Tool interface and robot having such a tool interface

Abstract

A tool interface (10) is proposed for coupling a tool (200) to a robotic arm (110) of a robot (100). The tool interface (10) has a sub-device (20) on the robotic arm side and a sub-device (50) on the tool side. These two sub-devices (20, 50) have coupling devices (80) for mechanically coupling the tool (200) to the robotic arm (110). These two sub-devices (20, 50) are further configured for transmitting data between the tool (200) side and the robot (100) side, wherein, for this purpose, both sub-devices (20, 50) have contact surfaces (30, 60) that contact each other when the tool (200) is mechanically coupled to the robot (100). Here, at least one sub-device in the apparatus (20, 50) is configured to have a dual-function printed circuit board (22, 52) that serves as a carrier for the contact surface (30, 60) of the sub-device (20, 50) and, in addition, as a carrier for at least one integrated circuit (70, 72, 74) and / or at least one sensor (76), wherein the integrated circuit (70, 72, 74) or the sensor (76) is coupled to the contact surface (60) of the sub-device (50).

Description

Technical Field

[0001] This invention relates to a tool interface for coupling a tool to the robotic arm of a robot. Background Technology

[0002] This tool interface consists of two sub-devices: a robot arm-side sub-device fixedly mounted at the distal end of a robot arm, and a tool-side sub-device located at the tool. The robot arm-side sub-device is typically mounted on the robot arm, which is capable of self-movement via multiple pivot axes and is mounted on the robot arm. The robot arm-side sub-device itself can be replaceable at the robot arm, but this is generally associated with high costs and is not typically automated. The tool-side sub-device is typically coupled to the provided tool or a tool holder configured to couple to the tool. Tools that may have a tool-side sub-device with the tool interface according to the invention include, in particular, tools for applying liquids, tools for welding, or tools for cutting workpieces. Furthermore, such tool-side sub-devices are also used in grippers and other tools for handling objects.

[0003] This type of tool interface allows for the flexible and cost-effective replacement of robot-guided tools.

[0004] Known tool interfaces are used not only to mechanically couple tools to a robotic arm, allowing the tool to be guided by the robotic arm and brought to a designated machining position, but also to supply the tool with consumable materials, mostly liquid, and compressed air, as well as to supply electrical power. Furthermore, known and, according to the invention, tool interfaces are also used to transmit data, typically digital. This data may be, for example, control signals transmitted to the tool, or information transmitted from the tool to the robotic arm for processing, for example, in the robot's central control unit.

[0005] The contacts required for transmitting this data can be provided via a plug connection structure, which is manually created after the tool is coupled via the tool interface. However, it is also known that contact surfaces at the sub-devices of the tool interface are configured for transmitting such data such that a corresponding data connection is established by mechanically coupling the tool to the robotic arm.

[0006] However, in known solutions, this contact surface significantly contributes to the size of the tool interface sub-devices. Typically, one or more printed circuit boards are provided in the sub-device, which are connected to the coupling assembly via cables, and the contact surface of the corresponding sub-device is located at the coupling assembly. Summary of the Invention

[0007] The objective of this invention is to provide a solution for a tool interface that allows for the particularly compact construction of sub-devices with printed circuit boards.

[0008] Therefore, according to the present invention, a tool interface for coupling a tool to the robot arm of a robot is proposed, the structure of which is as follows.

[0009] In a manner known per se, the tool interface has a sub-device on the robot arm side and a sub-device on the tool side. Both sub-devices have coupling devices for mechanically coupling the tool to the robot arm, such that, in the mechanically coupled state, the tool located at the tool-side sub-device can be moved to the desired processing position by means of the robot arm.

[0010] In the coupled state, the sub-devices are close to each other and locked in place by their relative positions.

[0011] Preferably, the coupling device has at least one tapered or otherwise tapered directional pin that engages with a corresponding receptacle at the tool when coupled to it. Particularly preferred is the presence of two such directional pins. Alternatively, the directional pins may also be located at the tool, thereby allowing the tool interface on the robot arm side to have a corresponding receptacle instead.

[0012] The coupling device is preferably configured for form-fit coupling, and for this purpose has a coupling head at one sub-device, which is movable into a coupling recess in another sub-device. At least one movable locking body is provided on the outside of the coupling head or on the inside of the coupling recess, the locking body being movable between a released position and a form-fit locked position of the coupling device. Preferably, the two sub-devices have a one-piece or multi-piece, preferably metallic, base forming the coupling recess or coupling head, or additional metallic components for forming the coupling recess and coupling head are mounted on the base. In particular, the locking body can be multiple locking bodies, such as multiple locking balls, which are movable in directions diverging from each other to jointly establish a coupled and locked state of the coupling device, or jointly establish an unlocked and decoupled state of the coupling device. Preferably, a common actuating element is provided at the sub-device where the locking body is provided. The actuating element indirectly presses all the locking bodies together to the locked position by displacement, and the actuating element can return all the locking bodies to the unlocked position by reverse displacement.

[0013] These two sub-devices are also configured to transmit electrical power and / or data between the tool side and the robot side, wherein, for this purpose, both sub-devices have conductive contact surfaces that contact each other when the tool is mechanically coupled to the robot. These contact surfaces are thus arranged at the sub-devices such that they abut each other when the sub-devices shift toward each other in the coupling direction. These contact surfaces can be configured to be immovable and fixed relative to the base of the respective sub-device. However, it is preferred that the contact surfaces at at least one of the sub-devices be elastically supported, forming a conductive connection even with small positional deviations between the sub-devices. The number of contact surfaces can vary considerably. It is preferred that at least two such contact surfaces are provided at each of the two sub-devices. However, designs with more contact surfaces, particularly four or more, are preferred.

[0014] A construction method is provided that allows the respective sub-devices to be designed to be relatively small. For this purpose, at least one sub-device has a printed circuit board that performs dual functions.

[0015] On the one hand, the printed circuit board is equipped with electronic components, which are described in more detail below, in particular at least one integrated circuit and / or at least one sensor.

[0016] On the other hand, the printed circuit board itself constitutes the carrier of the contact surface that supports the corresponding sub-device. This means that the contact surface or structural element (where a flexible contact surface is provided, if possible) is directly disposed on the printed circuit board and is mechanically held in place by the printed circuit board.

[0017] This construction method allows for a relatively compact sub-device design. It reduces the need for internal wiring and printed circuit boards in the sub-devices designed according to the present invention. Furthermore, it simplifies assembly, as the corresponding electronic components are assembled simultaneously with the insertion of the printed circuit board into the relevant sub-device, eliminating the need for additional wiring between the contact surfaces and the electronic components.

[0018] Although, according to the invention, one or more electronic components and contact surfaces may be disposed on the same printed circuit board and, in principle, other electronic components may be disposed on other printed circuit boards of the same sub-device, it is considered particularly advantageous that the associated printed circuit board with contact surfaces represents the only circuit board equipped with integrated circuits in the respective sub-device.

[0019] In principle, sensors that can be mounted on a printed circuit board include all sensors disposed in such a sub-device, such as sensors for checking coupling states, like force sensors and position sensors. In particular, sensors that do not necessarily have to be located in a specific position for their respective purposes can be disposed on the main printed circuit board along with contact surfaces. These sensors particularly include sensors for monitoring the movement of the sub-device, such as accelerometers or similar sensors. Sensors on a printed circuit board with contact surfaces can be directly soldered to the printed circuit board, or inserted here into a base soldered to the circuit board. If the sensors of the sub-device cannot be arranged on a circuit board and have a separate printed circuit board, then additional printed circuit boards dedicated to these sensors and / or actuator-specific printed circuit boards provided for a particular actuator are preferably the only printed circuit boards of the relevant sub-device besides the main printed circuit board.

[0020] The integrated circuit, preferably disposed on a printed circuit board with contact surfaces, is either directly soldered onto the printed circuit board or inserted into a fixed mounting base. This integrated circuit can be, in particular, a microprocessor or a memory.

[0021] Particularly preferred is that the printed circuit board with contact surfaces has at least one integrated circuit configured as a microprocessor and at least one integrated circuit configured as a memory. Alternatively, an integrated circuit that includes both a microprocessor and a memory can also be used.

[0022] The tool interface according to the invention comprises two sub-devices to be coupled, in the form already described. The described design is feasible at both sub-devices, in which a common printed circuit board carries the electronic components and contact surfaces. However, this configuration is considered particularly advantageous at the tool-side sub-device.

[0023] It is particularly advantageous for different applications of at least one integrated circuit disposed on a printed circuit board with contact surfaces.

[0024] The integrated circuit is preferably a processor that processes program code stored in the sub-device to evaluate sensor data from sensors in the sub-device based on the program code. The program code can be configured, in particular, to compare the sensor data with expected sensor data, for example, to check the tool's fault-free functionality. Specifically, the program code can also be configured to transmit data from further processing of at least one sensor and / or the knowledge derived therefrom as data to a receiver on the robot side via the contact surface.

[0025] The processor may also have program code stored in the sub-device, with which the sub-device, or particularly the tool-side sub-device, and the tool coupled thereto, can be programmed using a teaching method. This means that the program code is configured to monitor manually induced movements of existing actuators and derive a list of actions from the adjusting movements occurring therein. The adjusting movements detected therein and / or the list of actions derived therefrom can be transmitted via a contact surface to a receiver on the robot side.

[0026] The printed circuit board having contact surfaces preferably has an integrated circuit in the form of a memory chip. This memory chip may contain the program code described above. Furthermore, the memory may be connected to the processor of a sub-device or, via contact surfaces, to a processor on the side of another corresponding sub-device, in order to record different data, such as data on the use of a tool, the memory being installed in the sub-device of that tool.

[0027] Another possibility for using this memory is to store an identification identifier. This identifier can be one-to-one with the type of the corresponding tool. However, it can also be one-to-one with a specific sub-device in the form of a serial number. Preferably, the processor of the sub-device on the tool side is configured to read the identifier and send it to the central control unit, thereby allowing verification that the correct tool is coupled within the scope of the coupled operation.

[0028] Similarly, such memory chips on the printed circuit board of the tool-side sub-device can also be used to record usage history. In this case, the processor of the same sub-device, especially the processor located on the same printed circuit board, or the processor of the tool or robot, can use corresponding instruction code to store the data generated during operation in the memory. In the simplest case, the processor is configured with program code to store the tool's running time or the number of usage events (e.g., the number of gripping operations when the gripper is used as a tool) in the memory. This data can be used in particular to plan maintenance or replacement times for the tool (predictive maintenance).

[0029] Another type of electronic component (which is considered advantageous to arrange directly via a printed circuit board that performs dual functions) is an integrated circuit constructed as a network controller, for example for Profinet, EtherCAT, or Ethernet.

[0030] Particularly preferably, at least one or both sub-devices in the sub-devices have a substrate, preferably of metal, and the coupling sub-device of the corresponding coupling device is disposed on the substrate. The corresponding substrate has a circumferential surface for placing the contact surface, which preferably has a recess. The printed circuit board with the contact surface is preferably placed in the recess or extends into the recess. Preferably, the printed circuit board also has a section that is not placed within the outer contour defined by the substrate, which is preferably substantially circular, in order to provide sufficient space for accommodating integrated circuits or sensors.

[0031] In addition to the tool interface itself, the present invention also relates to a robot, particularly an industrial robot or collaborative robot, having a robotic arm in a conventional manner, the robotic arm being particularly capable of moving and guiding a tool mounted on its end face to a desired processing position via a swingable joint. The tool is secured here via a tool interface of the type described above. Attached Figure Description

[0032] Further advantages and aspects of the invention will become apparent from the claims and from the following description of preferred embodiments of the invention, which are illustrated below with reference to the accompanying drawings.

[0033] Figure 1 A robot according to the invention is shown, wherein a tool is coupled to the robot via a tool interface 10 consisting of two sub-devices.

[0034] Figure 2 The tool interface is shown in a split view.

[0035] Figure 3 One of the sub-devices of the tool interface is shown in cross-section.

[0036] Figure 4 The coupling side of the two sub-devices is shown. Detailed Implementation

[0037] Figure 1 A robot 100 with a robotic arm 110 is shown, which enables the tool 200 to move flexibly, particularly to be moved to a working position, and to a tool change station for tool replacement. Supply lines for transmitting electrical signals extend along the robotic arm 110.

[0038] Figure 2 Two sub-devices 2, 50 of the tool interface 10 are shown, which couple the tool 200 to the robot arm 210 in the robot 100 via the tool interface.

[0039] The first sub-device 20 is configured for fixed installation on the robot arm 110. The second sub-device 50 is disposed on the tool side.

[0040] These two sub-devices 20 and 50 are periodically coupled to each other during operation when the corresponding tool 200 is required according to the workflow of robot 100, and are decoupled from each other again when other tools are needed. During periods when tool 200 is not required, the tool, together with its sub-device 50, is placed in a designated storage location, specifically in a tool library not shown here.

[0041] These two sub-devices 20 and 50 have coupling devices 80 for mechanical coupling of the sub-devices. For this purpose, a coupling recess 84 is preferably provided at one of the sub-devices 20 and 50, on the tool side of the sub-device 50, into which the coupling connector 82 of the other sub-device 20 moves during coupling. The coupling connector 82 is... Figure 3 As can be seen, the design features outer through-holes in which locking bodies 86 (currently locking balls 86) are arranged. These locking bodies 86 are movable outwards and locked therein by means of a common locking actuator 87 to prevent further movement. In the current design, the locking actuator 87 is always pressed towards its locked position by a spring 88. When the two sub-devices 20, 50 are in the coupled position and the locking bodies 86 are pressed outwards by means of the locking actuator 87, the sub-devices 20, 50 are thus securely connected to each other, allowing the tool 200 to be brought to the processing position by means of the robotic arm 110.

[0042] To decouple tool 200, it is typically moved to a resting position by robotic arm 110. There, the locking actuator 87 is then retracted, for example, pneumatically or electrically. Manual relocation is also possible. By relocating the locking actuator 87, the locking state is released. The locking body 86 can then be moved back into the coupling joint, and the sub-devices 20, 50 can be separated from each other.

[0043] like Figure 4 As shown, sub-devices 20 and 50 are configured for transmitting data and electrical power. For this purpose, both sub-devices 20 and 50 have outer recesses 26 and 56 in their bases 24 and 54 (which also support corresponding coupling sub-devices 82 and 84), in which conductive contact surfaces 30 and 60 are provided. These contact surfaces 30 and 60 are preferably configured as resiliently supported contact surfaces 30 and 60 at least at one of the two sub-devices 20 and 50 to ensure reliable contact.

[0044] When the two sub-devices 20 and 50 are mechanically coupled to each other through the coupling device 80, the contact surfaces 30 and 60, which are respectively placed opposite each other, come into contact with each other, thereby enabling the transmission of electrical power and electronic signals.

[0045] At at least one of the two sub-devices 20, 50, a contact surface 30, 60 or a spring-loaded structural element with a contact surface is mounted on a printed circuit board 22, 52, which extends from the outside into the recess 26, 56. In the case of the contact surface 60 on the tool side, the contact surface is located at a metal pin soldered to the circuit board. The contact portion is protectively surrounded by a support member 61, which has a notch for each contact surface 60.

[0046] However, the printed circuit boards 22 and 52 are not merely used to support the contact surfaces 30 and 60, but also contain a number of other electronic components. Thus, in the case of the tool-side sub-device 50, in addition to the contact surface 60, a microprocessor 72, a network controller 70, and a memory chip 74 are also provided on the printed circuit board 52. Furthermore, a sensor unit 76 is provided, which may include, for example, an accelerometer.

[0047] Electronic components 70, 72, 74, and 76 are interconnected via conductor rails 78 of printed circuit board 52 and connected to contact surface 60. Processor 72 can exchange data with other stations (such as the controller of robot 100 or a central control unit that controls multiple robots) via network controller 70 in this way.

[0048] Arranging the aforementioned electronic components 70, 72, 74, 76 together with the contact surface 60 on a common printed circuit board 52 has a number of advantages. Besides the cost savings and reduced structural size resulting from this integration, the simplified assembly is particularly crucial. When assembling the respective sub-devices 20, 50, most or all of the electronic components of the sub-devices 20, 50 can be installed by mounting the pre-equipped printed circuit boards 22, 52 into the sub-devices 20, 50. In particular, the need to create cable connections within the sub-devices 20, 50 is eliminated or reduced because the electronic components 70, 72, 74, 76 arranged on the common printed circuit board 22, 52 are interconnected via conductor rails 78.

[0049] In addition to simplified assembly, eliminating or reducing such cable connections also leads to improved reliability. The risk of cable connections becoming loose under the influence of forces acting on sub-devices 20, 50, or the corresponding plugs becoming unreliable due to corrosion, is reduced.

[0050] The microprocessor 72 can be configured to receive control commands from an external control unit via contact surfaces 30, 60, so as to control the actuator of the tool 200 accordingly.

[0051] For this purpose, and for the further purposes described below, the microprocessor 72 is configured to read program code from memory 74 for processing. This allows for the shaping of various other functions, all of which are commonly implemented in the current example. However, this should be understood as exemplary. The processor 72 may also assume only one or some of the functions described herein.

[0052] First, two identification identifiers are stored in memory 74. One of these identifiers identifies a specific tool 200 or a specific sub-device 50 and is assigned only to that tool or sub-device. The other identifier is a type-related identifier that describes the type of sub-device 50 or the type of tool 200 located therein.

[0053] Once the tool-side sub-device 50 is coupled to the robot-side sub-device 20, and thus provides electrical power for operating the electronic components via contact surfaces 30, 60, related data transmission occurs. The processor 72 reads an identification identifier from the memory 74 and transmits it to an external peer station via the network controller 70 and contact surfaces 3, 60, particularly to the control device for controlling the robot 100. The external peer station can compare the detected information with expected information and, if the type of tool 200 is incorrect or if a different tool was intended for coupling, suspend further processing.

[0054] Furthermore, the program code in memory 74 is configured to detect and further process data from sensor 76 when processed by processor 72. This further processing may involve analyzing the sensor data to detect faults. In the event of such a functional failure, data can be transmitted to an external counterpart station via contact surfaces 30, 60. Additionally, the detected sensor data and / or usage data derived from data received from an external control unit can be stored in memory to establish a usage history for the relevant tools.

[0055] This usage history can then be used to plan maintenance procedures or tool replacement at tool 200. Specifically, it is configured so that processor 72 or an external processor analyzes the data stored in memory 74 to identify maintenance or replacement needs.

Claims

1. A tool interface (10) for coupling a tool (200) to a robotic arm (110) of a robot (100), the tool interface having the following features: a. The tool interface (10) has a sub-device (20) on the robot arm side and a sub-device (50) on the tool side, and b. These two sub-devices (20, 50) have coupling devices (80) for mechanically coupling the tool (200) to the robotic arm (110), and c. These two sub-devices (20, 50) are configured to transmit data between the tool (200) side and the robot (100) side, wherein, For this purpose, both sub-devices (20, 50) have contact surfaces (30, 60) that come into contact with each other when the tool (200) is mechanically coupled to the robot (100). Its features are, d. At least one of the sub-devices (20, 50) has a printed circuit board (22, 52) that performs dual functions, in such a way that - The printed circuit board (22, 52) serves as the carrier for the contact surfaces (30, 60) of the sub-device (20, 50), and - The printed circuit board (22, 52) is a carrier of at least one integrated circuit (70, 72, 74) and / or a carrier of at least one sensor (76), wherein the integrated circuit (70, 72, 74) or the sensor (76) is coupled to the contact surface (60) of the sub-device (50).

2. The tool interface (10) according to claim 1, has the following additional features: a. The dual-function printed circuit board (22, 52) has at least one sensor (76) configured as an acceleration sensor.

3. The tool interface (10) according to claim 1 or 2, has the following additional features: a. The dual-function printed circuit board (22, 52) has at least one processor (72) configured to evaluate sensor data.

4. The tool interface (10) according to any one of the preceding claims has the following additional features: a. The dual-function printed circuit board (22, 52) has at least one integrated circuit (74) having a memory or configured as a memory (74).

5. The tool interface (10) according to claim 4, having the following additional features: a. The memory (74) stores an identification identifier that corresponds one-to-one with the tool type or the tool.

6. The tool interface (10) according to claim 4 or 5, having the following additional features: a. The memory (74) contains program instructions that enable the robotic arm (110) and / or the tool (200) to be programmed in teach mode.

7. The tool interface (10) according to any one of claims 4 to 6, having the following additional features: a. The memory (74) contains program instructions that enable the evaluation and / or further processing of sensor data.

8. The tool interface (10) according to any one of claims 4 to 7, having the following additional features: a. The memory stores data about the usage history of the tool (200).

9. The tool interface (10) according to any one of the preceding claims has the following additional features: a. The dual-function printed circuit board (22, 52) has at least one integrated circuit (70) configured as a network controller (70).

10. The tool interface (10) according to any one of the preceding claims has the following additional features: a. At least one of the sub-devices (20, 50) has a metal substrate (24, 54), and the coupling sub-devices (82, 84) of the coupling device (80) are disposed on the metal substrate, and b. The metal substrate (24, 54) has recesses (26, 56) in the region of the circumferential surface, and c. The printed circuit board (22, 52) of the sub-device (20, 50) extends into or is disposed within the recess (26, 56).

11. The tool interface (10) according to any one of the preceding claims has the following additional features: a. The coupling device is configured for form-fit coupling and for this purpose has a coupling connector (82) at one sub-device (20), the coupling connector being able to be inserted into a coupling recess (84) of another sub-device (50), wherein, At least one movable locking body (86) is provided on the outside of the coupling head (82), the locking body being movable between the release position and the form-fit locking position of the coupling device (80).

12. A robot (100) having the following characteristics: a. The robot (100) has a movable robotic arm (110), and a tool (200) is coupled to the distal end of the robotic arm via a tool interface (10). It is characterized by the following features: b. The tool interface (10) is constructed according to any one of the preceding claims.

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