Connection device and system

Abstract

The invention relates to a connecting device (1) for mechanically connecting a first article to a second article in a form-fitting manner, comprising an unlocking element (10) which is arranged on a counter-coupling element (3) and which is designed to unlock the counter-coupling element (3) when the coupling element (2) and the counter-coupling element (3) are rotated relative to each other about an axis of rotation parallel to a plug-in direction (S). The locking element (8) of the coupling part (2) is moved from its locking position into an unlocking position within a predefined relative rotational angular position range of the coupling part (2) and the counter-coupling part (3), in which unlocking position the locking element (8) of the coupling part (2) and the counter-locking element (9) of the counter-coupling part (3) are disengaged, the coupling part (2) and the mating coupling part (3) can be separated from each other counter to the insertion direction (S). The invention also relates to an associated system having such a connection device (1).

Description

Technical Field

[0001] The invention relates to a connecting device for the form-fitting mechanical connection of a first object to a second object and to an associated system. Background Art

[0002] Patent document EP2040572B1 describes a mechanical magnetic connection structure, comprising: a locking device having at least one spring locking element, which is arranged in a connection module; and a movable locking member (Sperrstück) for locking the connection module in a form-fitting manner, which is arranged in another connection module. The spring locking element is configured to press against the locking member when the connection structure is closed. The spring locking element, the locking member, and the surface sections of the spring locking element and the locking member that come into contact with each other are configured so that the spring locking element deflects in a direction determined by the structure and snaps into the locking member when the locking element and the locking member move relative to each other. Summary of the invention

[0003] The object of the present invention is to provide a connecting device and a related system for mechanically connecting a first object to a second object in a form-fitting manner, wherein the connecting device can be locked (verriegelt) and / or unlocked (entriegelt) in a simple or intuitive manner, in particular can be locked and / or unlocked with one hand, in particular without the need for a separate unlocking actuator.

[0004] The object of the present invention is achieved by a connecting device for mechanically connecting a first object to a second object in a form-fitting manner, the connecting device having:

[0005] - a coupling member having: a first fastening section for fastening the coupling member to a first object; a socket having an opening through which a socket cavity of the socket is accessible in an axial plugging direction; and at least one locking element adjustably mounted between a locking position and an unlocking position, the locking element extending into the socket cavity of the socket in its locking position and releasing the socket cavity of the socket in its unlocking position;

[0006] a mating coupling having: a second fastening section for fastening the mating coupling to a second object; a plug corresponding to the socket of the coupling and having a rod insertable into an opening of a socket cavity of the socket in an axial plugging direction; and at least one mating locking element cooperating in a form-fitting manner in the locking position of the locking element of the socket;

[0007] - wherein the socket cavity of the socket and the rod of the plug corresponding to the socket cavity have cross-sectional profiles that are coordinated with each other and allow the coupling element and the counter coupling element to be twisted relative to each other about a rotation axis parallel to the plugging direction in the connected state of the coupling element and the counter coupling element,

[0008] - It also has an unlocking member arranged on the mating connecting member, which is designed to move the locking element of the connecting member from its locking position to an unlocking position within a predetermined relative rotational angle position range of the connecting member and the mating connecting member when the connecting member and the mating connecting member are relatively twisted around a rotation axis parallel to the plug-in direction, and the locking element of the connecting member and the mating locking element of the mating connecting member are disengaged in the unlocking position, so that the connecting member and the mating connecting member can be separated from each other in the opposite direction to the plug-in direction.

[0009] The connecting device forms a shape-fitting connecting element. In this regard, the connecting device comprises two separable connecting parts, i.e., a coupling part and a mating coupling part, which can be separated in a connected state and can also be coupled to each other, i.e. connected, in a separated state. With this connecting device, any two objects can be connected to each other or separated from each other. In order to enable the coupling part to be connected to an object, the coupling part has a first fastening section. In order to enable the mating coupling part to be connected to another object, the mating coupling part has a second fastening section. The corresponding first fastening section and the corresponding second fastening section can, for example, be screwed, bonded or locked to the relevant object. Alternatively, the corresponding first fastening section and the corresponding second fastening section can also be formed in one piece with the relevant object if necessary, for example, molded on the housing of the corresponding object.

[0010] This form-fitting connection of a connector and a mating connector essentially comprises a combination of a plug and a socket in the general sense. In this context, a plug is understood to be a projection, which can also be referred to as a pin, a bolt, a pin or a male connector. In this context, a socket is understood to be a recess, which can also be referred to as a socket, a base, a socket or a female connector. The plug and the socket are designed accordingly so that they can be inserted into each other in a form-fitting manner with only a small amount of play or even without play.

[0011] In the connection device according to the invention, the socket cavity of the socket and the rod of the plug corresponding to the socket cavity have cross-sectional profiles that are coordinated with each other, which allows the coupling piece and the mating coupling piece to be relatively twisted around a rotation axis parallel to the plugging direction in the connected state of the coupling piece and the mating coupling piece. According to the invention, the connection device should allow the two objects connected to each other by the connection device to be able to twist relative to each other despite being connected. The twisting of the two objects relative to each other can be a full 360 degrees, or if necessary, only a small rotation angle, for example only a maximum of 270 degrees, 180 degrees or 90 degrees depending on the structure.

[0012] The rotation axis permitted by the structure also defines a plug-in direction for plugging the coupling member and the counter coupling member together or a separation direction in the opposite direction for separating the coupling member and the counter coupling member from each other.

[0013] In order to prevent the coupling and the mating coupling from being accidentally released in the plugged state, the coupling has a locking element and the mating coupling has a mating locking element. In the locked position of the locking element and the mating locking element, the coupling and the mating coupling cannot be separated from each other even if the coupling and the mating coupling are pulled apart in the separation direction. Only when the locking element and the mating locking element are in the unlocked position can the coupling and the mating coupling be separated from each other in the separation direction.

[0014] When the coupling and the mating coupling are plugged together, the locking element and the mating locking element enter their locking position independently or automatically, in which the coupling and the mating coupling cannot be separated from each other in the separation direction. In order to make the locking element and the mating locking element enter their unlocking position, an unlocking member is provided.

[0015] According to the present invention, the unlocking member is designed so that when the connecting member and the mating connecting member are relatively twisted around a rotation axis parallel to the plug-in direction, the locking element of the connecting member moves from its locking position to an unlocking position within a predetermined relative rotation angle position range of the connecting member and the mating connecting member, in which unlocking position the locking element of the connecting member and the mating locking element of the mating connecting member are disengaged, so that the connecting member and the mating locking element can be separated from each other in the opposite direction to the plug-in direction, in particular by pulling the connecting member and the mating locking element apart from each other along the separation direction.

[0016] In this context, the object of the present invention is to provide a positive coupling mechanism which can be connected simply and directly and can be separated again with one hand, in particular without actuating an additional manually separately operable unlocking input.

[0017] Here, the plug should be able to be brought into the unlocked position and to release the coupling opposite to the insertion direction simply by twisting the plug relative to the socket. Here, the unlocking movement should be simple and intuitive to carry out, and should only be carried out intentionally, in order to avoid accidental, incorrect uncoupling. The technical solutions proposed here differ mainly in the geometry of the plug, the arrangement of the hooks of the mating holder, and the tactile design of the unlocking.

[0018] In an extension of the connecting device, the unlocking piece can have at least one protrusion (Fortsatz) protruding radially outward from the rod of the plug, which is constructed to press the locking element into the unlocking position within a first rotational angle position range of the mating connecting piece relative to the connecting piece, and to keep the locking element in its locked position within a second rotational angle position range of the mating connecting piece relative to the connecting piece that is different from the first rotational angle position range, wherein the locking element is elastically prestressed in its locking position and is radially pressed outward into its unlocking position by overcoming the spring force within the first rotational angle position range of the mating connecting piece relative to the connecting piece.

[0019] In this embodiment, the pin of the plug is not completely rotationally symmetrical. For example, a radial projection can widen the mating retainer, in particular with a hook on the socket. The projection can be located above, at the level of, or below the undercut or hook profile. If the plug is oriented in the correct direction relative to the mating retainer so that it widens, the pin of the plug can then be removed from the socket. For this purpose, the hook profile of the mating retainer (i.e. the coupling element) must only be present in the region of this projection of the pin.

[0020] In another embodiment, the unlocking piece may have at least one recess (Vertiefung) extending axially along the rod of the plug in the side surface of the rod, and the recess is constructed to align with a locking element protruding radially inward into the socket cavity of the connecting piece within a first rotational angle position range of the mating connecting piece relative to the connecting piece, wherein, within a second rotational angle position range of the mating connecting piece relative to the connecting piece that is different from the first rotational angle position range, the unlocking piece overlaps with the locking element in a radial direction, so that the mating connecting piece is held on the connecting piece in a shape-fitting manner in the axial direction in the locked position.

[0021] In this regard, the plug can also have recesses and can form a kind of keyway in order to bypass the existing hooks on the counterholder in the appropriate rotational position and to release the form fit.

[0022] This has the advantage of being located in the same coupling direction and decoupling direction and that no separate, additional decoupling mechanism is required.

[0023] The counter-coupling part can be coupled to the coupling part via a freewheel, so that a rotation of the counter-coupling part and the coupling part relative to one another is possible only in one rotational direction.

[0024] By further supplementing, a stop mechanism can be integrated to stably maintain the angular position according to the stop index. In this regard, a return stop can be integrated in the plug or socket to limit the relative rotation of the coupling part and the mating coupling part to only one rotation direction.

[0025] In known systems, unlocking or locking by twisting is usually set completely within a limited angular range, for example, the 0 degree position is the open position and the 90 degree position is the locked position. Alternatively, the angular range is completely free. Unlocking is mostly carried out by twisting in the opposite direction of the locking rotation. Alternatively, locking is achieved by twisting, in particular 90 degrees, and then twisting another 90 degrees in or against the locking direction to open.

[0026] With the proposed backstop, the lock may require almost a full turn before it can be opened again. The twisting required to undo the coupling depends on whether the joint position (Zusammenführpositon) of the plug and socket is free in this direction or is fixedly set. In other words, the twisting angle can vary depending on the coupling direction. However, the unlocked position is always in a defined relative twisting direction of the two objects and should be blocked by an additional lock in order to provide the user with a better haptic experience. Only after reconnection can the two objects be twisted relative to each other again.

[0027] In an extended solution, a second stage can be introduced to provide a higher reliability of disconnection. The socket has one or more cutouts as the second stage in the introduction area in front of the mating retainer with the hook in the housing, more precisely twisted towards the widening-rotation position. The plug with the protrusion can only be inserted into the socket and latched (verrastet) in the correct direction relative to the cutout. For the first-stage disconnection process, the plug must first be twisted into the unlocked position, thereby enabling the plug to widen the mating retainer and be pulled out of the hook. In addition, the plug must be pulled toward the mating retainer of the socket in a targeted manner, because the first stage may be latched again in any rotational position. The plug must then be further twisted so that the protrusion is aligned with the cutout of the socket. The plug can now be completely removed.

[0028] By incorporating a backstop and uniquely designed recesses and / or projections, the uncoupling process may require one full turn, providing additional uncoupling reliability.

[0029] Therefore, the connecting device can be characterized by a middle plane, when the counterpart connecting part moves from the connecting part opposite to the plug-in direction to separate the counterpart connecting part from the connecting part in the unlocked position, the counterpart locking element of the counterpart connecting part is introduced into the middle plane, wherein the middle plane has a restraining member that acts in a form-fitting manner, which first prevents the counterpart connecting part from leaving the middle plane and further separating from the connecting part, and only allows further separation after the counterpart connecting part is rotated by a rotation angle relative to the connecting part.

[0030] In an alternative or supplementary development, in a relative angular position of the connecting part relative to the mating connecting part corresponding to the unlocked position, the plug of the mating connecting part is stably held in its unlockable rotational position relative to the socket of the connecting part by a locking device (Rasteinrichtung) in a force-fitting and / or form-fitting manner.

[0031] The locking device can include a locking pin which protrudes in the radial direction on the coupling part and is prestressed in the socket cavity and which in the unlocked position is mechanically locked in a recess in the shaft of the plug corresponding to the locking pin of the counter coupling part.

[0032] The detent device may comprise a first magnet attached to the coupling which, in the unlocked position, magnetically cooperates with a second magnet arranged on the counter coupling in order to hold the counter coupling in its momentary rotational angular position relative to the coupling in the unlocked position.

[0033] This embodiment will be referred to below. Figures 1 to 7 Detailed description.

[0034] In one variant, a pair of mating retainers is guided in a spring-loaded manner in the frame so that it can be withdrawn laterally from the locking body of the plug during insertion along the axis of rotation and allow the plug to sink into the frame. In this design, the locking body is not formed circumferentially. On the plug, there is a free area instead.

[0035] In the locked state, the locking body remains in a positive fit on the segments of the mating holder in the axial and radial directions. Rotation of the plug about the axis of rotation allows the two coupling partners to remain in a locked angular position. The covering disappears only when the decoupling angle, for example 45 degrees, 90 degrees or 180 degrees, is exceeded, because the locking body is located between the mating holders from this decoupling angle. The plug can thus be removed again in the axial direction after a corresponding rotation.

[0036] This embodiment will be referred to below. Figures 8 to 13 Detailed description.

[0037] In this case, the counterholder and the locking body may also have other designs as described below.

[0038] In such a further design, the counterholder, the spring and the guide are combined into one element, which can be designed, for example, as one or more elastically bendable bending rods, which are mounted in the frame.

[0039] It is particularly advantageous in this case if the rod shape has a profile that has a higher resistance to bending in the direction outwards from a plane arranged perpendicular to the axis of rotation and in the transverse direction, i.e. in the case of elastic deformation in a plane arranged perpendicular to the axis of rotation. Alternatively, the boundary wall of the frame can cover the bending rod so that it does not behave too compliantly in the direction outwards from a plane arranged perpendicular to the axis of rotation.

[0040] This embodiment will be referred to below. Figures 14 to 16 Detailed description.

[0041] It is also possible to fold back the retractable and elastic locking elements from the frame onto the plug.

[0042] Thus, the retraction and elastic locking elements can be arranged on the plug and the rigid mating holder can be arranged on the frame.

[0043] This embodiment will be referred to below. Figures 17 to 19 Detailed description.

[0044] Another aspect of the invention relates to the sense of touch, which is intended to allow the user to perceive the point in time and the correct position at which the coupling can be released. In addition, it should be possible to signal the user when the uncoupling process has begun or is about to begin, and / or if the movement continues, the two coupling partners (coupling piece or plug and mating coupling piece or socket) will be separated.

[0045] In a first variant, the locking body can be rotated into its unlocked position, after which the spring-loaded shaped body latches into an oblique cutout in the plug and locks the plug in this position.

[0046] If the cutout is formed linearly along the rotation axis like a groove, the plug can be removed without force. If the cutout is formed locally, punctiformly or cylindrically, like a hole, the plug must first be pulled out against the spring force before it can be removed.

[0047] The cutout can be formed on the locking body or at any position on the plug. The cutout and the shaped body can also be reversed, that is, the cutout can be selectively arranged on the plug or the socket, and the shaped body is correspondingly arranged on the socket or the plug as a complementary component.

[0048] This variant allows twisting to the unlocked position, but also allows going beyond that position and back again.

[0049] This embodiment will be referred to below. Fig. 20 and Fig.21 Detailed description.

[0050] In contrast to the first variant, in which a force fit is achieved, in the second variant a positive fit of the cutout with the element of the shaped body can be achieved by haptic measures.

[0051] In the case of the second variant, the cutout must be designed as a groove pointing in the direction of the axis of rotation.

[0052] The second variant only allows twisting to the unlocked position, but does not allow turning back or further rotation. Here, the plug must be completely removed before the connection can be reestablished by reinserting it.

[0053] This embodiment will be referred to below. Fig. 22 and Fig.23 Detailed description.

[0054] The third variant is similar to the first variant 1 and the partial cutout, but the difference is that here one or more magnet pairs take on the work of intermediate locking, rather than a mechanical force fit connection. This can be felt by the user when approaching the position where the magnets attract each other.

[0055] The magnets may be arranged radially relative to the axis of rotation, or axially in a similar position.

[0056] In this case, the magnets can be separated from one another by shear forces or by tensile forces in order to achieve a final decoupling.

[0057] This embodiment will be referred to below. Fig.24 and Fig.25 Detailed description.

[0058] In a fourth variant, the plug is not only centered in the unlocked position by means of a magnet arrangement, but also generates a characteristic overrunning force when the plug is twisted by a certain angle out of the unlocked position. In this respect, this solution represents a bistable system.

[0059] This embodiment will be referred to below. Fig.26 and Fig. 27 Detailed description.

[0060] In a fifth variant, as soon as the plug with the locking body has passed over the locking element, the plug is held in the unlocked position by the locking element on the counterholder section.

[0061] The fifth variant only allows twisting to the unlocked position, but does not allow turning back or further rotation. Here, the plug must first be completely removed before the connection can be reestablished by inserting it again.

[0062] The user will experience a defined expenditure of force when overcoming the locking element.In a variant, the locking element can also be part of the frame.

[0063] This embodiment will be referred to below. Fig.28 and Fig.29 Detailed description.

[0064] In a sixth variant, once the unlocked position is reached, the plug with the locking body is held in the unlocked position by the flanks of the mating retainer section. This is achieved by allowing the plug with its locking body to pass over an elastic spring element in the frame, which lifts the plug slightly and moves it outward.

[0065] The sixth variant also only allows twisting to the unlocked position, but does not allow turning back or further rotation. Here, the plug must also be completely removed before the connection can be reestablished by reinserting it. However, unlike the second and fifth variants, the connection can also be reestablished by pressing the plug down against the spring force to the level of the frame and then turning it back to the locked position.

[0066] The user will experience a defined force expenditure when overcoming the spring element. In a variant, the spring element can also be a part of the plug, in particular the locking body.

[0067] This embodiment will be referred to below. Figure 30 to Figure 32 Detailed description.

[0068] The seventh variant is theoretically based on the sixth variant, but differs in that the mechanical spring element is replaced by a pair of magnets which are arranged in particular such that they have a repelling effect.

[0069] This embodiment will be referred to below. Figure 33 to Figure 35 Detailed description.

[0070] In another type of embodiment, unlocking is not achieved by "free rotation" to a position without locking body and mating holder covering, but by relative twisting of the plug relative to the frame to open the mating holder, in particular the mating holder section, radially outward until the plug can be removed opposite to the plugging direction.

[0071] For example, this variant has four sections on the mating holder, each of which has a shaped element, in particular a structural bevel, at least on one side, in particular on both sides. The plug has, for example, a continuous locking body which is held by the mating holder in a form-fitting manner. In addition, the plug has a release element at the level of the mating holder. In the locked state, the release element is located in a free pocket between the mating retaining elements. Twisting leads to contact and guided squeezing of the segments. The ratio of the pocket size to the release element size defines the unlocking time point: if the ratio is small, release occurs even with small relative rotations. If the ratio is large, on the other hand, the plug will remain coupled over a greater angular range.

[0072] This embodiment will be referred to below. Figures 36 to 40 Detailed description.

[0073] Another type of embodiment is similar to the third variant, but differs in that the function of the release element is here assumed by the segmented locking bodies and their flanks, which strike against the shaped elements of the joint holder segments during the twisting process. In the locked state, the segmented locking bodies sink into the cavity below the joint holder segments. The necessary free space is formed between the locking body segments.

[0074] This embodiment will be referred to below. Figure 41 to Figure 46 Detailed description.

[0075] Another variant with magnets involves a possible projection without free space and unlocking shaped elements, but with magnets placed on the plug and the mating holder, i.e. on the socket. The orientation is selected in this case so that the magnet pair attracts each other in the locked state and provides additional stability, in particular against twisting of the plug. If a first force threshold is exceeded, the plug including the inner magnet can twist. If the magnets hit the outer magnets acting in the opposite direction at this point, they act in a repelling manner and press the mating holder section radially back against the weaker spring force.

[0076] This embodiment will be referred to below. Figure 47 to Figure 49 Detailed description.

[0077] Analogously to the above-described variant, in one variant, only one bar magnet can also be arranged in the middle of the plug and the two sections can be designed as mating holders with one magnet each, with one “north” and one “south” pointing inwards.

[0078] This embodiment will be referred to below. Fig.50 Detailed description.

[0079] Therefore, the connecting part may include a first repulsive magnet and the mating connecting part may include a second repulsive magnet, wherein the first repulsive magnet and the second repulsive magnet are arranged relative to each other so that, in the unlocked position of the connecting part relative to the mating connecting part, the first repulsive magnet and the second repulsive magnet cooperate to cause a repulsive magnetic force, which presses a locking element adjustably mounted on the connecting part to its unlocked position.

[0080] The object of the present invention is also achieved by a system, which includes a robot device, a robot input device and a connecting device according to one or more of the aforementioned embodiments and / or variants, wherein the connecting member is connected to the robot device as a first object via its first fastening section, and the mating connecting member is connected to the robot input device as a second object via its second fastening section, wherein the connecting device is constructed and designed according to one of the aforementioned embodiments and / or variants to manually and selectively connect and disconnect the robot input device and the robot device.

[0081] The object of the present invention is also achieved through a system, which includes a robot device, a robot input device and a connecting device according to one or more of the aforementioned embodiments and / or variants, wherein the connecting member is connected to the robot input device as a first object through its first fastening section, and the mating connecting member is connected to the robot device as a second object through its second fastening section, wherein the connecting device is constructed and designed according to one or more of the aforementioned embodiments and / or variants to manually and selectively connect and disconnect the robot input device and the robot device.

[0082] As mentioned above, the essential feature of the coupling unit is the relative rotation of the coupling partners about the engagement and release directions.

[0083] In a robot apparatus which generally includes a robot arm and a robot controller, a robot input device, also known as a handheld operating device or HMI, is used to enable manual input, which controls or programs the robot controller or even enables the robot arm to be moved in a manual operation mode by corresponding input on the input device. Such input devices have now been miniaturized so that they can be operated, in particular, with one hand.

[0084] Thus, the input device can have one coupling partner and, for example, a member of a robot arm can directly have another coupling partner in order to be able to detachably couple the input device directly to the robot arm.

[0085] If the input device can be rotated, for example, 360 degrees without unlocking, an additional external unlocking mechanism can also be installed.

[0086] Therefore, an additional trigger mechanism can be purposefully provided which is directly integrated in a special connection partner, for example in an input device, and when actuated either performs an independent rotation of the plug or pulls the mating holder section radially outwards, without the plug itself rotating.

[0087] This embodiment will be referred to below. Fig.51 and Fig.52 Detailed description.

[0088] There is also a variant in which the input device itself includes additional unlocking actuators on each side.

[0089] This embodiment will be referred to below. Fig.53 Detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The specific features of these exemplary embodiments can be considered individually or in combination as necessary to represent the general features of the present invention, regardless of where they are specifically mentioned in this article. Among them:

[0091] Figures 1 to 7 Different embodiments of connecting devices are shown, which have locking elements and mating locking elements that cooperate in an elastic-mechanical manner,

[0092] Figures 8 to 19 Different embodiments of connecting devices are shown, which have locking elements and mating locking elements that cooperate in a spring-elastic manner,

[0093] Fig. 20 and Fig.21 A first variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0094] Fig. 22 and Fig.23 A second variant of the connection device is shown with a tactile device which can tactilely report the unlocked position of the connection device,

[0095] Fig.24 and Fig.25A third variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0096] Fig.26 and Fig. 27 A fourth variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0097] Fig.28 and Fig.29 A fifth variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0098] Figure 30 to Figure 32 A sixth variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0099] Figure 33 to Figure 35 A seventh variant of a connection device with a tactile device is shown, which can tactilely report the unlocked position of the connection device,

[0100] Figures 36 to 46 Various embodiments are shown in which the unlocking is not achieved by "free rotation" into a position that does not cover the locking body and the mating holder, but by relative twisting of the plug relative to the frame to open the mating holder, in particular the mating holder section, radially outwards.

[0101] Figures 47 to 50 Shows something like Figures 36 to 46 Embodiment of the invention, but with a magnetically acting plug and a mating retainer,

[0102] Figure 51 to Figure 53 Various embodiments of corresponding connection means for use with a robotic input device are shown, and

[0103] Fig.54 The schematic diagram shows a system including a robot device, a robot input device, other terminal devices and corresponding connection devices. DETAILED DESCRIPTION

[0104] exist Figure 1 and Figure 2 A basic embodiment of the connection device 1 according to the present invention is schematically shown in FIG. Figure 1 The connecting device 1 is shown in a locked position, Figure 2 The connecting device 1 is shown in an unlocked position.

[0105] The connecting device 1 is substantially constructed in two parts, comprising a coupling part 2 and a corresponding counter-coupling part 3 .

[0106] The coupling 2 has a first fastening section 4.1 for fastening the coupling 2 to a first object. The coupling 2 also has a socket 5 having an opening through which the coupling 2 can be inserted in an axial direction S ( Figure 5a ) enters the socket cavity 6 of the socket 5.

[0107] The mating connector 3 has a second fastening section 4.2 for fastening the mating connector 3 to a second object. The mating connector 3 also has a plug 7 corresponding to the socket 5 of the connector 2, which has a plug having a direction S ( Figure 5a ) can be inserted into the opening of the socket cavity 6 of the socket 5.

[0108] The coupling 2 has at least one adjustable locking member ( Figure 1 ) and unlocked position ( Figure 2 ) between the locking element 8, which extends into the socket cavity 6 of the socket 5 in its locked position and releases the socket cavity 6 of the socket 5 in its unlocked position.

[0109] The counter-connecting part 3 has at least one counter-locking element 9 which cooperates in a form-fitting manner in the locking position of the locking element 8 of the socket 5. Figures 1 to 5 In the case of the embodiment of the invention shown, at least one mating locking element 9 is formed by at least one undercut in the side surface of the plug 7, and at least one locking element 8 of the coupling 2 is in the locked position ( Figure 1 ) in a form-fitting manner behind at least one undercut and in the unlocked position ( Figure 2 ) is positioned outside the undercut.

[0110] The socket cavity 6 of the socket 5 and the rod of the plug 7 corresponding to the socket cavity 6 have mutually coordinated cross-sectional profiles, which allows the coupling member 2 and the mating coupling member 3 to be rotated relative to each other about a rotation axis parallel to the plugging direction S in the connected state of the coupling member 2 and the mating coupling member 3.

[0111] According to the present invention, the mating coupling 3 has at least one unlocking member 10, which is configured to make the locking element 8 of the coupling 2 move from its locking position ( ) to the locking position ( ) within a predetermined relative rotation angle position range of the coupling 2 and the mating coupling 3 when the coupling 2 and the mating coupling 3 are relatively twisted about a rotation axis parallel to the plug-in direction S. Figure 1 ) moves to the unlock position ( Figure 2 ), the locking element 8 of the coupling 2 and the mating locking element 9 of the mating coupling 3 are disengaged in the unlocked position, so that the coupling 2 and the mating coupling 3 can be separated from each other in the opposite direction to the plug-in direction S. Figures 1 to 5 In the particular embodiment shown, the coupling 2 has exactly two locking elements 8. The two locking elements 8 are arranged opposite each other.

[0112] The unlocking member 10 of the mating coupling 3 may have at least one protrusion protruding radially outward from the rod of the plug 7, which is designed to press at least one locking element 8 into the unlocking position within a first rotation angle position range of the mating coupling 3 relative to the coupling 2, such as Figure 2 and in the second rotational angle position range different from the first rotational angle position range of the mating coupling member 3 relative to the coupling member 2, the locking element 8 is left in its locked position, such as Figure 1 As shown; wherein the locking element 8 is elastically preloaded in its locking position, and within the first rotation angle position range of the mating coupling 3 relative to the coupling 2, the locking element 8 is radially pressed outward to its unlocking position by the extension of the unlocking member 10 to overcome the spring force. Figure 1 and Figure 2 In the case of the embodiment shown, the spring force is generated by a spring-elastic expansion of the side wall of the coupling part 2 , ie of the socket 5 .

[0113] In accordance with Figure 3 and Figure 4 In a variant embodiment, the unlocking member 10 has at least one recess 10a extending along the axial direction of the rod of the plug 7 in the side surface of the rod, and the recess is designed to align (fluchten) with the locking element 8 protruding radially inwardly into the socket cavity 6 of the coupling member 2 within the first rotation angle position range of the mating coupling member 3 relative to the coupling member 2, such as Figure 4 As shown, in which, in a second rotation angle position range of the mating coupling member 3 relative to the coupling member 2 which is different from the first rotation angle position range, the unlocking member 10 overlaps with the locking element 8 in the radial direction, so that in this locking position, as shown Figure 3 As shown, the counter-connecting part 3 is held in the axial direction in a form-fitting manner on the connecting part 2. The depression 10a can be formed by an axially extending groove or an axially extending flattened portion on the side wall of the shaft of the plug 7.

[0114] In such Figure 5 In the illustrated embodiment, a second stage can be introduced to provide a higher degree of reliability in disconnection. The socket 5 has a recess 13 in the introduction region in the housing, which is located in the axial plug-in direction in front of the mating holder 11 with the snap hook 12. Figure 5 As shown, or with a plurality of recesses 13 as the second stage, more precisely, twisting towards the widened-rotated position. The plug 7 with a projection (for example, the unlocking element 10) can only be inserted into the socket 5 in the correct direction relative to the recesses 13 and latched. For the first stage of the uncoupling process, the plug 7 must first be twisted into the unlocking position ( Figure 2 or Figure 4), so that the plug can widen the mating retainer 11 or push the locking element 8 out and can be pulled out of the snap hook or the mating locking element 9. In addition, the plug 7 must be pulled in a targeted manner toward the mating retainer of the socket 5, because the first stage can be locked again in any rotational position. The plug 7 must then be twisted further so that the projection (for example the unlocking element 10) is aligned in a matching manner with one or more recesses 13 of the socket 5. The plug 7 can now be completely removed.

[0115] By incorporating the backstop and the uniquely designed recesses 13 and / or projections, the uncoupling process may require one full turn, thereby providing additional uncoupling reliability.

[0116] Figure 6 The coupling and decoupling of the coupling element 2 with the counter coupling element 3 are shown, wherein the counter coupling element 3 is arranged, for example, on the input device 14 of the robot device 15 ( Fig.54 ), the coupling 2 can be arranged on the robot device 15 itself. For better illustration, the input device 14 has two identically constructed mating couplings 3 on opposite sides. On the one hand, this allows the input device 14 to be connected to the robot device 15 on the left or on the right in application. On the other hand, the opposing mating couplings 3 also illustrate the shape, size and orientation of opposing mating couplings 3 of the same type, which are actually not visible in the selected perspective view, but cooperate with the visible mating couplings 3. It can be seen in the upper figure that, despite the locking elements 8 being in their locking position, the mating couplings 3 can be latched between the two locking elements 8 in the manner of a snap-latch connection. In the connected state in which the input device 14 is oriented in this way, it cannot be pulled out axially opposite to the plug-in direction S, as indicated by the dashed arrow in the second upper figure. If the input device 14 is rotated clockwise (middle left figure) or counterclockwise (middle right figure), the mating connector 3 will be appropriately oriented so that the locking element 8 can pass in an axial direction opposite to the plug-in direction S, so that the input device 14 can be separated from the robotic device 15 again.

[0117] Figure 7 Shown with Figure 6 A similar example, however, in which the coupling 2 and the counter coupling 3 are interchanged, ie the input device 14 now has the coupling 2 and the robotic apparatus 15 has the counter coupling 3 .

[0118] Figures 8 to 13A pair of mating retainers 16 are shown as locking elements 8, which are elastically guided in a frame 17 so that they can be withdrawn laterally from a locking body 18 of the plug 7 during insertion along the rotation axis D and allow the plug 7 to sink into the frame 17. In this design, the locking body 18 is not formed circumferentially on the plug 7, but has a free area 19.

[0119] In the locked state, a locking body 18 or a plurality of locking bodies 18 are retained on a section of the counter-holder 16 in a form-fitting manner in the axial and radial directions ( Fig.10 The rotation of the plug about the axis of rotation allows the two coupling partners to maintain a locked angular position ( Fig.11 ). Only when the decoupling angle is exceeded, for example 90 degrees as shown ( Fig.12 ), the cover disappears, because the locking body 18 is located between the mating retaining members 16 from this decoupling angle. Therefore, the plug 7 can be removed again in the axial direction after a corresponding rotation ( Fig.13 ).

[0120] In accordance with Figures 14 to 16 In a special variant, the counterholder 16 , the spring and the guide are combined into one element, which can be configured as an elastically bendable bending rod 19 or a plurality of bending rods 19 , for example, which are mounted in the frame 17 .

[0121] In accordance with Figures 17 to 19 In another special variant of the embodiment, a retraction and folding back of the elastic locking element 20 from the frame 17 to the plug 7 is achieved.

[0122] Thus, the retraction and elastic locking element 20 can be arranged on the plug 7 and the rigid counterholder 21 can be arranged on the frame 17 .

[0123] The tactile device (haptische Einrichtungen) is explained in detail below.

[0124] In accordance with Fig. 20 and Fig.21 In a first variant, the locking body 18 can be rotated to its unlocking position ( Fig.21 ), the spring-loaded shaped body 22 then latches into the inclined cutout 23 in the plug 7 and locks the plug 7 in this position.

[0125] The shaped body 22 cooperates with the cutout 23 to form a stop device 35 .

[0126] Therefore, at the relative angular position of the connecting member 2 relative to the mating connecting member 3 corresponding to the unlocking position, the plug 7 of the mating connecting member 3 can be stably maintained in its unlockable rotational position relative to the socket 5 of the connecting member 2 by force fit and / or form fit via the locking device 35.

[0127] The locking device 35 may include a locking pin 22a (molded body 22) protruding in the radial direction and pre-tensioned in the socket cavity 6 on the coupling 2, and the locking pin is in the unlocked position ( Fig.21 ) is mechanically locked in a recess 23a (cutout 23) in the rod of the plug 7 corresponding to the locking pin 22a of the counter-connecting part 3.

[0128] If this cutout 23 is formed linearly like a groove along the rotation axis direction, the plug 7 can be taken out without force. If this cutout is formed locally, dotted or cylindrically, like a hole, the plug 7 must first be pulled out against the spring force to be taken out.

[0129] The cutout 23 can be formed on the locking body 18 or can be formed at any position on the plug 7. The cutout 23 and the shaped body 22 can also be reversed, that is, the cutout 23 can be selectively arranged on the plug 7 or the socket 5, and the shaped body 22 is arranged as a complementary part on the socket 5 or the plug 7 accordingly. This variant allows twisting to the unlocked position, but also allows exceeding this position and returning again.

[0130] In accordance with Fig. 22 and Fig.23 In the second variant, the shape fit of the elements of the cutout 23 and the shaped body 22 is achieved by tactile measures, which is consistent with the Fig. 20 and Fig.21 The first variant of the force fit is different. In the case of the second variant, the cutout 23 must be constructed as a groove pointing in the direction of the rotation axis. The second variant only allows twisting to the unlocked position, but does not allow rotation or further rotation. Here, the plug 7 must be completely removed before the connection can be reestablished by reinserting it.

[0131] according to Fig.24 and Fig.25 The third variant and basis Fig. 20 and Fig.21 The first variant is similar to the partial cutout 23, but the difference is that here one or more magnet pairs 24 are responsible for the intermediate locking, rather than the mechanical force-coordinated connection. This can be felt by the user when approaching the position where the magnets 24 attract each other. The magnets 24 can be arranged radially relative to the direction of the rotation axis, or axially in a similar position. Here, the magnets 24 can be separated from each other by shear force or by pulling force to achieve the final release of the connection.

[0132] Therefore, the stopping device 35 can include a first magnet 24.1 attached to the coupling 2, which in the unlocked position magnetically cooperates with a second magnet 24.2 arranged on the mating coupling 3 so as to keep the mating coupling 3 in its instantaneous rotational angular position relative to the coupling 2 in the unlocked position.

[0133] In accordance with Fig.26 and Fig. 27 In the fourth variant, the plug 7 is not only centered in the unlocked position by means of the magnet arrangement 24, but also generates a characteristic overrunning force when the plug 7 is twisted by a certain angle from the unlocked position. In this respect, this solution represents a bistable system.

[0134] Therefore, the coupling 2 may include at least one first repulsive magnet 24a, and the mating coupling 3 may include a second repulsive magnet 24b, wherein the at least one first repulsive magnet 24a and the second repulsive magnet 24b are arranged relative to each other so that, in the unlocked position of the coupling 2 relative to the mating coupling 3, the at least one first repulsive magnet 24a and the second repulsive magnet 24b cooperate to cause a repulsive magnetic force, which presses the locking element 8 adjustably mounted on the coupling 2 to its unlocked position ( Fig. 27 ). In the case of the embodiment shown, the coupling element 2 has two repelling magnets 24a.

[0135] In accordance with Fig.28 and Fig.29 In the fifth variant, as soon as the plug 7 with the locking body 18 has passed the locking element, i.e. the mating retainer 16, the plug is held in the unlocked position by an additional locking element 25 on the mating retainer section. This fifth variant only allows twisting to the unlocked position, but does not allow turning back or further rotation. In this case, the plug 7 must first be completely removed before the connection can be reestablished by reinserting it.

[0136] The user experiences a defined expenditure of force when overcoming the locking element, ie the counter-holder 16 . In a variant, the locking element, ie the counter-holder 16 , can also be part of the frame 17 .

[0137] In accordance with Figure 30 to Figure 32 In the sixth variant, once the unlocked position is reached, the plug 7 with the locking body 18 is held in the unlocked position by the flanks of the mating holder 16. This is achieved by allowing the plug 7 with its locking body 18 to pass over the elastic spring element 26 in the frame 17, which lifts the plug slightly and moves it outwards.

[0138] The sixth variant also only allows twisting to the unlocked position, but does not allow rotation or further rotation. Here, the plug must be completely removed before the connection can be reestablished by reinserting it, but unlike the second and fifth variants, the connection can also be reestablished in the following manner: that is, the plug 7 is pressed downward to the level of the frame 17 against the force of the elastic spring element 26 and then rotated back to the locked position.

[0139] The user experiences a defined force expenditure when overcoming the spring element 26. In a variant, the spring element 26 can also be part of the plug 7, in particular part of the locking body 18.

[0140] according to Figure 33 to Figure 35 The seventh variant is theoretically based on Figure 30 to Figure 32 A sixth variant of the invention is shown in FIG. 1 , but differs in that the mechanical spring element 26 is replaced by a magnet pair 27 which is arranged in particular such that they have a repelling effect.

[0141] In accordance with Figures 36 to 40 In another type of embodiment, unlocking is not achieved by "free rotation" to a position where there is no overlap of the locking body 18 and the mating retainer 16, but by relative twisting of the plug 7 relative to the frame 17 to open the mating retainer 16, in particular the mating retainer section, radially outward until the plug 7 can be removed in the opposite direction of the plug-in direction S.

[0142] This type of embodiment, for example, has four sections 28 as the mating retainer 16, which have a shaped element, in particular a structural slope, at least on one side, in particular on both sides. The plug 7, for example, has a continuous locking body 18, which is held by the mating retainer 16, i.e., the four sections 28 in a form-fitting manner. In addition, the plug 7 has a release element 29 at the height of the mating retainer 16, which is located in a free pocket 30 between the sections 28 in the locked state. Twisting can cause contact and guided extrusion of the sections 28. The ratio of the size of the pocket 30 to the size of the release element 29 defines the unlocking time point. If the ratio is small, it will be released even if the relative rotation is small. If the ratio is large, it is another case, and the plug 7 will remain connected within a larger angle range.

[0143] according to Figure 41 to Figure 46 Another type of implementation is similar to Figures 36 to 401, but differs in that the function of the release element 29 is here assumed by the segmented locking bodies 18.1, 18.2, 18.3 and 18.4 and their flanks, which strike against the shaped elements of the joint holder section 16a during the twisting process. In the locked state, the segmented locking bodies 18.1, 18.2, 18.3 and 18.4 sink into the cavity below the joint holder section 16a. The necessary free space 30a is formed between the segmented locking bodies 18.1, 18.2, 18.3 and 18.4.

[0144] according to Figure 47 to Figure 49 Another variant with magnets 31 involves a possible projection without free space 30a and triggering shaped elements, but using magnets 31 placed on the plug 7 and the mating holder 16, i.e. the socket 2. The direction is selected here so that the paired magnets 31 attract each other in the locked state and provide additional stability, in particular for resisting the twisting of the plug 7. If a first force threshold is exceeded, the plug 7 including the inner magnet 31 can be twisted. If this magnet 31 hits the outer magnet 31 acting in the opposite direction at this point, they will act repellingly and press the mating holder section radially back against the weaker spring force.

[0145] Similar to the above variant, in accordance with Fig.50 In a variant, it is also possible to arrange only one bar magnet 32 ​​in the middle of the plug 7 and to design the two sections as mating holders 16 with one magnet 33 each, wherein one “north” and one “south” point inwards.

[0146] Fig.51 It is shown how the mating coupling 3 can be equipped with a manual operating device 34, as an alternative or in addition to the unlocking member 10 activated by rotation of the coupling 2 and the mating coupling 3, by means of which at least one locking element 8 of the coupling 2 and at least one mating locking element 9 of the mating coupling 3 can be disengaged.

[0147] Fig.52 It is shown how the coupling 2 can be equipped with a manual operating device 34, as an alternative or in addition to the unlocking member 10 activated by rotation of the coupling 2 and the mating coupling 3, by means of which at least one locking element 8 of the coupling 2 and at least one mating locking element 9 of the mating coupling 3 can be disengaged.

[0148] Fig.53It is shown how the input device 14 can be equipped with a manual operating device 34, as an alternative or in addition to the unlocking member 10 activated by rotation of the connecting member 2 and the mating connecting member 3, by means of which the at least one locking element 8 of the connecting member 2 and the at least one mating locking element 9 of the mating connecting member 3 can be disengaged. Fig.54 A schematic diagram of a system is shown, which includes a robot device 15, a robot input device 14, other terminal devices and corresponding connecting devices 1.

Claims

1. A connecting device (1) for mechanically connecting a first object and a second object in a form-fitting manner, the connecting device comprising: - a coupling (2) comprising: a first fastening section (4.1) for fastening the coupling (2) to the first object; a socket (5) having an opening through which a socket cavity (6) of the socket (5) is accessible in an axial plug-in direction (S); and at least one locking element (8) which is adjustably mounted between a locking position and an unlocking position, the locking element extending into the socket cavity (6) of the socket (5) in its locking position and releasing the socket cavity (6) of the socket (5) in its unlocking position, - a mating connector (3) having: a second fastening section (4.2) for fastening the mating connector (3) to the second object; a plug (7) corresponding to the socket (5) of the connector (2) and having a rod that can be inserted into the opening of the socket cavity (6) of the socket (5) along the axial plug-in direction (S); and at least one mating locking element (9) that cooperates in a form-fitting manner in the locking position of the locking element (8) of the socket (5), -in, The socket cavity (6) of the socket (5) and the rod of the plug (7) corresponding to the socket cavity (6) have mutually coordinated cross-sectional profiles, which allow the coupling member (2) and the mating coupling member (3) to be relatively twisted around a rotation axis parallel to the plugging direction (S) when the coupling member (2) and the mating coupling member (3) are in a connected state. - It also has an unlocking member (10) arranged on the mating connecting member (3), and the unlocking member is designed to move the locking element (8) of the connecting member (2) from its locking position to the unlocking position within a predetermined relative rotation angle position range of the connecting member (2) and the mating connecting member (3) when the connecting member (2) and the mating connecting member (3) are relatively twisted about a rotation axis parallel to the plug-in direction (S), so that the locking element (8) of the connecting member (2) and the mating locking element (9) of the mating connecting member (3) are disengaged in the unlocking position, so that the connecting member (2) and the mating connecting member (3) can be separated from each other in the opposite direction to the plug-in direction (S).

2. The connection device according to claim 1, characterized in that: The unlocking member (10) has at least one protrusion protruding radially outward from the rod of the plug (7), and the protrusion is constructed to press the locking element (8) into the unlocking position within a first rotational angle position range of the mating connecting member (3) relative to the connecting member, and to retain the locking element (8) in its locking position within a second rotational angle position range of the mating connecting member (3) relative to the connecting member (2) that is different from the first rotational angle position range, wherein the locking element is elastically prestressed in its locking position, and within the first rotational angle position range of the mating connecting member (3) relative to the connecting member (2), the locking element (8) is radially outwardly pressed into its unlocking position by the protrusion of the unlocking member (10) against the spring force.

3. The connection device according to claim 1, characterized in that: The unlocking member (10) has at least one recess (10a) extending axially along the rod of the plug (7) in the side surface of the rod, and the recess is constructed to align with a locking element (8) protruding radially inward into the socket cavity (6) of the connecting member (2) within a first rotational angle position range of the mating connecting member (3) relative to the connecting member (2), wherein within a second rotational angle position range of the mating connecting member (3) relative to the connecting member (2) that is different from the first rotational angle position range, the unlocking member (10) overlaps with the locking element (8) in the radial direction, so that the mating connecting member (3) is retained on the connecting member (2) in a shape-fitting manner in the axial direction in this locking position.

4. The connection device according to any one of claims 1 to 3, characterized in that: The mating coupling (3) is coupled to the coupling (2) via a one-way clutch, so that the mating coupling (3) and the coupling (2) can only rotate relative to each other in one rotation direction.

5. The connecting device according to any one of claims 1 to 4, characterized in that A middle plane, when the counter-connecting part (3) moves from the connecting part (2) in the opposite direction to the plug-in direction (S) to separate the counter-connecting part (3) from the connecting part (2) in the unlocked position, the counter-locking element (9) of the counter-connecting part (3) is introduced into the middle plane, wherein the middle plane has a restraining part that acts in a form-fitting manner, which first prevents the counter-connecting part (3) from leaving the middle plane and further separating from the connecting part (2), and only allows further separation after the counter-connecting part (3) is rotated by another rotation angle relative to the connecting part (2).

6. The connection device according to any one of claims 1 to 5, characterized in that: At a relative angular position of the coupling (2) relative to the mating coupling (3) corresponding to the unlocking position, the plug (7) of the mating coupling (3) is stably held in its unlockable rotational position relative to the socket (5) of the coupling (2) by a locking device (35) in a force-fitting and / or form-fitting manner.

7. The connection device according to claim 6, characterized in that: The locking device (35) comprises a locking pin (22a) protruding in the radial direction on the connecting piece (2) and pre-tensioned in the socket cavity (6), and the locking pin is mechanically locked in a recess (23a) in the rod of the plug (7) corresponding to the locking pin (22a) of the mating connecting piece (3) in the unlocked position.

8. The connection device according to claim 6, characterized in that: The locking device comprises a first magnet (24.1) attached to the coupling (2), which in the unlocked position magnetically cooperates with a second magnet (24.2) arranged on the mating coupling (3) so as to keep the mating coupling (3) in its instantaneous rotational angle position relative to the coupling (2) in the unlocked position.

9. The connection device according to any one of claims 1 to 8, characterized in that: The coupling (2) comprises at least one first repulsive magnet (24a), and the mating coupling (3) comprises a second repulsive magnet (24b), wherein the first repulsive magnet (24a) and the second repulsive magnet (24b) are arranged relative to each other so that, when the coupling (2) is in an unlocked position relative to the mating coupling (3), the at least one first repulsive magnet (24a) and the second repulsive magnet (24b) cooperate to cause a repulsive magnetic force, which presses a locking element (8) adjustably mounted on the coupling (2) to its unlocked position.

10. A system comprising a robot device (15), a robot input device (14) and a connection device (1) according to any one of claims 1 to 9, characterized in that: The connecting member (2) is connected to the robot device (15) as a first object via its first fastening section (4.1), and the mating connecting member (3) is connected to the robot input device (14) as a second object via its second fastening section (4.2), wherein the connecting device (1) according to any one of claims 1 to 9 is constructed and designed to manually and selectively connect and disconnect the robot input device (14) and the robot device (15).

11. A system comprising a robot device (15), a robot input device (14) and a connection device (1) according to any one of claims 1 to 9, characterized in that: The connecting member (2) is connected to the robot input device (14) as a first object via its first fastening section (4.1), and the mating connecting member (3) is connected to the robot device (15) as a second object via its second fastening section (4.2), wherein the connecting device (1) according to any one of claims 1 to 9 is constructed and designed to manually and selectively connect and disconnect the robot input device (14) and the robot device (15).

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