction, and - deforms under the action of an external force (K2) transverse to the longitudinal axis of the crash shield and returns to its initial position after the action of the external force (K1, K2) disappears.

3. The anti-collision cover according to claim 1 or 2, characterized in that: The resilient tongue (210) starts from the transition opening (120) and tapers along the longitudinal axis (LA).

4. The anti-collision cover according to any one of claims 1 to 3, characterized in that: The elastic tongue (210) forms a cavity into which the bolt can be inserted, wherein the cavity gradually tapers from the transition opening (120) along the longitudinal axis (LA) in the feed direction (ZR), so that the bolt head of the bolt can be elastically retained by the elastic tongue (210).

5. The anti-collision cover according to any one of claims 1 to 4, characterized in that: The anti-collision cover (10) is made in one piece.

6. The anti-collision cover according to any one of claims 1 to 5, characterized in that: The transition opening (120) is substantially circular.

7. The anti-collision cover according to any one of claims 1 to 6, characterized in that When the bolt is pushed out of the mouthpiece (200) in the feed direction (ZR), the elastic tongue (210) is elastically deformed transversely to the feed direction (ZR) so that the bolt can be released, and then the elastic tongue (210) returns to its initial position.

8. The anti-collision cover according to any one of claims 1 to 7, characterized in that The elastic tongues (210) are constructed in such a way that an intermediate cavity (211) is formed between two adjacent elastic tongues (210), wherein the intermediate cavity (211) has a substantially circular opening at the connection of the feed portion (100), and the opening leads to the gap in the feed direction (ZR).

9. A tool for a collaborative robot, comprising at least the anti-collision cover (10) according to any one of claims 1 to 8.

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