CHANGING SYSTEM FOR CHANGING TOOLS OF A ROBOT ARM AND METHOD FOR CHANGING SUCH A TOOL

Abstract

Shown and described is a changing system (20) for changing tools (3) to be used one after the other on a robot arm (1), with at least one tool (3) to be operated by the robot arm (1), with a changing device (5) for picking up, holding and releasing at least one unused tool (3) and with at least one adapter (2) for connecting the at least one tool (3) to the robot arm (1).

Description

[0001] The invention relates to a changing system for changing tools to be used one after the other on a robot arm, with at least one tool to be operated by the robot arm, with a changing device for picking up, holding and releasing at least one unused tool and with at least one adapter for connecting the at least one tool to the robot arm, wherein the changing device and the at least one tool form at least one corresponding tongue and groove system for positively connecting the at least one tool to the changing device in a connecting direction,wherein the at least one tongue and groove system is designed to separate the at least one tool from the changing device in a separation direction at least substantially opposite to the connection direction, and wherein the at least one adapter has a control device comprising at least one control cam for locking the at least one tool to the at least one adapter in a locking position of the control device and for separating the at least one tool from the at least one adapter in a release position of the control device. Furthermore, the invention relates to a method for changing tools using such a changing system.

[0002] Robot arms are often used for different tasks that require the use of different tools to perform the tasks precisely and efficiently. These tools can be thought of as different hands of the robot arm. However, they can also be viewed as fingers attached to the hands of a robot arm, with the hands themselves being able to be changed as needed.

[0003] Changing systems for changing tools to be used consecutively on a robot arm are known. These systems comprise a tool to be operated by a robot arm and a changing device for picking up, holding, and releasing the tool while the tool is not being used by the robot arm. Furthermore, an adapter is provided that can be connected to the tool and disconnected from it again. The adapter is further connected to the robot arm either permanently or detachably. The tool is thus at least temporarily connected to the robot arm via the adapter. The tool can also be connected to the changing device and disconnected from it again.

[0004] To connect and release the tool to and from the changing device, the changing device and the tool form a corresponding tongue and groove system, which can be engaged in a connecting direction and disengaged in a separating direction at least substantially opposite to the connecting direction. The tongue and groove system can, in particular, ensure that the tool does not fall or slide off the changing device in the direction of gravity. To separate the tool and the changing device, the tool can be pulled out in the separating direction at least substantially opposite to the connecting direction. The corresponding tongue and groove system is disengaged in this process.

[0005] The tool is temporarily held to the adapter via a control device on the adapter. For this purpose, the control device can be moved to a locked position. To separate the adapter and tool, the control device can also be moved to a released position. To move the control device between the released position and the locked position, and back to the released position, the control device is equipped with a control cam. The control cam is adjustable relative to the adapter and, in doing so, adjusts the adapter's control device.

[0006] The robot arm should be able to change tools itself, eliminating the need for manual operator intervention. The changeover process must therefore be particularly reliable, so that tools detached from the robot arm can be retrieved at a later time without manual operator intervention. Last but not least, the tool changeover should be as fast as possible to utilize the robot arm as efficiently as possible and avoid downtime.

[0007] Therefore, the object of the present invention is to design and further develop the changing system and the method of the aforementioned and previously explained type in such a way that the changing of tools can be carried out more reliably, faster and easier.

[0008] This object is achieved in a changing system according to the preamble of claim 1 in that the changing device has at least one delivery contour and at least one receiving contour, that the at least one delivery contour and the at least one control cam are designed to correspond in such a way that the at least one control cam slides on the at least one delivery contour when picking up the at least one tool from the changing device and adjusting the at least one tool relative to the changing device in the connecting direction and is adjusted relative to the at least one adapter, so that the control device is adjusted to the release position and that the at least one receiving contour and the at least one control cam are designed to correspond in such a way,so that the at least one control cam, when taking over the at least one tool from the changing device before releasing the at least one tool from the changing device and adjusting the at least one adapter relative to the changing device in a takeover direction oriented at least substantially perpendicular to the connection direction and the separation direction, slides on the at least one takeover contour and is adjusted relative to the at least one adapter such that the control device is adjusted to the release position.

[0009] The above object is further achieved according to claim 13 by a method for changing tools using a changing system according to one of claims 1 to 12, - in which a tool held on an adapter is brought into engagement with a changing device via a corresponding tongue and groove system in a connecting direction, - in which a control cam of a control device of the adapter slides on a delivery contour of the changing device, is adjusted relative to the adapter and in the process the control device is adjusted from a locking position to a release position and - in which the adapter with the control device is released in the release position in a release direction at least substantially perpendicular to the connection direction from the tool held on the changing device.

[0010] The changing device has a delivery contour and a take-over contour along which the control cam can slide. The control device can be controlled via the delivery contour and the take-over contour. For this purpose, the control cam slides along the delivery contour and the take-over contour, whereby the control cam is adjusted relative to the adapter after the corresponding contour has been shaped in order to move the control device from the locking position to the release position. The robot arm with the adapter can be moved past the contour in a predetermined movement, in particular in a straight line, at a predetermined distance. The control cam is then forcibly adjusted from the delivery contour or the take-over contour to the release position, while the adapter is moved past the respective contour in the connection direction or the transfer direction.

[0011] The at least one dispensing contour and the at least one control cam are configured to correspond in such a way that, when the at least one tool is picked up by the changing device, the at least one control cam slides along the at least one dispensing contour in such a way that the control cam is forcibly adjusted relative to the at least one adapter, and consequently the control device is adjusted to the release position. This is achieved while the tool is adjusted by the robot arm in the connecting direction, whereby the tool and the changing device engage via the tongue and groove system.

[0012] In this context, the term "tongue and groove system" is used in a very general sense. The number of grooves and tongues present is irrelevant. Nor does the nature of the grooves and tongues matter. What is important is that the tongue and groove system enables mutual, targeted engagement between the changer and tool, with the tool being held in a defined manner by the changer. The workpiece can thus be easily and reliably picked up again at a later time by the same robot arm or adapter, or by a different robot arm or adapter.

[0013] It must be possible to separate the adapter from the tool while the tool is held in the changing device. The adapter can then be temporarily equipped with other tools. For this purpose, the adapter must also be reconnected to a workpiece. The transfer contour and the control cam are therefore designed to correspond. If the adapter is adjusted in a transfer direction when the tool is transferred from the changing device before the tool is transferred from the changing device to the adapter, the control cam slides along the transfer contour in such a way that the control cam is adjusted relative to the adapter and, as a result, the control device is moved into the release position. The adapter can then be connected to the tool. The transfer direction is aligned at least substantially perpendicular to the connection direction and the separation direction.

[0014] The method therefore at least provides for the tool held on the adapter to be brought into engagement with the changing device in the connecting direction, using a corresponding tongue and groove system formed jointly by the tool and the changing device for this purpose. While the tool is adjusted in the connecting direction and the corresponding tongue and groove system is engaged, the control cam of the control device of the adapter slides along the delivery contour. The control cam is thereby adjusted relative to the adapter, whereby the control device is moved into the release position. The adjustment in the connecting direction and the engagement of tool and changing device therefore preferably takes place until the control device has been completely moved into the release position. The adapter can then be easily separated from the tool by a corresponding movement of the robot arm.This is achieved by releasing the adapter with the control device in the release position from the tool held on the changer in a release direction at least substantially perpendicular to the connection direction. For the sake of simplicity, it is best to do this if the connection direction is at least predominantly horizontal and the release direction is at least predominantly vertical. The tool can then be easily separated from the adapter, while the tool remains held on the changer in the direction of gravity via the tongue and groove system.

[0015] The tool to be changed can be a finger for gripping specific objects. It can also be a pair of fingers. However, the tools are not limited to fingers. The type of tool is of secondary importance in this case. Furthermore, the adapter can be designed in very different ways. However, the adapter should be designed to connect the tool to the robot arm and include a control device. The adapter is dimensioned and the control device is designed such that the control cam can slide along the release contour and the take-up contour when a tool is changed in order to adjust the control device to the release position or the locking position.

[0016] The changing device, together with the tool, provides the tongue and groove system as well as the release contour and the take-up contour. Various designs are conceivable, although the choice of design is of secondary importance. For example, the changing device can have a pin onto which the tool can be pushed in the connection direction with a corresponding holder. However, it would be even more suitable if the changing device had two ribs spaced apart by a gap, into which the tool can be inserted. The tool can then engage behind the ribs on their upper side, so that the tool is held on the changing device in the direction of gravity. Furthermore, the tool can, if necessary, engage behind the ribs on their underside, so that the tool cannot be lifted upwards off the changing device, for example when separating the adapter from the tool.Ultimately, any tongue and groove system that creates a positive connection between the tool and the changing device and can be joined by adjusting the tool in the connection direction could be considered. The positive connection can act at least in the direction of gravity.

[0017] In a first particularly preferred embodiment of the changing system, the at least one dispensing contour and the at least one control cam are designed to correspond in such a way that when the at least one tool is dispensed from the changing device and the at least one tool is adjusted relative to the changing device in the separation direction, the at least one control cam slides on the at least one dispensing contour and is adjusted relative to the at least one adapter, so that the control device is adjusted into the locking position.The dispensing contour and the at least one control cam are designed to correspond to one another for the purpose of dispensing a tool from the adapter to the changing device in such a way that when the at least one tool is dispensed from the changing device and the at least one tool is adjusted relative to the changing device in the separation direction, the at least one control cam slides along the at least one dispensing contour and is adjusted relative to the at least one adapter in such a way that the control device is adjusted into the locking position. The tool can then be removed from the changing device in the separation direction, wherein the deflection of the control cam along the dispensing contour leads to the control device being adjusted into the locking position. In this locking position, the tool is securely held on the adapter when the tool is no longer engaged with the changing device.

[0018] Alternatively or additionally, the at least one tool and the at least one adapter, when connected to one another, can engage with one another in a form-fitting manner via at least one connecting bar and / or connecting pin and at least one corresponding receptacle in the transfer direction. The connecting bar and / or connecting pin can then be easily locked in the adapter and / or the tool in order to hold the tool captively on the adapter. In addition, the connecting bar and / or connecting pin can be easily pulled out of the corresponding receptacle in a defined direction in order to separate the adapter from the tool. In this case, it is fundamentally irrelevant whether the adapter has the receptacle and the tool has the connecting bar and / or connecting pin. However, this is nevertheless advisable because the locking between the adapter and the tool can then be easily achieved using the control device provided in the adapter.

[0019] When the tool and adapter are connected, the control device can positively engage behind the at least one connecting bar and / or connecting pin, counter to the extension direction of the at least one connecting bar and / or connecting pin from the at least one corresponding receptacle. It is advantageous if the extension direction is aligned at least approximately parallel to the direction of gravity.

[0020] It may also be appropriate if the at least one connecting bar and / or connecting pin is held in a form-fitting manner in the at least one receptacle of the at least one adapter at least in the connecting direction and the separating direction when the tool and the adapter are in the connected state. When the tool is connected to the changing device and when the tool is subsequently separated from the changing device, the tool and the adapter then remain reliably and precisely aligned with one another. It may be even more effective if, in the connected state between the tool and the adapter, the at least one connecting bar and / or connecting pin is held in a form-fitting manner in the at least one receptacle of the at least one adapter in at least two mutually perpendicular directions perpendicular to the transfer direction.The tool is then securely positioned on the adapter and can only be adjusted in the extension direction or a direction opposite to the extension direction, i.e. pulled out of the adapter and pushed into the adapter.

[0021] The adjustment of the control device from the release position to the locking position and back can be carried out particularly reliably and precisely if the control device is spring-loaded into the locking position by at least one spring. The control cam can then adjust the control device from the locking position to the release position against the restoring force of the at least one spring, while the control cam slides along the release contour in the connecting direction and along the take-over contour in the receiving direction. The restoring force of the spring holds the control device in the locking position if insufficient external forces act on the control cam. The tool then remains captively held on the adapter.

[0022] The control device can be adjusted from the locking position to the release position by pressing the at least one control cam relative to the at least one adapter. The at least one control cam can be pressed in relative to the at least one adapter when the control cam slides along the at least one release contour in the connecting direction and / or along the at least one take-over contour in the take-over direction. The control device therefore only reaches the release position while the tool is securely held by the changing device, both when receiving the tool from the adapter and when releasing the tool via the adapter.

[0023] The at least one delivery contour can expediently be designed such that, viewed in the connection direction, it approaches the at least one tool received in the changing device. When the tool is transferred to the changing device in the connection direction, the delivery contour can press the control cam further and further into the adapter until the control device is moved into the release position. Alternatively or additionally, the at least one receiving contour can be designed such that, viewed in the receiving direction, it approaches the at least one tool when it is arranged in the position received by the changing device.If the adapter is to be connected to the tool held in the changing device and is moved past the take-over contour in the take-over direction for this purpose, the control cam can be increasingly pressed into the adapter until the control device is moved into the release position.

[0024] To enable simple and reliable tool changing, it may be advisable for at least one exchange contour to be provided in the connecting direction and the at least one receiving contour in the receiving direction, each of which is followed by at least one exchange contour for the sliding of the at least one control cam in the dispensing direction and the receiving direction. Thus, if the adapter has slid along the dispensing contour in the connecting direction until the control device has been moved into the release position, the control cam can subsequently continue to slide along the exchange contour while the adapter continues to be adjusted relative to the changing device in the connecting direction. However, the control device remains in the release position due to the exchange contour.If the adapter is adjusted in the transfer direction relative to the changing device until the control cam has moved the control device into the release position, the adapter can be adjusted further along the exchange contour, with the control cam continuing to be held in a position in which the control cam holds the control device in the release position.

[0025] Since no or only a slight adjustment of the control cam relative to the adapter is required in the area of ​​the exchange contour, the at least one exchange contour can approach the at least one tool less closely in the connecting direction and the receiving direction than the at least one delivery contour and the at least one receiving contour. It can be particularly expediently provided that the exchange contour, in the connecting direction and the receiving direction, at least substantially does not approach the at least one tool any further in the position accommodated in the changing device.

[0026] Changing the tools using the changing device can be carried out particularly reliably and precisely if the changing device and the at least one tool form at least two corresponding tongue and groove systems for the positive connection of the at least one tool to the changing device in a connecting direction. For the sake of simplicity, the two tongue and groove systems can be assigned to opposite sides of the at least one tool. The tongue and groove systems serve to positively connect the at least one tool to the changing device in the connecting direction. Alternatively or additionally, the at least one adapter can have at least two control cams provided on opposite sides of the adapter for the same reasons. These control cams can then slide on separate delivery contours, receiving contours and / or exchange contours.

[0027] The changing device can therefore, for example, have at least two delivery contours, receiving contours, and / or exchange contours arranged on opposite sides of the at least one tool in the position received by the changing device. To utilize these effectively, each delivery contour, receiving contour, and / or exchange contour can be designed to slide off at least one control cam of the adapter.

[0028] For the sake of simplicity, the two delivery contours can form a tapered gap between each other when viewed in the connection direction. The control cams can then slide easily along both delivery contours and the tool can be easily pushed onto the changing device. Alternatively or additionally, the two take-up contours can form a tapered gap between each other when viewed in the take-up direction. The control cams can then slide easily along both take-up contours and the adapter can be easily connected to the tool in the changing device. Irrespective of this, the at least one tool and the at least one adapter can engage with each other in a form-fitting manner in the connected state via at least two connecting bars and / or connecting pins and at least two corresponding receptacles in the take-up direction.Then a positive connection is possible at least in certain directions and, when connected, unwanted twisting of the tool relative to the adapter is prevented.

[0029] It can be particularly effective, especially in cases where the robot arm carries two tools that need to be changed simultaneously, if the changing device is designed to pick up, hold, and release two tools. This is even more true if the two tools can be connected to the changing device in opposite directions via associated tongue and groove systems. The tools are then approached from opposite directions to the changing device and moved toward each other. This movement can be effected simultaneously by the robot arm or a hand element of the robot arm.

[0030] For the sake of simplicity, the changing device can have two separate receptacles, each with opposing release contours, receiving contours, and / or exchange contours, to accommodate two separate tools. It is advisable for the tools to be held simultaneously by the changing device to be of similar, preferably identical, design. Likewise, the separate receptacles can be of similar, preferably identical, design.

[0031] However, the changing device can also have just one receptacle or more than two receptacles, each for holding a tool, wherein at least one release contour, a take-up contour and / or an exchange contour can then be assigned to each receptacle. The at least one tool can be pushed into the respective receptacle up to an end position, in which the tool remains until it is removed from the changing device again. To ensure that the tool remains in the defined end position during this time and does not accidentally shift in the receptacle, the tool and the receptacle can be assigned at least one spring-loaded snap lug and at least one corresponding recess for at least partial engagement of the snap lug in the end position of the tool.The tool can have the at least one snap lug and the receptacle can have the at least one recess and / or the recess can have the at least one snap lug and the tool can have the at least one recess. The snap lug preferably has a rounded head so that the snap lug can easily be removed from the recesses when the tool is removed from the receptacle. The snap lug automatically moves into the recess as a result of a restoring force of a spring means and the snap lug can be pressed out of the recess again against the restoring force of the spring means in order to release the tool. The at least one snap lug and the at least one recess are designed to correspond to one another and can preferably be in the form of a spherical catch.

[0032] In a first particularly preferred embodiment of the method, an adapter is brought closer to the tool held by the changing device in a transfer direction at least substantially opposite to the release direction, after which the adapter, together with the tool, is adjusted in a separation direction relative to the changing device. In the process, the corresponding tongue and groove system is disengaged. The tool is thus released from the changing device. In addition, while the tool is disengaged from the changing device, a control cam of the adapter slides along the transfer contour. As a result, the control cam is adjusted relative to the adapter, which causes the control device to move from a release position to a locking position. The locking position of the control device is expediently reached before the tool is completely disengaged from the changing device.In the locking position of the control device, the tool to which the adapter has previously been brought is held captively, particularly in a form-fitting manner, on the adapter. This ensures that a robot arm can reliably and smoothly pick up a tool held in the changing device.

[0033] Alternatively or additionally, the control cam can be adjusted relative to the adapter while the adapter is being released from the tool in a release direction. The control cam of the adapter slides along the receiving contour and is consequently adjusted relative to the adapter. This causes the control device to move from the release position to the locking position. The control device could also remain in the release position. However, it is expedient for the control device to be automatically adjusted to the locking position when no forces act on the control cam. When sliding along the receiving contour, the control cam returns to an initial position in which, preferably, no external forces act on the control cam. The control cam first slides along the receiving contour due to a restoring force of a spring means, whereby the control cam is pressed against the receiving contour as a result of the restoring force.In this way, the tool is held reliably and captively on the adapter when connected to the adapter.

[0034] In addition, the adapter's control cam can slide along the dispensing contour if necessary while the workpiece and the changing device are disengaged. The control cam is then adjusted relative to the adapter, moving the control device from the release position to the locking position. The tool can then be held captively on the adapter, at the latest as soon as the tool and the changing device are disengaged in the separation direction. The sliding of the control cam along the dispensing contour is caused by a restoring force of a spring means, which presses the control cam against the dispensing contour when the adapter is adjusted along the dispensing contour. The control device is thus forcibly and simultaneously moved into the locking position in a defined manner.

[0035] The invention is explained in more detail below with reference to a drawing which merely represents an exemplary embodiment. Fig. 1A-B show a changing system according to the invention with an adapter and tool-carrying robot arm and a tool-holding changing device, each in a perspective view, Fig. 2A-D an adapter and a tool of the exchange system Fig. 1 in different states and sectional views, Fig. 3A-B the exchange system Fig. 1 with before the delivery of tools to the changing device in a plan view from above and in a sectional view along the section plane IIIB-IIIB from Fig. 3A, Fig. 4A-B the exchange system Fig. 1 with tools partially engaging in the changing device in a plan view from above and in a sectional view along the section plane IVB-IVB from Fig. 4A, Fig. 5A-B the exchange system Fig. 1 with tools fully engaging in the changing device in a plan view from above and in a sectional view along the section plane VB-VB from Fig. 5A, Fig. 6A-B the exchange system Fig. 1 with adapters partially separated from the tools in a plan view from above and in a sectional view along the cutting plane VIB-VIB from Fig. 6A and Fig. 7A-B the exchange system Fig. 1 with adapters completely separated from the tools in a plan view from above and in a sectional view along the section plane VIIB-VIIB from Fig. 7A.

[0036] In the Fig. 1A shows part of a robot arm 1, which can also be a hand of a robot arm. The robot arm 1 carries two adapters 2, which can be moved toward and away from each other by means of the robot arm 1, as illustrated by the arrows. Each adapter 2 also carries, on the side facing away from the robot arm 1, a tool 3 with a tool section 4 that is not further described. The design of the tool section 4 is of secondary importance in this case. However, the tools 3 of the robot arm 1 can be exchanged and, for this purpose, separated from the associated adapters 2.

[0037] For this purpose, the robot arm 1 uses a changing device 5 as shown in the Fig. 1B. The illustrated and, in this respect, preferred changing device 5 holds two tools 3, specifically in receptacles 6 provided opposite one another. The tools 3 can be held in the changing device 5 until the tools 3 are needed again and, for this purpose, are taken over again by the robot arm 1 or another robot arm 1, in particular in exchange for other tools 3, which can then be transferred to another changing device 5. The tools 3 are captive and are held in defined positions on the changing device 5, which result from the type of transfer of the tools 3 to the changing device 5 described below. The robot arm 1, the adapters 2, the tools 4, and the changing device 5 together form a changing system 20.

[0038] In the Fig. 2A, an adapter 2 and a tool 3 are shown in a sectional view spaced apart from one another. The adapter 2 has two receptacles 7 for receiving two connecting pins 8. The connecting pins 8 protrude upwards relative to the tool 3, wherein the connecting pins 8 in the illustrated and thus preferred tool 3 have a mushroom-shaped head 9 with an undercut 10 and / or taper arranged underneath. A control device 11 of the adapter 2 can engage in this undercut 10. The control device 11 has two control cams 12 that protrude on opposite sides relative to the adapter 2. The control cams 12 are pressed outwards by a restoring force of a spring means 13. When the control cams 12 are arranged in the outer position, the connecting pins 8 can neither be received in the receptacles 7 of the adapter 2 nor can they be pulled out of the receptacles 7 of the adapter 2.

[0039] However, if the control cams 12 are moved inwards against the restoring force of the spring means 13, the control device 11 moves out of the Fig. 2A-B shown locking position into a position shown in Fig. 2C. In the release position, the control device 11 releases the receptacles 7 for the insertion or removal of the connecting pins 8. After the tool 3 and adapter 2 have been connected, the control device 11 can be returned to the position shown in the Fig. 2D can be adjusted with the connecting pins 8 of the tools 3 locked in the receptacles 7 of the adapter 2, in which the control device 11 positively engages behind the mushroom-shaped heads 9 of the connecting pins 8, whereby an accidental slipping out of the tool 3 from the adapter 2 is reliably prevented.

[0040] In the Fig. 3A-B, the changing device 5, the adapters 2 and the tools 3 are shown in a position in which the adapters 2 are connected to the tools 3 and in which the changing device 5 is spaced apart from the adapters 2 and tools 3. The control devices 11 of the adapters 2 are in the locked position in this position, so that the tools 3 cannot be separated from the adapter 2 without the risk of damaging the adapter 2 or tool 3. The adapters 2 are also held by a robot arm 1 and can be moved by it. For the sake of clarity, the robot arm 1 is not shown. The robot arm 1 moves the adapters 2 and tools 3 from the position shown in the Fig. 3A-B, each in the connecting direction V.

[0041] The tools 3 and adapter 2 are inserted into the Fig. 4A-B. In this position, the tools 3 partially engage in receptacles 6 of the changing device 5. The tools 3 and the changing device 5 each form tongue and groove systems 14, which engage with each other. As a result of the corresponding engagement with each other, the tools 3 are held positively on the changing device 5 in the direction of gravity. In addition, the control cams 12 come into contact with release contours 15 provided on opposite sides of the adapters 2. When the adapters 2 are adjusted, the control cams 12 slide off the release contours 15 and, as a result of the inclination of the release contours 15, which approach each other and the adapters 2 moving past in the connecting direction V and in the process form a gap S that tapers in the connecting direction V, into which gap the adapter 2 is pressed, namely against the restoring force of the spring means 13.

[0042] The tools 3 are then placed in the Fig. 5A-B, in which the control cams 12 are pressed into the adapters 2 so far that the control device 11 is moved into the release position. The control cams 12 each rest against an exchange contour 16, which are aligned parallel to each other and parallel to the connection direction V. The exchange contours 16 therefore do not lead to a further approach of the control cams 12 to each other, but merely ensure that the control cams 12 are held relative to the adapters 2 in a position in which the control device 11 is in the release position. Fig. In the end position of the tools 3 shown in Figures 5A-B, snap lugs 17 on both sides engage in corresponding recesses 18 in the changing device 5. The snap lugs 17 have rounded heads, so that the snap lugs 17 can easily be removed from the recesses 18 when the tools 3 are later removed from the changing device 5 by a robot arm 1. Alternatively, snap lugs could also be provided on the changing device 5 if the tools 3 have corresponding recesses. The corresponding snap lugs and recesses can be designed in the form of spherical catches.

[0043] If the robot arm 1 together with the adapters 2 is lifted in the transfer direction L in order to separate the adapters 2 from the tools 3, the tools 3 and adapters 2 move into the Fig. 6A-B. The connecting pins 8 of the tools 3 are partially withdrawn from the receptacles 7 of the adapters 2, which are raised upwards in the release direction L relative to the tools 3. The control cams 12 initially slide along the exchange contours 16, in which the control cams 12 remain aligned with the adapters 2 such that the control device 11 is in the release position. Subsequently, the control cams 12 come into contact with the transfer contours 19, which form a gap S between them that widens upwards. The control cams 12 are pressed further outwards against the transfer contours 19 due to the restoring forces of the spring means 13.As the adapters 2 are raised further in the release direction L and the control cams 12 move outwards, the control device 11 moves back into the locking position, even if the adapters 2 do not accommodate any connecting pins 8 of workpieces 3 with which the adapters 2 could be locked via the control device 11.

[0044] Therefore, the adapters 2, as shown in the Fig. 7A-B, can be completely lifted off the tools 3, for example in order to connect the adapters 2 to other tools 3. The snap-in lugs 17 received in the recesses 18 ensure that the workpieces 3 remain reliably and precisely held in the changing device 5 until the workpieces 3 are again picked up by a robot arm 1 provided with adapters 2.

[0045] The tools 3 transferred to the changing device 5 are picked up by moving the adapters 2 in the opposite direction as previously described. The adapters 2 are first lowered onto the tools 3 from above, i.e., in the pick-up direction N opposite to the transfer direction L. The pick-up contour 19 ensures that the control device 11 is moved into the release position. When the adapters 2 are seated on the tools 3, the adapters 2 are moved in the separation direction T opposite the connection direction V, whereby the tongue and groove systems 14 between the tools 3 and the changing device 5 are disengaged, and the control device 11 is moved back into the locking position by adjusting the control cams 12. List of reference symbols 1 robot arm 2 adapters 3 tools 4 Tool section 5 Changing device 6 Recording 7 Recording 8 connecting pin 9 heads 10 Undercut 11 Control device 12 control cams 13 spring means 14 Tongue and groove system 15 Delivery contour 16 Exchange contour 17 Snap Nose 18 recess 19 Transfer contour 20 exchange system L Transfer direction N takeover direction S gap T Separation direction V Connection direction

Claims

[1] Changing system (20) for changing tools (3) to be used one after the other on a robot arm (1), with at least one tool (3) to be operated by the robot arm (1), with a changing device (5) for picking up, holding and releasing at least one unused tool (3) and with at least one adapter (2) for connecting the at least one tool (3) to the robot arm (1), wherein the changing device (5) and the at least one tool (3) form at least one corresponding tongue and groove system (4) for the positive connection of the at least one tool (3) to the changing device (5) in a connecting direction (V),wherein the at least one (3) tongue and groove system (4) is designed for separating the at least one tool (3) from the changing device (5) in a separation direction (T) at least substantially opposite to the connection direction (V), and wherein the at least one adapter (2) has a control device (11) comprising at least one control cam (12) for locking the at least one tool (3) to the at least one adapter (2) in a locking position of the control device (11) and for separating the at least one tool (3) from the at least one adapter (2) in a release position of the control device (11), characterized bythat the changing device (5) has at least one delivery contour (15) and at least one receiving contour (19), that the at least one delivery contour (15) and the at least one control cam (12) are designed to correspond in such a way that, when the at least one tool (3) is picked up by the changing device (5) and the at least one tool (3) is adjusted relative to the changing device (5) in the connecting direction (V), the at least one control cam (12) slides along the at least one delivery contour (15) and is adjusted relative to the at least one adapter (2) in such a way that the control device (11) is adjusted into the release position, and that the at least one receiving contour (19) and the at least one control cam (12) are designed to correspond in such a way,such that the at least one control cam (12) slides on the at least one takeover contour (19) when taking over the at least one tool (3) from the changing device (5) before releasing the at least one tool (3) from the changing device (5) and adjusting the at least one adapter (2) relative to the changing device (5) in a takeover direction (N) oriented at least substantially perpendicular to the connection direction (V) and the separation direction (T) and is adjusted relative to the at least one adapter (2) in such a way that the control device (11) is adjusted to the release position. [2] Exchange system according to claim 1, characterized bythat the at least one delivery contour (15) and the at least one control cam (12) are designed to correspond in such a way that the at least one control cam (12) slides on the at least one delivery contour (15) when the at least one tool (3) is delivered from the changing device (5) and the at least one tool (3) is adjusted relative to the changing device (5) in the separation direction (T) and is adjusted relative to the at least one adapter (2) in such a way that the control device (11) is adjusted into the locking position and / or that the at least one tool (3) and the at least one adapter (2) in the connected state engage in a form-fitting manner in the take-over direction (N) via at least one connecting bar and / or connecting pin (8) and at least one corresponding receptacle (7) and, preferably,the control device (11) positively engages behind the at least one connecting bar and / or connecting pin (8) in the connected state against a pull-out direction and / or release direction (L) of the at least one connecting bar and / or connecting pin (8) from the at least one corresponding receptacle (7). [3] Exchange system according to claim 1, characterized bythat the at least one connecting bar and / or connecting pin (8) is held in the connected state by the at least one tool (3) and the at least one adapter (2) in a form-fitting manner in the at least one receptacle (7) of the at least one adapter (2) at least in the connecting direction (V) and the separating direction (T) and that, preferably, the at least one connecting bar and / or connecting pin (8) is held in the connected state by the at least one tool (3) and at least one adapter (2) in a form-fitting manner in at least two mutually perpendicular directions perpendicular to the transfer direction (N) in the at least one receptacle (7) of the at least one adapter (2). [4] Exchange system according to one of claims 1 to 3, characterized bythat the control device (11) is spring-loaded into the locking position by at least one spring means (13) and that the control device (11) can be adjusted into the release position by the sliding of the at least one control cam (12) on the at least one delivery contour (15) in the connecting direction (V) and the at least one take-over contour (19) in the take-over direction (N) against the restoring force of the at least one spring means (13). [5] Exchange system according to claim 4, characterized bythat the control device (11) can be adjusted from the locking position into the release position by pressing in the at least one control cam (12) relative to the at least one adapter (2), and that the at least one control cam (12) can be pressed in relative to the at least one adapter (2) by sliding on the at least one delivery contour (15) in the connection direction (V) and by sliding on the at least one take-over contour (19) in the take-over direction (N). [6] Exchange system according to one of claims 1 to 5, characterized by that the at least one delivery contour (15) approaches the at least one tool (3) in the position received in the changing device (5) when viewed in the connecting direction (V) and / or that the at least one take-over contour (19) approaches the at least one tool (3) in the position received in the changing device (5) when viewed in the take-over direction (N). [7] Exchange system according to one of claims 1 to 6, characterized by that the at least one delivery contour (15) in the connecting direction (V) and the at least one take-over contour (19) in the take-over direction (N) is followed by at least one exchange contour (16) for sliding the at least one control cam (12) in the connecting direction (V) and the take-over direction (N) and / or that the at least one exchange contour (16) in the connecting direction (V) and the take-over direction (N) approaches the at least one tool (3) less closely than the at least one delivery contour (15) and the at least one take-over contour (19), in particular at least substantially does not approach the at least one tool (3) in the position received in the changing device (5). [8] Exchange system according to one of claims 1 to 7, characterized bythat the changing device (5) and the at least one tool (3) form at least two corresponding tongue and groove systems (4) provided on opposite sides of the at least one tool (3) for positively connecting the at least one tool (3) to the changing device (5) in a connecting direction (V) and / or the at least one adapter (2) comprises at least two control cams (12) provided on opposite sides of the adapter (2). [9] Exchange system according to one of claims 1 to 8, characterized bythat the changing device (5) has at least two delivery contours (15) and / or take-up contours (19) arranged on opposite sides of the at least one tool (3) in the position received by the changing device (5), and that, preferably, each delivery contour (15) and / or take-up contour (19) is designed to derive at least one control cam (12) on the delivery contours (15) and / or take-up contours (19). [10] Exchange system according to one of claims 1 to 9, characterized bythat two delivery contours (15) form a tapered gap (S) between one another when viewed in the connection direction (V) and / or the two take-over contours (19) form a tapered gap (S) between one another when viewed in the take-over direction (N) and / or that the at least one tool (3) and the at least one adapter (2) in the connected state engage in a form-fitting manner via at least two connecting bars and / or connecting pins (8) and at least two corresponding receptacles (7) in the take-over direction (N). [11] Exchange system according to one of claims 1 to 10, characterized by that the changing device (5) is designed to pick up, hold and release two tools (3) and that, preferably, the two tools (3) can be connected to the changing device (5) in oppositely aligned connection directions (V) via associated tongue and groove systems (4). [12] Exchange system according to claim 11, characterized bythat the changing device (5) has two separate receptacles (6) for tools (3) with opposite delivery contours (15), take-over contours (19) and / or exchange contours (16) and / or that tools (3) to be held simultaneously by the changing device (5) are of the same type, preferably the same, in particular identical. [13] Method for changing tools (3) using a changing system according to one of claims 1 to 12, - in which a tool (3) held on an adapter (2) is brought into engagement with a changing device (5) via a corresponding tongue and groove system (4) in a connecting direction (V), - in which a control cam (12) of a control device (11) of the adapter (2) slides on a delivery contour (15) of the changing device (5), is adjusted relative to the adapter (2) and in the process the control device (11) is adjusted from a locking position into a release position and - in which the adapter (2) with the control device (11) is released in the release position in a release direction (L) at least substantially perpendicular to the connection direction (V) from the tool (3) held on the changing device (5). [14] Method according to claim 13, - in which an adapter (2) is brought closer to the tool (3) held by the changing device (5) in a transfer direction (N) at least substantially opposite to the transfer direction (L), - in which the adapter (2) approaching the tool (3) is adjusted together with the tool (3) in a separation direction (T) relative to the changing device (5) and the corresponding tongue and groove system (4) is disengaged in the process, - in which, while the tool (3) is disengaged from the changing device (5), a control cam (12) of the adapter (2) slides along the receiving contour (19), is adjusted relative to the adapter (2) and in the process the control device (11) is adjusted from a release position into a locking position and - in which the tool (3) approaching the adapter (2) is held captive, in particular positively, on the adapter (2) by the control device (11) in the locking position. [15] Method according to claim 13 or 14, - in which, during the release of the adapter (2) from the tool (3) in a release direction (L), the control cam (12) of the adapter (2) slides along the transfer contour (19), is adjusted relative to the adapter (2) and, in the process, the control device (11) is adjusted from the release position into the locking position, and - in which, preferably, the control cam (12) is pressed against the receiving contour (19) as a result of a restoring force of a spring means (13) when sliding on the receiving contour (19). [16] Method according to claim 13 or 14, - in which, while the workpiece (3) and the changing device (5) are disengaged, the control cam (12) of the adapter (2) slides along the delivery contour (15), is adjusted relative to the adapter (2) and in the process the control device (11) is adjusted from the release position into the locking position and - in which, preferably, the control cam (12) is pressed against the dispensing contour (15) as a result of a restoring force of a spring means (13) when sliding along the dispensing contour (15).

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