DEVICE WITH COMPONENTS CONNECTED VIA A CONNECTION INTERFACE AND METHOD FOR CONNECTING COMPONENTS

Description

[0001] The invention relates to a device, in particular for handling and / or processing parts, having a first and a second component which are separably connected or connectable via a connection interface, wherein the connection interface results from a first contact section of the first component being plugged and / or pressed in a connection direction onto a second contact section of the second component with a first orientation predetermined with respect to the second contact section, wherein the connection interface comprises, on the one hand, an electrical interface for transmitting electrical power and / or communication signals between the first and the second component and, on the other hand, a fluid interface for transporting fluid between the first and the second component. The invention also relates to a method for connecting a first component to a second component in a device.

[0002] Devices for handling and / or processing parts, for example in the field of robotics, handling systems, or automation in general, are often modularly constructed from multiple components. Actuator-driven components, such as slides, swivel components, gripping components, manipulators, etc., are attached as separate components to a base body, support arms, or similar. After the corresponding components have been installed, electrical and fluid connections can be connected via appropriate connecting cables or hoses. This can make the installation of corresponding devices or the replacement of corresponding components relatively complex.

[0003] To enable faster tool changes, it is known in the field of robotics to use quick connectors. These allow for the mechanical attachment of a tool to a robot arm and feature feedthroughs for electrical contacts and compressed air. Thus, the electrical and fluidic connection is established when the mechanical connection is established. Thus, such a quick connector, on the one hand, establishes a fixed position and orientation for the tool, and, on the other hand, establishes electrical and fluidic contact.

[0004] DE 23 59 195 A1 discloses a device according to the preamble of claim 1.

[0005] Devices for handling or processing parts, particularly in industrial applications, are typically designed to the specific requirements of the application, for example, they are adapted to the available installation space and to other devices involved in the process. Such devices are therefore often unique pieces or are manufactured in relatively small quantities. In order to make this possible at a reasonable cost, prefabricated modules are used to construct such a device, and the desired structure is achieved through a suitable arrangement and alignment of these modules. Although the use of the quick connection system described above could reduce assembly and maintenance times, it would significantly limit the flexibility with regard to the arrangement of the various modules.If such a connection approach is to be used without excessively restricting the flexibility of the device design, the modular system must contain numerous variants of essentially functionally identical modules for different positioning or orientations, or it may be necessary to construct a relatively large number of application-specific modules. This results in various disadvantages, particularly higher costs and longer delivery or planning times for the construction of new devices.

[0006] The invention is therefore based on the object of providing a possibility of being able to use individual modules or components flexibly in different devices and yet still achieving simple assembly or simple replacement of these modules or components.

[0007] The object is achieved according to the invention by a device of the type mentioned at the outset, wherein the first and second contact sections are designed such that the connection interface results even when the first contact section is plugged into or adapted to the second contact section in the connection direction with at least one further orientation, wherein the respective further orientation corresponds to the first orientation apart from a rotation of the first contact section about a rotation axis running in the connection direction by a respective predetermined angle. In other words, the device according to the invention can achieve this by enabling both fluid transport via the fluid interface and power and / or communication signal transmission via the electrical interface when the first component is plugged into or pressed onto the second component in several discrete orientations.Details on the implementation of such a connection interface will be explained later. In general, the first contact section can be formed by the first component or attached thereto, in particular rigidly. Accordingly, the second contact section can be formed by the second component or attached thereto, in particular rigidly. By selecting different orientations of the contact sections relative to one another, different orientations of the components relative to one another also result, whereby by selecting a different orientation, the components of the first component can be pivoted or rotated relative to the second component and the specified angle.

[0008] The rotation axis is typically exclusively a geometric axis, meaning it is not defined by a mechanical shaft or a rotatable mounting of the components relative to each other. As will be explained in more detail later, it is determined by the geometry of the components that implement the connection interface, in particular by the rotational symmetry of these components with respect to the rotation axis.

[0009] The ability to select various possible orientations of the first contact section relative to the second contact section, and thus in particular of the first component relative to the second component, allows given components to be adapted to the requirements of the device or the user of the device by appropriately selecting their orientation relative to one another. For example, different directions of movement of a component of the first component relative to the second component can be implemented using the same components; work surfaces, grippers, and the like can be aligned or positioned differently, etc.

[0010] Connecting the first component to the second component can be implemented, in particular, by using a plug-socket connection for the electrical interface, i.e., for example, by inserting a respective plug of the first contact section into a respective socket of the second contact section, or vice versa. However, it is also possible for a mixture of sockets and plugs to be provided on the first contact section, which interacts with a corresponding, counter-balanced mixture of plugs and sockets of the second contact section.

[0011] Sealing of the fluid interface or individual fluid channels of the fluid interface can be achieved in particular by pressing one of the contact sections against a sealing element carried by the other contact section or by pressing two sealing elements carried by the respective contact section against one another.

[0012] The specified angle(s) or differences between several specified angles can, for example, be between 10° and 180°. In particular, all specified angles can be an integer multiple of a first specified angle, which is obtained, in particular, by dividing an angle of 360° by an integer number of possible orientations. The orientations can thus be evenly distributed, for example, by using an n-fold rotational symmetry for the components forming the connection interface, where n is the number of possible orientations.

[0013] In particular, the connection interface can also be designed for two further orientations or three further orientations or more than three further orientations, which can be achieved in particular by an n-fold rotational symmetry of the components forming the connection interface with n = 3, n = 4 or n > 4. This makes it possible to select the orientation of the first and second contact section, and thus in particular of the components, to one another, for example in 120° steps, 90° steps or smaller steps as required.

[0014] The first and second contact sections are held together or pressed together by a fastening means that is attached to one of the components or contact sections or is formed separately from the contact sections or components. This will be explained in more detail later.

[0015] The fluid can be, for example, air, particularly for a pneumatic connection or compressed air connection, but also another gas or liquid. The device according to the invention can be used, for example, in the field of robotics, handling systems, or automation in general. Specifically, one of the components, in particular the first component, can implement a carriage, in particular a pneumatically driven one, a pivoting component, a gripping component, and / or a manipulator.

[0016] The electrical interface can be formed on the side of the first and second contact section by a group of several electrical connections, wherein several instances are present on the first and / or second contact section for each of the connections of the group, wherein the instances of a respective connection are conductively connected to one another and, in the connected state of the contact sections, are arranged at a distance from one another on a respective circular path around the axis of rotation. In this way, it can be achieved that for several orientations of the contact sections relative to one another, for each of the electrical connections of the first contact section, a respective instance of this connection contacts a respective instance of the associated connection on the second contact section, and thus the same electrical interface is formed for each of the different orientations.

[0017] Alternatively, this result could also be achieved, for example, if the electrical connections of the respective contact section extend in a ring-like manner over the entire circumference or at least over a certain angular segment of the respective contact section. However, this would require the use of large-area electrical connections, making the provision of the electrical connections more complex and potentially resulting in greater installation space requirements.

[0018] Preferably, a second instance of all connections can be offset by a predetermined angle relative to the respective first instance along the respective circular path. A further instance can be offset by the predetermined angle relative to this instance, and so on. In particular, the various instances of the respective electrical connection can be evenly spaced from one another in the circumferential direction around the rotation axis. In particular, the total set of instances of all electrical connections of the respective contact section can have an n-fold rotational symmetry.

[0019] The connections can be embodied as individual pins, spring contacts, or similar devices. Preferably, however, the group of electrical connections is at least partially combined in a common plug or socket. The corresponding plug or socket could then be present multiple times, spaced apart from one another in the circumferential direction of the rotation axis, in order to provide the various instances of the electrical connections. This can also be considered as providing multiple instances of the group of electrical connections, wherein the respective instance of the group can be embodied, in particular, as a plug or socket.

[0020] The fluid interface can comprise at least one fluid channel which is formed by a fluid-tight connection of a respective first sub-channel of the first contact section and a respective second sub-channel of the second contact section, wherein at least in the region of the fluid-tight connection the fluid channel or at least one of the fluid channels surrounds the axis of rotation in a ring-shaped manner when viewed in cross-section perpendicular to the connection direction and / or wherein the axis of rotation runs within the fluid channel or one of the fluid channels. The described embodiment makes it possible to connect the sub-channels to one another in a fluid-tight manner, regardless of the relative orientation of the first and second contact sections with respect to rotation about the axis of rotation. In the simplest case, the corresponding embodiment can be achieved by arranging an O-ring for sealing on the first or second contact section, which O-ring is inserted into the first or second contact section when the contact section is plugged in or removed.Pressing the first contact section against the second contact section overlaps the openings of the sub-channels of the contact sections. However, the entire fluid channel or at least one longitudinal section of the fluid channel comprising the fluid-tight connection is preferably annular or round.

[0021] As an alternative to the described configuration of the fluid channel(s), several instances can be provided for each fluid channel, arranged along a circular path in the circumferential direction of the rotation axis, as explained above with regard to the various instances of the electrical connections. However, this is generally space-intensive and requires more complex sealing. Therefore, the configuration explained above is preferred.

[0022] The fluid interface can comprise several, in particular two, fluid channels, wherein the fluid channels surround the axis of rotation as coaxial rings, at least in the region of the fluid-tight connection, viewed perpendicular to the connection direction. The two fluid channels can serve, in particular, as a fluid supply and fluid return for the same fluid. While, for example, when providing compressed air via the fluid interface, it may be sufficient to only guide compressed air from the second to the first component or vice versa, for example to drive an actuator, since the compressed air can escape into the environment, it is typically necessary for other fluids, or it may also be advantageous for compressed air, to provide a corresponding fluid return.

[0023] The first and second contact sections are connected to one another by a fastening means which comprises a base body which runs in a ring around the axis of rotation and in each case a plurality of first and / or second webs protruding from the base body, wherein the first webs each engage over a support section of the first contact section and engage on a support surface of this support section facing away from the second contact section, and the second webs each engage over a support section of the second contact section and engage on a support surface of this support section facing away from the first contact section in order to limit a movement of the contact sections apart in the connection direction. By using first and second webs, a type of double claw can be formed which engages over the support sections of both contact sections and can thus press the contact sections together or hold them together.

[0024] The fastening means can be attached to one of the contact sections, for example, be rotatably mounted there, or be provided as a separate component. Due to the annular shape of the base body, in particular, a relative movement of the contact sections perpendicular to the connection direction can be blocked or limited, whereby separation of the contact sections can be prevented by suitable attachment of the fastening means. The first webs and the second webs can each be spaced from one another in the circumferential direction of the rotation axis, wherein preferably a first and a second web are arranged at the same position in the circumferential direction, which can enable particularly good force guidance via the webs to the respective support sections.

[0025] The design of the support sections and the fastening means can, in particular, be coordinated with one another such that the fastening means is in the described position in a first rotational position relative to the rotational axis, which can be referred to as the fastening position, and thus holds the contact sections on top of one another. By rotating the fastening means about the rotational axis into a release position, the webs can be guided away from the support sections in the circumferential direction, in particular if the support sections are spaced apart from one another in the circumferential direction, thus enabling the contact sections to be separated from one another, for example by pulling off the first contact section counter to the connection direction.Conversely, to connect the contact sections, the fastening means can first be arranged in the release position and, after the contact sections have been brought together, moved into the fastening position in order to lock the contact sections together.

[0026] The respective support sections of the first and / or second contact section can be spaced apart from one another in the circumferential direction of the rotation axis and / or the support surfaces of the support sections of the first and / or second contact section and / or the web surfaces of the first and / or second webs contacting the support surfaces can be chamfered in the circumferential direction.

[0027] The fastening means can be designed in such a way that a contact pressure with which the contact sections are pressed against one another can be changed by rotating the annular base body about the axis of rotation and / or that this rotation can be used to adjust whether and / or after how large an adjustment path counter to the connection direction a further movement apart of the contact sections is blocked by a stop of the or a web surface of at least one of the webs on at least one of the support surfaces.In particular, the spacing of the support sections in the circumferential direction can be greater than the width of the web surfaces, so that the respective web surface can be guided between adjacent support sections when the contact sections move apart in a corresponding rotational position of the fastening means, for example in the release position explained above, whereby a blocking of the movement apart of the contact sections in at least one rotational position of the fastening means is lifted.

[0028] A variation in the contact pressure can be achieved, in particular, by the aforementioned beveling of the support surfaces or web surfaces in the circumferential direction. Due to the beveling, the corresponding support or web surface runs at an angle to a surface perpendicular to the rotation axis. In particular, contacting support surfaces and web surfaces can run along parallel helical lines, so that the contact pressure or the play of the movement of the contact sections in the connection direction can be varied by rotating the fastener around the rotation axis.

[0029] An elastically deformed restoring element can be arranged between the contact sections, which applies a restoring force to the first contact section in the direction away from the second contact section. The restoring element can in particular be formed by a sealing means that serves to seal the fluid interface, for example by an O-ring. The restoring force can prevent accidental release of the fastening means by rotation into the release position, since a respective pair of web and support surface is pressed together by the restoring force and thus rotation of the fastening means into the release position is prevented or at least inhibited by a frictional connection. To separate the contact sections, for example, sufficient force can be applied to overcome this frictional force.However, it is particularly preferred for the contact sections to be pressed together in order to further deform the restoring element and thus eliminate or at least noticeably reduce the frictional connection between the web surface and the support surface.

[0030] In addition to or as an alternative to the described frictional connection, the fastening means can lock into the fastening position, for example, by providing a locking element, such as a locking lug, on at least one of the webs or at least one of the support sections. In this case, moving it into the release position may only be possible after the locking connection has been released.

[0031] The contact sections are held together and their relative position and orientation can be determined exclusively by the fastening means and thus, for example, exclusively by a frictional connection. However, in order to achieve the most precise alignment and positioning of the contact sections relative to one another during their connection and / or to support the contact sections against one another, additional support or guidance may be desired. This can, for example, absorb torques about the axis of rotation and / or forces perpendicular to the axis of rotation which, without this support or guidance, for example in the case of purely frictional holding of the contact sections against one another, could lead to a change in the relative position of the contact sections and / or to mechanical stress on the electrical interface, in particular plugs and / or sockets, and / or the fluid interface.

[0032] It may therefore be advantageous if the first and / or second contact section has a plurality of recesses into which, at least in the and / or the further orientation, a respective, in particular pin-like, projection of the respective other contact section engages, extending parallel to the rotation axis. The recesses and in particular the projections can be spaced from one another in the circumferential direction around the rotation axis in such a way that the same rotational symmetry results as for the components forming the interface. In other words, in any orientation in which the contact sections can be connected to one another, the respective projection can be received in one of the recesses.

[0033] By using a single projection, forces perpendicular to the rotational axis can be absorbed. Preferably, however, at least two projections are used to absorb torques around the rotational axis, on the one hand, and to achieve robust centering of the contact sections relative to the rotational axis, on the other. For the aforementioned purposes, it is also advantageous if the projections or recesses are spaced relatively far apart from each other, for example, if two projections are opposite each other relative to the rotational axis and are arranged at a sufficiently large distance from the rotational axis.

[0034] At least one of the components can comprise an actuator configured to move a component movably mounted relative to the contact portion of this component, wherein a direction of movement and / or a rotational or pivotal axis of the movement and / or a movement path of the component depends on whether the first contact portion is pinned and / or pressed against the second contact portion with the or the further orientation. In particular, the movably mounted component can be mounted on a stationary component, or the stationary component can support the actuator, and the stationary component can be rigidly connected to the contact portion of this component.

[0035] Except for the case of a linear movement of the movably mounted component along the axis of rotation, a change in orientation always results in one of the effects mentioned. If, for example, the moving component is a carriage that is moved by the actuator at a linear angle to the connection direction, a direction of movement can be selected by selecting the appropriate orientation. Even in cases where the movement path runs parallel to the axis of rotation, the movement path can be adapted, since, for example, a movement above, below, or to the side of the axis of rotation can be selected by selecting a suitable orientation with respect to the axis of rotation. Different movement paths also result, for example, if a rotation or swivel axis is offset parallel to the axis of rotation in the different orientations, whereby the direction of the offset obviously depends on the orientation.If, however, the rotation or pivot axis is angled to the rotation axis, a change in orientation leads to a change in the direction of the rotation or pivot axis. Overall, by enabling different orientations of the contact sections relative to each other, a high degree of flexibility is achieved with regard to the possible movement paths of the movably mounted component, so that the same first and / or second component can be flexibly used in differently designed devices and can be adapted to the specific requirements by selecting a suitable orientation.

[0036] The component comprising the actuator can in particular be the first component, which for example forms a tool or another actuator that is or will be attached to a second component, which for example can be a base body of the device or can serve to connect the first component to such a base body.

[0037] The actuator may be a pneumatic or hydraulic actuator or at least one of the components may comprise a pneumatic or hydraulic actuator, wherein the device may be configured such that operating fluid used to operate the pneumatic or hydraulic actuator is guided to and / or discharged from this component via the fluid connection.

[0038] Alternatively, the actuator can be an electric drive, or at least one of the components can comprise an electric drive as the actuator. In this case, the actuator can be driven by electrical energy or power that is supplied via the electrical interface to the component comprising the actuator.

[0039] At least one of the components can comprise the actuator or an actuator, wherein the device is set up in such a way that control signals for controlling the actuator can be transmitted as communication signals and / or power for operating the actuator, in particular for operating an electric drive used as an actuator, via the electrical interface to this component. In the simplest case, the actuator can be controlled directly by control signals which are output from the other component via the electrical interface. However, the component comprising the actuator preferably comprises a control device which is powered in particular via the electrical interface, which receives the communication signals or control signals for controlling the actuator and controls the operation of the actuator accordingly. As a result, in order to generate the communication signals or control signals,Control signals may not know the specific properties of the actuator itself and abstract commands, for example, can be transmitted as communication signals.

[0040] The control signals can also be control signals for a pneumatic or hydraulic actuator. Depending on the control signals, valves, throttles, etc., can be controlled by the control device. For example, it is possible for a working fluid with a substantially constant pressure to be provided via the fluid connection, after which the actual pressurization of the actuator occurs depending on control signals transmitted via the electrical interface. Alternatively, however, they can also be control signals for an electric drive used as an actuator.

[0041] In addition or alternatively, the electrical interface can also be used to transmit sensor data or general operating information between the components.

[0042] In a preferred embodiment of the device, a bus or network is routed via the electrical interface. In particular, a relatively broadband data connection can be established, for example, with a data rate of at least 1 Mbit / s. For example, an Ethernet connection can be routed via the electrical interface, whereby data rates of 100 Mbit / s, for example, can be achieved with known Ethernet connections, or Gigabit Ethernet can also be used.

[0043] When a bus or network is routed via the electrical interface, addresses in the bus or network, such as MAC addresses, IP addresses, or similar, can be assigned to control devices, actuators, sensors, etc. Using known network or bus functions, for example, dynamic address assignment can be implemented and / or discovery functions can be provided, via which a central control device of the device can detect a component connected via the respective connection interface or components present there, e.g., an actuator and / or a control device.

[0044] In addition to the device according to the invention, the invention relates to a method for connecting a first component to a second component in a device, in particular in a device for handling and / or processing parts, wherein the first and second components are connected via a connection interface by a first contact section of the first component being plugged and / or pressed in a connection direction onto a second contact section of the second component with an orientation predetermined with respect to the second contact section, wherein the connection interface comprises, on the one hand, an electrical interface for transmitting electrical power and / or communication signals between the first and the second component and, on the other hand, a fluid interface for transporting fluid between the first and the second component, wherein a first and second contact section are used which are designed in such a way thatthat for several possible orientations of the first contact section with respect to the second contact section, which differ from one another exclusively with respect to a rotation of the first contact section about a rotation axis extending in the connection direction by a predetermined angle, the connection interface results when the first contact section is plugged or adapted in the connection direction to the second contact section in the respective possible orientation, wherein one of the possible orientations is used as the predetermined orientation.

[0045] In particular, the device according to the invention can be used as the device. Irrespective of this, features explained for the device according to the invention, with the advantages mentioned therein, can be transferred to the method according to the invention or to a device used in the method according to the invention, and vice versa.

[0046] The contact sections are fastened to one another by a fastening means comprising a base body which runs annularly around the rotation axis and each comprising a plurality of first and / or second webs protruding from the base body, wherein the fastening is effected by a rotation of the fastening means from a release position into a fastening position, wherein in the fastening position the first webs each engage over a support section of the first contact section and a respective web surface of the respective first web engages on a support surface of this support section facing away from the second contact section, and the second webs each engage over a support section of the second contact section and a respective web surface of the respective second web engages on a support surface of this support section facing away from the first contact section,The respective support sections of the first and / or second contact sections are spaced apart from one another by gaps in the circumferential direction of the rotation axis, and in the release position, the web surfaces of the first and / or second webs are arranged in the gaps, viewed perpendicular to the rotation axis. Further details regarding possible embodiments of such a fastening means and its use have already been explained above with reference to the device according to the invention.

[0047] When the first contact section is plugged or pressed onto the second contact section in the connection direction, the respective web surface can be guided through a respective one of the gaps. As already explained with regard to the device according to the invention, the fastening means can first be arranged in a release position, the contact sections can then be brought together in the connection direction, and the fastening means can subsequently be rotated to fix the contact sections in their pressed-together or plugged-together position.

[0048] Further advantages and details of the invention will become apparent from the following exemplary embodiments and the accompanying drawings. These schematically show: Fig. 1 shows an embodiment of a device according to the invention with a first and second component, which are connected according to an embodiment of the method according to the invention, Fig. 2 shows a detailed view of the contact sections of the Fig. 1 shown components that implement a connection interface, Fig. 3+4 top views of the Fig. 1 and 2 shown contact sections, and Fig. 5 a perspective view of the Fig. 2 shown fastening means used to hold the contact sections together.

[0049] Fig. 1shows a detailed view of a device 1, in which two components 2, 3 of this device are shown. The device 1 can be used in particular for handling or processing parts in a production process. In the example shown, the component 2 is a module that implements an actuator-moved carriage. The component 3 is formed by a base body to which, in addition to the component 2, other components can be attached. In a modification not shown, it would also be possible to connect several different components of the device 1 in series, so that, for example, the component 3 could in turn be supported by another component.

[0050] The construction of device 1 with several detachably connected components 2, 3 allows for a modular design of device 1, allowing device 1 to be adapted to different applications as needed with a relatively limited range of modules. For example, instead of component 2, another component could be used that implements a gripper or an actuator-driven pivoting mechanism.

[0051] As will be explained in more detail later, the contact sections 5, 6, via which the components 2, 3 are connected to one another, are designed in such a way that the component 2 can be attached to the component 3 in several orientations, which can be adjusted with respect to a rotation of the component 2 about an angle in the transverse direction in Fig. 1 As will be explained below with reference to the Figures 2 to 4As will be explained in more detail, four discrete orientations are possible, for example, which differ by a rotation angle of 90°. Thus, while component 2 in Fig. 1 is attached to the component 3 in such a way that an actuator-moving component 10, in the example a slide, is arranged on the top side of the component 2, by changing the orientation of the contact section 5 and thus of the component 2 before attaching the component 2 to the component 3 it can also be achieved that the moving component 10 is arranged on the bottom side or on the Fig. 1 side of the component 2 facing or facing away from the viewer.

[0052] The ability to adjust the orientation of component 2 with respect to component 3 thus makes it possible, with little effort, to use the module formed by component 2 flexibly for a multitude of applications in a multitude of devices. In the example shown, a suitable position for component 10 or a suitable movement path 12 is selected by suitable selection of the orientation. If, in a modification not shown, the movement path 12 were to run at an angle to the connection direction 7, in which the first contact section 5 is plugged or pressed onto the second contact section 6, a change in the orientation of the contact section 5 and thus of component 2 would also lead to a change in the direction of movement. If, instead of a linear movement of component 10, a rotation or pivoting of the component about a rotational or pivoting direction at an angle to the direction of movement 7 were to take place, then the resulting change in the direction of movement would be advantageous.-swivel axis, its direction could also be determined by choosing this orientation.

[0053] The contact sections 5, 6 serve not only to mechanically hold or support the components 2, 3 against one another; in a modification not shown, the mechanical hold or support could also be achieved in another way, e.g., via support sections of the components 2, 3 arranged at a distance from the contact sections 5, 6. By plugging or pressing the contact section 5 onto the contact section 6, a connection interface 4 is primarily formed. This comprises, on the one hand, an electrical interface 8 for transmitting electrical power and communication signals, in the example via the network 17, for example, via an Ethernet connection, and, on the other hand, a fluid interface 9 for transporting fluid between the first and second components 2, 3.

[0054] By means of a suitable design of the contact sections 5, 6, an example of which will be explained later, it is possible to achieve that in a plurality of possible orientations of the contact section 5 with respect to the contact section 6, the connection interface is automatically formed when the contact section 5 is plugged or pressed onto the contact section 6. The various possible orientations differ only with regard to a rotation about the Fig. 1 transverse axis of rotation from each other.

[0055] The movement of component 10 is effected by actuator 11 of part 2, which in the example is a pneumatic actuator. Alternatively, an electric drive could be used as the actuator, for example. The operating fluid for actuator 11, i.e. compressed air, is provided by a compressor 13 in component 3 and fed to actuator 11 via fluid interface 9 and a further component 14 for controlling the fluid flow, for example a valve. Component 14 is in turn electrically controlled by a control device 15, which is supplied with energy on the one hand via a power supply 18 in component 3 via electrical interface 8 and on the other hand is controlled by a central control device 16 in the first component via network 17, which is also routed via electrical interface 8.

[0056] One possibility for designing the contact sections 5, 6 forming the connection interface 4 is described below with reference to the Figures 2 to 4explained in more detail. Fig. 2 schematically a section through the area in which the contact sections 5, 6 are pressed together or inserted into each other. Figures 3 and 4 show schematic plan views of the contact sections 5, 6. The surfaces facing the viewer in these two figures are moved towards each other to create the connection interface 4. The respective side wall of the contact sections 3, 4, which in Fig. 3 or 4 is facing the viewer, is in Fig. 2 not shown for reasons of clarity.

[0057] The elastic return elements 41, 42, 43 attached to the contact section 5, which are formed by sealing means, namely in the concrete example by O-rings, are, in the connected state of the contact sections 5, 6, Fig. 4The surface of the contact section 6 is pressed against the contact surface shown in the drawing. This seals the fluid channels 35, 36. At the same time, as will be explained later, the Fig. 2 and 4 The fastening means 55 shown are held in a fastening position by force fit.

[0058] As particularly in Fig. 2 As can be clearly seen, the electrical interface 8 is formed on the side of the first and second contact sections 5, 6 by a group 21, 22 of several electrical connections 23 to 26. For each of the connections 23 to 26, several instances 27 to 34 are present, of which Fig. 2only two instances 27, 29, 31 and 33 are shown, each offset by 180°. In this case, all instances 27 to 34 of a respective one of the connections 23 to 26 are conductively connected to one another, so that for the purpose of establishing the electrical interface, it is ultimately unimportant with which of the multiple instances 27 to 34 of the respective electrical connection 23 to 26 a conductive contact is made. In principle, it would be sufficient to provide multiple individual electrical connections, i.e. several instances, on only one of the two contact sections 5, 6, which are conductively connected to one another in order to enable different orientations. In the example shown, however, this configuration is provided for both contact sections 5, 6.

[0059] In the example shown, exactly one instance of each connection in the group is combined to form a respective socket or plug, whereby for reasons of clarity, Figures 3 and 4 only these sockets or plugs, each of which comprises exactly one instance of each connection of the respective groups, are schematically shown as instances of the electrical connections 27 to 34. Since these plugs or sockets and thus the instances 27 to 34 of the electrical connections 23 to 26 are each offset from one another by a predetermined angle 20, in the example by 90°, in the circumferential direction of the rotation axis 19, the contact section 5 can be plugged or pressed onto the contact section 6 in several orientations that differ by an integer multiple of the predetermined angle 20, the same electrical interface being provided in all of these orientations.

[0060] In order to enable the fluid interface to be independent of the choice of orientation in the above-mentioned steps, partial channels 37, 38, 39, 40 are used in the contact sections 5, 6, which are perpendicular in cross section to the rotation axis 19 or in the Fig. 3 and 4 shown plan views surround the rotation axis 19 as concentric ring channels. If the contact sections 5, 6 are now Fig. 2 As shown, when plugged or pressed together, the sub-channels 37, 39 together form the fluid channel 35 and the sub-channels 38, 40 together form the fluid channel 36, wherein the fluid channels 35, 36 are sealed by sealing rings that also serve as elastic return elements 41, 42, 43. This connection is independent of which of several orientations, which differ with respect to a rotation about the rotation axis 19, of the contact section 5 is used with respect to the contact section 6.

[0061] The use of two fluid channels 35, 36 can be advantageous to enable both the supply of working fluid to component 2 and the removal of working fluid. Although in the example shown, both fluid channels 35, 36 are annular, such a fluid-tight connection of subchannels could also be achieved, regardless of their orientation with respect to rotation about the rotation axis 19, if, for example, a central, round fluid channel is used within which the rotation axis runs.

[0062] In order to avoid accidental loosening of the connection interface on the one hand and, on the other hand, in particular to enable mechanical mounting and support of the component 2 on the component 3, the fastening sections 5, 6, as shown in Fig. 2 shown, are fastened to one another by a fastening means 55.

[0063] Fig. 5shows a perspective view of a possible embodiment of this fastening means 55. The fastening means 55 has a base body 44 which runs in a ring-like manner around the axis of rotation 19 and from which a plurality of webs 45, 46, spaced apart from one another in the circumferential direction, protrude in the direction of the two contact sections 5, 6. The webs 45 each engage over a support section 47 of the contact section 5 and engage on a support surface 48 of this support section 47, which faces away from the other contact section 6. Accordingly, the webs 46 each engage over a support section 49 of the contact section 6 and engage on a support surface 50 of this support section 49, which faces away from the contact section 5.

[0064] This will result in Fig. 2The fastening position of the fastening means 55 shown prevents the contact sections 5, 6 from being moved apart counter to the connection direction 7, since the support surfaces 48, 50 abut the web surfaces 51, 52. Since the contact sections 5, 6 and thus also the support surfaces 48, 50 are pressed apart and thus against the web surfaces 51, 52 by the return elements 41, 42, 43, which, as explained, are sealing rings, a frictional connection results between the respective support surface 48, 50 and the respective web surface 51, 52.

[0065] The fastening means 55 can be provided as a separate component or attached to one of the components 2, 3 or the contact sections 5, 6 and, in particular, rotatably mounted there. When the fastening means 55 is attached to one of the contact sections, in a modification not shown, the webs extending toward this contact section can also be omitted.

[0066] When attaching the contact section 5 to the contact section 6, the fastening means 55 is first brought into a release position in which, viewed perpendicular to the rotation axis 19 or the connection direction 7, the web sections 51, 52 are located in the spaces 53, 54 between the support sections 47, 49 of the contact sections 5, 6. These spaces are in Fig. 3 and 4 As a result, the fastening means 55 is freely movable in the connecting direction 7, at least with respect to the contact section on which it is not mounted, in particular with respect to both contact sections. The contact sections 5, 6 can thus be pressed or plugged together without this process being hindered by the fastening means 55.

[0067] Subsequently, the fastening means 55 can be rotated about the rotation axis 19 in order to pivot the respective web surfaces 51, 52 behind the respective support sections 47, 49, whereby the fastening position explained above is achieved.

[0068] Particularly in order to compensate for tolerances, it can be advantageous to be able to adjust how much play is possible between the contact sections 5, 6 parallel to the rotation axis 19 or how strongly the return elements 41, 42, 43 should be preloaded. This can be achieved by chamfering the support surfaces 48, 50 and / or the web surfaces 51, 52 in the circumferential direction, so that these surfaces, or at least one of these surfaces, follows a helical line. By adjusting the rotation angle of the fastening means 55, it is possible to adjust how tightly the "screw" is tightened and thus how strong the clamping forces act on the contact sections 5, 6 or how much play remains for the contact sections 5, 6 in the connection direction 7.

[0069] In order to achieve, on the one hand, a good centering of the contact sections 5, 6 with respect to the rotation axis 19 and thus in particular a robust connection of the connection interface 4 and, on the other hand, to avoid a relative movement of the contact sections 5, 6 perpendicular to the rotation axis and / or a relative rotation about the rotation axis 19, which can lead, for example, to a load on the plugs and sockets of the electrical interface, optionally several projections 56 on the contact section 5 and opposite recesses 57 on the contact section 6 can be used, which are in the Fig. 3 and 4 are shown in dashed lines. The arrangement of the projections 56 and recesses 57 has the same rotational symmetry as the connection interface 4.

[0070] In a modification, it would also be possible for this rotational symmetry to be present only for the recesses 57 and for a smaller number of projections 56, e.g., only two or three of the projections 56 shown, to be used. In this case, depending on the orientation, parts of the recesses would not be filled by projections.

Claims

1. Device (1), in particular for the handling and / or processing of parts, having a first and a second subassembly (2, 3) which are separably connected or connectable by means of a connection interface (4), wherein the connection interface (4) results from a first contact section (5) of the first subassembly (2) being plugged and / or pressed in a connecting direction (7) onto a second contact section (6) of the second subassembly (3) in a first orientation that is specified relative to the second contact section (6), wherein the connection interface (4) comprises firstly an electrical interface (8) for the transmission of electrical power and / or of communication signals between the first and the second subassembly (2, 3) and secondly a fluid interface (9) for the transport of fluid between the first and the second subassembly (2, 3), wherein the first and the second contact section (5, 6) are configured such that the connection interface (4) also results if the first contact section (5) is plugged or pressed in the connecting direction (7) onto the second contact section (6) in at least one further orientation, wherein the respective further orientation corresponds to the first orientation aside from a rotation of the first contact section (6) by a respective specified angle (20) about a rotation axis (19) running in the connecting direction (7), characterized in that the first and second contact sections (5, 6) are connected to one another by a fastening means (55) which comprises a main body (44), which annularly encircles the rotation axis, and in each case multiple first and / or second webs (45, 46) which project from the main body (44), wherein the first webs (45) engage over in each case one support section (47) of the first contact section (5) and engage on a support surface (48) of said support section (47), which support surface (48) is averted from the second contact section (6), and the second webs (46) engage over in each case one support section (49) of the second contact section (6) and engage on a support surface (50) of said support section (49), which support surface (50) is averted from the first contact section (5), in order to limit a movement of the contact sections (5, 6) apart in a connecting direction (7), wherein, when the fastening means (55) comprises only first or second webs (45, 46), the fastening means (55) is attached to the contact section (5, 6) in the direction of which no webs extend.

2. Device according to Claim 1, characterized in that the electrical interface (8) is formed on the first and second contact section (5, 6) in each case by a group (21, 22) of multiple electrical connections (23 - 26), wherein multiple instances (27 - 34) are provided for each of the connections (23 - 26) of the group (21, 22) on the first and / or second contact section (5, 6), wherein the instances (27 - 34) of a respective connection (23 - 26) are conductively connected to one another and are arranged spaced apart from one another on a respective circular path about the rotation axis when the contact sections (5, 6) are in the connected state.

3. Device according to Claim 1 or 2, characterized in that the fluid interface (9) comprises at least one fluid channel (35, 36) that is formed by a fluid-tight connection of a respective first partial channel (37, 38) of the first contact section (5) and a respective second partial channel (39, 40) of the second contact section (6), wherein, at least in the region of the fluid-tight connection, the fluid channel (35, 36) or at least one of the fluid channels (36, 36) annularly surrounds the rotation axis (19) as viewed in a cross section perpendicular to the connecting direction (7), and / or wherein the rotation axis (19) runs within the fluid channel (35, 36) or one of the fluid channels (35, 36).

4. Device according to Claim 3, wherein the fluid interface (9) comprises several, in particular two, of the fluid channels (35, 36), characterized in that, at least in the region of the fluid-tight connection, the fluid channels (35, 36) surround the rotation axis (19) as coaxial rings as viewed perpendicular to the connecting direction (7).

5. Device according to any one of the preceding claims, characterized in that the respective support sections (47, 49) of the first and / or of the second contact section (5, 6) are spaced apart from one another in a circumferential direction of the rotation axis (19), and / or in that the support surfaces (48, 50) of the support sections (47, 49) of the first and / or of the second contact section (5, 6) and / or those web surfaces (51, 52) of the first and / or second webs (45, 46) which make contact with the support surfaces (48, 50) are bevelled in a circumferential direction.

6. Device according to any one of the preceding claims, characterized in that the fastening means (55) are configured such that a pressing force with which the contact sections (5, 6) are pressed against one another is variable by way of a rotation of the annular main body (44) about the rotation axis (19), and / or that, by way of said rotation, it is possible to set whether, and / or after how great a displacement travel counter to the connecting direction (7), a further movement of the contact sections (5, 6) apart is blocked by an abutment of the or a web surface (51, 52) of at least one of the webs (45, 46) against at least one of the support surfaces (48, 50) .

7. Device according to any one of the preceding claims, characterized in that, between the contact sections (5, 6), there is arranged an elastically deformable restoring element (41, 42, 43) which subjects the first contact section (5) to a restoring force in a direction away from the second contact section (6).

8. Device according to any one of the preceding claims, characterized in that the first and / or the second contact section (5, 6) have multiple recesses (57) into each of which, at least in the and / or the further orientation, a respective, in particular pin-like projection (56), which extends parallel to the rotation axis (19), of the respective other contact section (5, 6) engages.

9. Device according to any one of the preceding claims, characterized in that at least one of the subassemblies (2, 3) comprises an actuator (11) that is configured to move a component (10) that is mounted so as to be movable with respect to the contact section (5, 6) of said subassembly, wherein a direction of the movement and / or of a rotation or pivot axis of the movement and / or a movement path (12) of the component (10) is dependent on whether the first contact section (5) has been plugged and / or pressed in the or the further orientation onto the second contact section (6).

10. Device according to Claim 9, characterized in that the actuator (11) is a pneumatic or hydraulic actuator (11), wherein the device (1) is configured such that operating fluid used for the operation of the pneumatic or hydraulic actuator (11) is conducted to said subassembly (2, 3) and / or discharged from said subassembly (2, 3) via the fluid connection (9).

11. Device according to any one of the preceding claims, characterized in that at least one of the subassemblies (2, 3) comprises a pneumatic or hydraulic actuator (11), wherein the device (1) is configured such that operating fluid used for the operation of the pneumatic or hydraulic actuator (11) is conducted to said subassembly (2, 3) and / or discharged from said subassembly (2, 3) via the fluid connection (9).

12. Device according to any one of the preceding claims, characterized in that at least one of the subassemblies (2, 3) comprises the or an actuator (11), wherein the device (1) is configured such that control signals for the control of the actuator (11) in the form of communication signals and / or power for the operation of the actuator (11), in particular for the operation of an electric drive used as an actuator, can be transmitted via the electrical interface (8) to said subassembly (2, 3).

13. Device according to any one of the preceding claims, characterized in that a bus or network (17) is led via the electrical interface (9).

14. Method for connecting a first subassembly (2) to a second subassembly (3) in a device (1), in particular in a device (1) for the handling and / or processing of parts, wherein the first and second subassembly (2, 3) are connected by means of a connection interface (4) by virtue of a first contact section (5) of the first subassembly (2) being plugged and / or pressed in a connecting direction (7) onto a second contact section (6) of the second subassembly (3) in an orientation that is specified relative to the second contact section (6), wherein the connection interface (4) comprises firstly an electrical interface (8) for the transmission of electrical power and / or of communication signals between the first and the second subassembly (2, 3) and secondly a fluid interface (9) for the transport of fluid between the first and the second subassembly (2, 3), wherein a first and a second contact section (5, 6) are used which are configured such that, for multiple possible orientations of the first contact section (5) with respect to the second contact section (6), which orientations differ from one another exclusively in terms of a rotation of the first contact section (5) by a specified angle (20) about a rotation axis (19) running in the connecting direction (7), the connection interface (4) results when the first contact section (5) is plugged or pressed in the connecting direction (7) onto the second contact section (6) in the respective possible orientation, wherein one of the possible orientations is used as the specified orientation, characterized in that the contact sections (5, 6) are fastened to one another by a fastening means (55) comprising a main body (44), which annularly encircles the rotation axis (19), and comprising in each case multiple first and / or second webs (45, 46) which project from the main body (44), wherein, when the fastening means (55) comprises only first or second webs (45, 46), the fastening means (55) is attached to the contact section (5, 6) in the direction of which no webs extend, wherein the fastening is performed by way of a rotation of the fastening means (55) from a release position into a fastening position, wherein, in the fastening position, the first webs (45) engage over in each case one support section (47) of the first contact section (5) and a respective web surface (51) of the respective first web (45) engages on a support surface (48) of said support section (47), which support surface (48) is averted from the second contact section (6), and the second webs (46) engage over in each case one support section (49) of the second contact section (6) and a respective web surface (52) of the respective second web (46) engages on a support surface (50) of said support section (49), which support surface (50) is averted from the first contact section (5), wherein the respective support sections (47, 49) of the first and / or of the second contact section (5, 6) are spaced apart from one another in a circumferential direction of the rotation axis (19) by intermediate spaces (53, 54), wherein, in the release position, the web surfaces (51, 52) of the first and / or of the second webs (45, 46) are arranged in the intermediate spaces (53, 54) as viewed perpendicular to the rotation axis (19).

15. Method according to Claim 14, characterized in that, as the first contact section (5) is plugged or pressed in the connecting direction (7) onto the second contact section (6), the respective web surface (51, 52) is guided through a respective one of the intermediate spaces (53, 54).