industrial robot

Abstract

Industrial robot (10) with a modular end effector (12), comprising at least: - a receiving flange (16); - a tool adapter (18) which can be attached to the mounting flange (16) in all degrees of freedom, as well as - a machining tool (14) with a rotary drive (24), wherein the drive (24) of the machining tool (14) can be inserted into the tool adapter (18) from a machining side (50) and is positioned in the tool adapter (18) by positive locking transverse to its axis of rotation, and a counter element is provided with which the drive (26) can be secured against the tool adapter (18) from the machining side (50); characterized in that the tool adapter (18) comprises at least one interface (34) for peripherals (36) of the machining tool (14), which is configured to include one or more elements from the following group: fluid line (40; 42; 48; 64), electrical line (58), pressure sensor, speed sensor (60).

Description

[0001] The invention relates to an industrial robot according to the preamble of claim 1.

[0002] Automation is becoming increasingly important in the field of manufacturing technology. It is common practice to have manually performed tasks carried out by industrial robots. One simple method is to attach the manual tool to the industrial robot using a holding device. Examples of applications include, for instance, the production of car bodies in the automotive sector. Here, it is common practice to use an industrial robot to perform tasks such as grinding after a painting process.

[0003] Such processes place high demands on the accuracy of the work performed. Conventional hand-held grinding machines, however, must be replaced at regular intervals, and to ensure accuracy in the work result, the hand-held grinding machine attached to the industrial robot must always be readjusted. In addition to the effort involved in replacing the hand-held grinding machine itself, the repeated readjustment of the production setup leads to significantly increased maintenance costs. Furthermore, such methods are associated with high levels of vibration and, consequently, material wear, noise generation, and a reduction in quality.

[0004] Conventionally, such problems could only be solved through manual rework or by accepting the frequent machine changes and the associated readjustments.

[0005] German patent DE 10 2016 113 195 A1 discloses a grinding machine with a robot that guides a grinder over the working end of a working arm. An ACF sensor is arranged between the working end and the grinder.

[0006] DE 10 2017 110 773 A1 describes a grinding robot system in which the rotational speed of a motorized grinding device is calculated by a control unit and changes according to a movement speed of a distal end of the robot.

[0007] Finally, FR 3 033 511 A1 describes a device for treating a surface. Several treatment units, for example for grinding, can be attached to a robot arm. The treatment unit is rotatably mounted on the robot arm about several rotational axes.

[0008] DE 10 2011 079 463 A1 discloses an effector for an industrial robot comprising a mounting flange, a tool adapter, and a machining tool with a rotary drive. The drive of the machining tool can be inserted into the tool adapter.

[0009] The object of the present invention is to create an improved industrial robot that solves the aforementioned problems.

[0010] The problem is solved by the subject matter of independent claim 1. Further preferred embodiments of the invention result from the remaining features mentioned in the dependent claims.

[0011] A first aspect of the invention relates to an industrial robot with a modular end effector, comprising at least: - a mounting flange; - a tool adapter that can be attached to the mounting flange in all degrees of freedom, as well as - a machining tool with a rotary drive.

[0012] According to the invention, the tool adapter comprises at least one interface for the periphery of the machining tool, and the at least one interface for the periphery is designed to comprise one or more elements from the following group: fluid line, electrical line, pressure sensor, speed sensor.

[0013] The drive of the machining tool can be inserted into the tool adapter from one machining side and is positioned in the tool adapter by positive locking perpendicular to its axis of rotation, and a counter element is provided with which the drive can be secured against the tool adapter from the machining side.

[0014] Preferably, the interfaces can include external connections on the tool adapter that can be connected to internal channels or can also represent connection openings for lines or sensors that are operatively connected to the drive.

[0015] This makes it particularly easy to integrate the peripherals into the machining tool via the tool adapter.

[0016] In other words, a modularization approach is used, whereby preferably all peripheral components of the machining tool can remain on the robot, and in the event of maintenance, only a work module, comprising the drive and the components it drives, needs to be replaced. Original components from a hand-held grinding machine can also be advantageously used for this purpose. Since the tool adapter does not need to be removed from the robot during maintenance and the drive can be inserted into the tool adapter with repeatable accuracy, the previously required adjustment process is eliminated. The modular insertion and locking of the drive from the machining side makes drive replacement particularly easy. Tests conducted by the applicants have shown that this can be done in less than 10 minutes.Since the described setup is also particularly stable and therefore low in vibration, and the sensitive components of the grinding machine are protected within the tool adapter, particularly long service lives of more than three months can be achieved in contrast to conventional solutions.

[0017] To improve repeatability, the tool adapter can preferably be made of metal, for example, aluminum. The tool adapter can preferably be a milled part, which allows for particularly high dimensional accuracy. The interface(s) can be, for example, ports provided on the tool adapter or channels within the tool adapter that correspond to these ports.

[0018] The peripherals include all equipment required for the operation of the machining tool, such as the supply and removal of energy and media, as well as control and regulation, for example, of the drive speed. Cooling of the drive via the tool adapter, for instance, by cooling an operating medium, is also possible. The same applies to the lubrication and cleaning of the machining tool.

[0019] The peripheral system can also include equipment for downstream processes, such as filtering extracted air. In the case of such exhaust air recirculation, heat and noise generation in the area of ​​the machining tool are also very low. In principle, all rotary-driven tools are suitable as machining tools, preferably grinding machines or similar machines, for example, for polishing, brushing, or deburring.

[0020] The drive can be secured against rotation, preferably by an insertable bolt in the tool adapter, or by working surfaces provided on the drive and the tool adapter.

[0021] In a preferred embodiment of the industrial robot of the invention, the counter element comprises a union nut.

[0022] The union nut can, for example, be screwed onto a fitting on the tool adapter from the machining side.

[0023] This further simplifies the replacement of the drive unit.

[0024] In a further preferred embodiment of the industrial robot of the invention, it is provided that at least one interface for peripherals is formed, which comprises one or more elements from the following group: fluid line, electrical line, pressure sensor, speed sensor.

[0025] Preferably, the interfaces can include external connections on the tool adapter that can be connected to internal channels or can also represent connection openings for lines or sensors that are operatively connected to the drive.

[0026] This makes it particularly easy to integrate the peripherals into the machining tool via the tool adapter.

[0027] In a further preferred embodiment of the industrial robot of the invention, it is provided that the periphery comprises one or more elements from the following group: lubricant supply for the drive, extraction for generating a vacuum on the machining side, pressure sensor for measuring a pressure in a fluid channel of the tool adapter.

[0028] The lubricant supply can, for example, be a nozzle attached to the tool adapter. The extraction system preferably includes a connection on the tool adapter that is linked to an internal channel leading to the machining side. The pressure sensor can, for example, monitor the pressure in the channel. The extraction system can reliably remove machining residues or drive lubrication.

[0029] All of this, while maintaining the modular and compact design, further contributes to increasing the functional safety of the industrial robot.

[0030] In a further preferred embodiment of the industrial robot of the invention, the machining tool is a grinding tool comprising a grinding pad holder that can be attached to the drive and a suction bell that can be attached to the tool adapter.

[0031] The industrial robot according to the invention is therefore particularly advantageous for use in manufacturing processes of the type mentioned at the outset.

[0032] In a further preferred embodiment of the industrial robot of the invention, it is provided that the tool adapter has a collar and an extraction opening on the machining side, which can be connected to an extraction system via the tool adapter, and that the extraction bell comprises a clip section complementary to the collar and an extraction nozzle complementary to the extraction opening.

[0033] Thus, the extraction bell is particularly advantageous as it can be clipped onto the collar without additional tools or fasteners, with the extraction nozzle simply being inserted into the extraction opening.

[0034] In a further preferred embodiment of the industrial robot of the invention, the periphery and / or the tool adapter comprises at least one cleaning nozzle for the grinding pad holder and / or for the extraction bell. Preferably, two cleaning nozzles are provided with which a flow vortex can be generated.

[0035] The cleaning nozzle can be used to direct a cleaning medium, such as compressed air, into the area of ​​the grinding pad holder or the extraction bell. Preferably, the cleaning nozzle can be integrated into the tool adapter on the machining side.

[0036] In a further preferred embodiment of the industrial robot of the invention, it is provided that the drive is a pneumatic drive.

[0037] The pneumatic drive is particularly suitable due to its low weight, and the simple supply of an operating medium is especially easy via the tool adapter. Furthermore, the pneumatic drive makes it advantageous to use the industrial robot of the invention in potentially explosive atmospheres, i.e., wherever an explosive mixture of gases and dusts can occur.

[0038] In a further preferred embodiment of the industrial robot of the invention, it is provided that the tool adapter includes supply and exhaust air channels for supplying the pneumatic drive.

[0039] Advantageously, lubricant can also be supplied via the air intake ducts, while ensuring the safe removal of, for example, oil-laden air via the exhaust ducts. The peripheral components for powering the drive can include, for example, a proportional valve and an initiator.

[0040] In a further preferred embodiment of the industrial robot of the invention, an intermediate element is provided, attached to the mounting flange, to which the tool adapter can be attached. Preferably, the tool adapter can be positively locked to the intermediate element.

[0041] Thus, even in the rather rare case that the tool adapter itself needs to be replaced, repeatable assembly of the new tool adapter is possible.

[0042] The intermediate element could, for example, be a retaining bracket.

[0043] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0044] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Fig. 1 an industrial robot according to the invention in the area of ​​its end effector; and Fig. 2 a tool adapter for an industrial robot according to the invention.

[0045] Fig. Figure 1 shows an industrial robot 10 according to the invention in the area of ​​its end effector 12. The industrial robot 10, which is not shown in detail, can be any robot that is capable of guiding a machining tool 14.

[0046] The industrial robot 10 comprises a mounting flange 16 to which a tool adapter 18 is attached. The attachment is achieved with an intermediate element 20 in the form of a retaining bracket 22. The retaining bracket 22 is securely and precisely fixed to the mounting flange 16 in all degrees of freedom. Thus, the tool adapter 18, which is positively locked to the retaining bracket 22, is also connected to the mounting flange 16 in the same way.

[0047] In this example, the machining tool 14 is a grinding tool 28. The machining tool 14 comprises a rotary drive 24, which is arranged inside the tool adapter 18 in a receiving chamber 26 (see Figure 1). Fig. 2).

[0048] The grinding tool 28 comprises a grinding pad holder 30 attached to the drive 24. Furthermore, the grinding tool 28 comprises a dust extraction bell 32 attached to the tool adapter 18.

[0049] The tool adapter 18 includes a variety of interfaces 34 for peripherals 36 of the machining tool 14, which are not shown in detail. In this example, the drive 24 is a pneumatic drive 38. The peripherals 36 for the pneumatic drive 38 therefore include fluid lines in the form of an air supply line 40 and an exhaust line 42.

[0050] The fluid lines 40, 42 are connected to the supply and exhaust air channels 44, 46 provided in the tool adapter 18 for supplying the pneumatic drive 38 (compare Fig. 2) The supply air line 40 is connected to a lubricant supply (not shown). This enables permanent lubrication of the pneumatic drive 38, whereby the lubricant-containing air can be discharged through the exhaust air line 42 and filtered.

[0051] Furthermore, the periphery 36 in this case includes a suction system 48 to generate a negative pressure on a machining side 50 of the machining tool 14.

[0052] The negative pressure is directed through a fluid channel 52 via the tool adapter 18 to the machining side 50 up to an extraction opening 53 (compare Fig. 2) There, a suction nozzle 54 of the suction bell 32 is inserted into the suction opening 53, which in turn Fig. 1 is evident.

[0053] Furthermore, the peripheral 36 includes a pressure sensor (not shown) which can be connected to the tool adapter 18 via a pneumatic connection 55. The pressure sensor serves to measure the pressure prevailing in the fluid channel 52. For this purpose, a pressure measuring channel 57 is provided, to which the pneumatic connection 55 is attached. The pressure measuring channel 57 is connected to the fluid channel 52 within the tool adapter 18 (see figure). Fig. 2).

[0054] In the Fig. In the state shown in Figure 1, a pneumatic line 56 is connected to the pneumatic port 55. To prevent contamination of the pressure measuring channel 57, the pneumatic port 55 is regularly backflushed with compressed air via the pneumatic line 56 and an external valve control (not shown).

[0055] The peripheral 36 also includes a speed sensor 60, which is connected to the tool adapter 18 via a speed measurement channel 61 (compare Fig. 2) The speed measurement channel 61 is connected to the recording chamber 26. The speed sensor 60 is connected via an electrical line 58 in the Fig. The speed sensor 60 is provided on the rear side of the tool adapter 18 as shown in the view 1. The speed sensor 60 measures the rotational speed of the pneumatic drive 38.

[0056] Furthermore, the tool adapter 18 includes a cleaning channel 63 with two opposing cleaning nozzles 62 (compare Fig. 2) These serve to clean the grinding pad holder 30 and the extraction bell 32 and are supplied with compressed air via a further supply air line 64 of the periphery 36. The two cleaning nozzles 62 are designed to generate a flow vortex.

[0057] The drive 24 of the in Fig. The machining tool 14 shown in Figure 1 can be inserted into the tool adapter 18 from the machining side 50. This, as well as the attachment of the extraction bell 32, is described with reference to Fig. 2 explained in more detail below.

[0058] In the upper part of the Fig. Figure 2 shows the tool adapter 18 of the industrial robot 10 in an isometric view and in the lower part in a view opposite to the machining direction 50.

[0059] In the upper part of the Fig. Figure 2 shows the receiving space 26 for the drive 24. The tool adapter 18 has a collar 66 in the area of ​​the receiving space 26. After the drive 24 is inserted into the receiving space 26, it can be secured in the machining direction 50 with a counter element (not shown here), for example, a cap nut. By inserting the drive 24 into the receiving space 26, it is positively locked in the receiving space 26, perpendicular to its axis of rotation, which runs parallel to the machining direction 50.

[0060] The Bund 66 also features a gangway 70 that runs at least partially around the perimeter and a ledge 68. The in Fig. The suction bell 32 shown in Figure 1 has a clip section complementary to the web 70 and the shoulder 68, with which it can be clipped between the web 70 and the shoulder 68. The suction nozzle 54 can also be positioned in the suction opening 53 of the fluid channel 52. Reference symbol list 10 industrial robots 12 End effector 14 machining tools 16 Mounting flange 18 tool adapters 20 Intermediate element 22 mounting brackets 24 drive 26 Recording room 28 Grinding tool 30 grinding pad holder 32 Suction bell 34 interfaces 36 Periphery 38 pneumatic drive 40 Supply air duct 42 Exhaust duct 44 Supply air duct 46 Exhaust duct 48 Extraction 50 editing pages 52 Fluid channel 53 Extraction opening 54 extraction ports 55 pneumatic connection 56 pneumatic lines 57 Pressure measuring channel 58 electrical line 60 Speed ​​sensor 61 Speed ​​measurement channel 62 cleaning nozzles 63 Cleaning channel 64 additional supply air ducts 66 Federal Government Paragraph 68 70 Bridge

Claims

Industrial robot (10) with a modular end effector (12), comprising at least: - a mounting flange (16); - a tool adapter (18) which can be attached to the mounting flange (16) in a defined manner in all degrees of freedom; and - a machining tool (14) with a rotary drive (24), wherein the drive (24) of the machining tool (14) can be inserted into the tool adapter (18) from a machining side (50) and is positioned in the tool adapter (18) by positive locking transversely to its axis of rotation, and a counter element is provided with which the drive (26) can be secured against the tool adapter (18) from the machining side (50); characterized in that the tool adapter (18) comprises at least one interface (34) for peripherals (36) of the machining tool (14), which is configured to include one or more elements from the following group: fluid line (40; 42; 48;64), electrical line (58), pressure sensor, speed sensor (60).; Industrial robot (10) according to claim 1, characterized in that the counter element comprises a cap nut. Industrial robot (10) according to claim 1, characterized in that the periphery (36) comprises one or more elements from the following group: lubricant supply for the drive (24), extraction (48) for generating a vacuum on the machining side (50), pressure sensor for measuring a pressure in a fluid channel (57) of the tool adapter (18). Industrial robot (10) according to one of the preceding claims, characterized in that the machining tool (14) is a grinding tool (28) which comprises a grinding pad holder (30) attachable to the drive (24) and a suction bell (32) attachable to the tool adapter (18). Industrial robot (10) according to claim 4, wherein the tool adapter (18) has a collar (66) and an extraction opening (53) on the machining side (50), which can be connected to an extraction system (48) via the tool adapter (18), and wherein the extraction bell (32) comprises a clip section complementary to the collar (66) and an extraction nozzle (54) complementary to the extraction opening (53). Industrial robot (10) according to claim 4 or 5, characterized in that the periphery (36) and / or the tool adapter (18) comprises at least one cleaning nozzle (62) for the grinding pad holder (30) and / or for the extraction bell (32). Industrial robot (10) according to one of the preceding claims, characterized in that the drive (24) is a pneumatic drive (38). Industrial robot (10) according to claim 7, characterized in that the tool adapter (18) comprises supply and exhaust air channels (44; 46) for supplying the pneumatic drive (38). Industrial robot (10) according to one of the preceding claims, characterized in that an intermediate element (20) is provided attached to the receiving flange (16), to which the tool adapter (18) can be attached.

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