CONNECTING DEVICE AND SYSTEM

Description

[0001] The invention relates to a connecting device for mechanically positively connecting a first object to a second object, and an associated system.

[0002] EP 2 040 572 B1 describes a mechanical-magnetic connection assembly with a locking device comprising at least one spring-loaded locking element arranged in one connection module and a movable locking piece for positive locking of the connection modules, arranged in another connection module. The spring-loaded locking element is designed such that it is pressed against the locking piece when the connection assembly is closed. The spring-loaded locking element, the locking piece, and the contacting surface sections of the spring-loaded locking element and the locking piece are designed such that the spring-loaded locking element is deflected in a structurally defined direction and snaps into the locking piece when the locking element and the locking piece move relative to each other.

[0003] EP 3 081 347 A2 discloses a robot operator handheld device with a handle-like housing, comprising an integrated safety control unit and at least one holder with a plug connector. This plug connector is designed for tool-free, manually detachable connection to an external, electronically communicating device – such as a tablet, a robot controller, or a mobile platform. The mechanical connection is achieved via a positive or non-positive locking mechanism using corresponding mating connectors, supporting various coupling directions and orientations.

[0004] The object of the invention is to provide a connecting device for mechanically positively connecting a first object to a second object and an associated system, wherein the connecting device can be locked and / or unlocked in a simple or intuitive manner, in particular can be locked and / or unlocked with one hand, especially without the need for separate unlocking means.

[0005] The problem is solved by a connecting device for mechanically positively interlocking a first object with a second object, comprising: A coupling means comprising a first fastening section for attaching the coupling means to the first object, a socket with an opening through which a socket cavity of the socket is accessible in an axial insertion direction, and at least one locking element adjustably mounted between a locking position and an unlocking position, which in its locking position projects into the socket cavity of the socket and in its unlocking position releases the socket cavity of the socket; a feedback means comprising a second fastening section for attaching the feedback means to the second object, a plug corresponding to the socket of the coupling means with a shaft that can be inserted into the opening of the socket cavity of the socket in the axial insertion direction, and at least one counter-locking element that interacts positively in the locking position of the locking element of the socket.wherein the socket cavity of the socket and the corresponding shaft of the plug have cross-sectional contours that are matched to each other, which allow a relative rotation of the coupling means and the feedback means about an axis of rotation parallel to the insertion direction in a connected state of the coupling means and the feedback means, further comprising a release means arranged on the feedback means, which is configured, when the coupling means and the feedback means are rotated relatively about the axis of rotation parallel to the insertion direction, to move the locking element of the coupling means from its locking position to an unlocked position in a predetermined relative angular position range of the coupling means and the feedback means, in which the locking element of the coupling means and the counter-locking element of the feedback means are disengaged,so that the coupling element and the feedback element can be separated from each other in the opposite direction of insertion.

[0006] The connecting device forms a positive-locking connecting element. The connecting device comprises two separable connecting means, namely the coupling means and the feedback means, which can be separated in a connected state and coupled together from a separated state. dhThe connecting device can be used to connect or disconnect any two objects. To connect the coupling element to one object, it has a first fastening section. To connect the coupling element to the other object, it has a second fastening section. The respective first and second fastening sections can be screwed, glued, or snapped onto the associated object, for example. Alternatively, the respective first and second fastening sections can also be formed integrally with the associated object, for example, molded onto the object's housing.

[0007] The positive-locking connection between the coupling element and the feedback element essentially comprises a combination of a plug and a socket in the general sense. "Plug" here refers to a projection, which can also be called a pin, prong, or male connector. "Socket" here refers to a recess, which can also be called a socket, base, or female connector. The plug and socket are designed to fit together precisely, allowing them to be inserted with minimal or no play.

[0008] In the connection device according to the invention, the socket cavity of the socket and the corresponding shaft of the plug have cross-sectional contours that are matched to each other. These contours allow relative rotation of the coupling means and the feedback means about an axis of rotation parallel to the insertion direction while the coupling means and feedback means are connected. According to the invention, the connection device should enable the two objects connected via the connection device to continue to be rotated relative to each other despite the existing connection. This rotation of the two objects relative to each other can be possible either for a full 360 degrees or, if desired, only for a smaller angle of rotation, for example, depending on the design, a maximum of only 270 degrees, 180 degrees, or 90 degrees.

[0009] The direction of insertion, in which the coupling means and the feedback means are inserted together, and in the opposite direction the direction of separation, in which the coupling means and the feedback means can be separated from each other, are defined by the axis of rotation permitted according to the design.

[0010] To prevent the coupling element and the feedback element from unintentionally separating when connected, the coupling element has a locking element and the feedback element has a counter-locking element. In the locked position of both the locking element and the counter-locking element, the coupling element and the feedback element cannot be separated, even if they are pulled apart in the separation direction. Only when both the locking element and the counter-locking element are in the unlocked position can the coupling element and the feedback element be separated in the separation direction.

[0011] When the coupling element and the feedback element are connected, the locking element and the counter-locking element automatically move into their locked position, in which they cannot be separated from each other in the separation direction. The release element is provided to move the locking element and the counter-locking element into their unlocked position.

[0012] According to the invention, the unlocking means is designed to move the locking element of the coupling means from its locking position to an unlocked position within a predetermined relative rotational angle range of the coupling means and the feedback means when the coupling means and the feedback means are rotated relative to the axis of rotation parallel to the insertion direction. In this unlocked position, the locking element of the coupling means and the counter-locking element of the feedback means are disengaged, so that the coupling means and the counter-locking element can be separated from each other opposite to the insertion direction, in particular by pulling the coupling means and the counter-locking element apart in the separation direction.

[0013] The aim of the invention is to create a positive-locking coupling mechanism that can be connected and disconnected easily and directly with one hand, in particular without having to operate an additional manually operated unlocking input device.

[0014] The aim is for the plug to assume an unlocked position and be decoupled in the opposite direction to the insertion direction simply by rotating it relative to the socket. The unlocking movement should be simple and intuitive, yet require conscious effort to prevent accidental disconnection. The main differences between the proposed solutions lie in the plug's geometry, the snap-hook arrangement of the counterpart, and the haptic feedback provided for the unlocking mechanism.

[0015] In a further development of the connecting device, the unlocking means can have at least one extension projecting radially outwards from the shaft of the plug, which is designed to press the locking element into the unlocked position in a first angular position range of the feedback means relative to the coupling means and to leave the locking element in its locked position in a second angular position range of the feedback means relative to the coupling means, which differs from the first angular position range, wherein the locking element is spring-loaded into its locked position and, in the first angular position range of the feedback means relative to the coupling means, the locking element is pressed radially outwards into its unlocked position by the extension of the unlocking means against a spring force.

[0016] In this embodiment, the pin of the connector is not completely rotationally symmetrical. Additional, opposing features on the pin, such as radial projections, allow it to expand the mating part, particularly those with snap hooks on the socket. These features can be located above the undercut or snap hook contour, at the level of the undercut or snap hook contour, or below the undercut or snap hook contour. When the connector is correctly oriented relative to the mating part, allowing these features to expand, the pin can then be removed from the socket. For this to occur, the snap hook contours of the mating part must be... dh of the coupling agent, only be present in the area of ​​the pin's shape.

[0017] In a further embodiment, the unlocking means can have at least one recess extending axially along the shaft of the connector in the outer surface of the shaft, which is designed to align with the locking element projecting radially inwards into the socket cavity of the coupling means in a first angular position range of the feedback means relative to the coupling means, wherein in a second angular position range of the feedback means different from the first angular position range relative to the coupling means, the unlocking means overlaps the locking element in a radial direction, so that in this locking position the feedback means is positively locked to the coupling means in an axial direction.

[0018] In this respect, the plug can also have recesses and thus form a kind of key surface in order to pass the existing snap hooks of the counterholder in a suitable rotational position and escape the positive locking.

[0019] The advantages can lie in the same coupling and decoupling direction and in the fact that no separate, additional decoupling mechanism is necessary.

[0020] The feedback element can be coupled to the coupling element via a freewheel, such that a relative rotation of the feedback element and the coupling element against each other is only possible in one direction of rotation.

[0021] With a further addition, a detent mechanism can be integrated to maintain a stable angular position depending on the detent increment. In this respect, a backstop can be integrated either into the plug or the socket to limit the relative rotation of the coupling and feedback elements to only one direction.

[0022] In known systems, unlocking or locking by rotation is often completely predetermined within a defined angular range, for example, a 0-degree position for the open position and a 90-degree position for the locked position. Alternatively, the angular range is completely free. Unlocking then usually occurs by rotating in the opposite direction to the locking direction. Alternatively, locking is achieved by a 90-degree rotation, and unlocking is accomplished by another 90-degree rotation in or against the locking direction.

[0023] The proposed backstop may require almost a full rotation to unlock the connection. However, the necessary rotation for decoupling depends on whether the mating position of the plug and socket remains freely oriented or is fixed. The rotation angle can therefore vary depending on the coupling orientation. The unlocking position always occurs at a defined rotational orientation of the two components relative to each other and should be further secured with an additional locking mechanism for improved tactile feedback. Only after a new coupling process can the two components be rotated relative to each other again.

[0024] In a further development process, a second stage can be added to ensure greater decoupling reliability. The socket has one or more recesses in the insertion area, in front of the counter-holder with snap hook in the housing, forming a second stage. These recesses are rotated relative to the expansion position. The plug with its recess can only be inserted into the socket and locked in place when correctly oriented to the recess. For the decoupling process of the first stage, the plug must first be rotated to the unlock position so that it expands the counter-holder and can be pulled out of the snap hook. The plug must then be pulled deliberately in the opposite direction to the counter-holder of the socket, as the locking mechanism of the first stage can be re-engaged in any rotation position. The plug must then be rotated further so that the recess aligns with the recesses in the socket. The plug can now be completely removed.

[0025] By combining it with a backstop and uniquely shaped recesses and / or features, a decoupling process may require up to a full rotation, thus providing additional decoupling safety.

[0026] The connecting device can be characterized by an intermediate plane into which the counter-locking element of the feedback means is inserted when the feedback means is moved from the coupling means in the opposite direction of insertion in order to separate the feedback means from the coupling means in the unlocked position, wherein the intermediate plane has positive-locking retaining means which initially prevent further separation of the feedback means from the coupling means across the intermediate plane and only allow it after an additional rotation of the feedback means relative to the coupling means by a further angle of rotation.

[0027] In an alternative or supplementary further development, it may be provided that, in a relative angular position of coupling means to feedback means corresponding to the unlocking position, the plug of the feedback means is held in its unlockable rotary position by means of a locking device relative to the socket of the coupling means in a force-locking and / or form-locking manner.

[0028] The locking device can comprise a locking pin that is pre-tensioned and projects radially into the socket cavity on the coupling means, and which, in the unlocked position, mechanically engages in a recess in the shaft of the plug corresponding to the locking pin of the feedback means.

[0029] The locking device can comprise a first magnet attached to the coupling means, which in the unlocked position magnetically interacts with a second magnet arranged on the feedback means in order to hold the feedback means in its instantaneous rotational angular position relative to the coupling means in the unlocked position.

[0030] Such embodiments will be described again later. Figs. 1 to 7 explained in more detail.

[0031] In a modified embodiment, a pair of retaining elements is spring-loaded and guided in a frame such that, upon insertion of the connector, they can retract laterally along the axis of rotation, allowing the connector to be inserted into the frame. In this embodiment, the locking elements are not continuous around the entire perimeter of the connector, but rather have clearance areas.

[0032] In the locked position, the locking element is positively engaged with the segments of the mating supports in both axial and radial directions. Rotating the connector around its axis of rotation maintains the locked angular position of the two mating components. Only when a decoupling angle is exceeded, for example, 45 degrees, 90 degrees, or 180 degrees, does the engagement disappear, as the locking element is then positioned between the mating supports. The connector can then be removed axially after a corresponding rotation.

[0033] Such embodiments will be described again later. Figs. 8 to 13 explained in more detail.

[0034] The counter-holder and the locking element can also take on other forms as follows.

[0035] In such a different form, the counter-support, spring and guide are combined into one element, which can be designed, for example, as an elastically bendable bending rod or bending rods that are mounted in a frame.

[0036] In such a case, a rod shape with a profile that exhibits higher bending resistance in a direction out of the plane perpendicular to the axis of rotation, and in the transverse direction (i.e., during elastic deformation within the plane perpendicular to the axis of rotation), is particularly advantageous. Alternatively, a boundary wall of the frame can cover the bending rods in such a way that they do not exhibit excessive flexibility in a direction out of the plane perpendicular to the axis of rotation.

[0037] Such embodiments will be described again later. Figs. 14 to 16 explained in more detail.

[0038] It is also possible to reverse the retracting and spring-loaded locking elements from the frame to the connector.

[0039] Thus, the retractable and spring-loaded locking elements can be provided on the connector and the rigid counter-holders can be provided on the frame.

[0040] Such embodiments will be described again later. Figs. 17 to 19 explained in more detail.

[0041] Another aspect of the invention is the haptic feedback, which should allow the user to feel the point in time and the correct position at which decoupling is possible. Furthermore, it should be possible to signal to the user when a decoupling process has begun or is about to begin, and / or that if the movement continues, both coupling partners (coupling means or plug and feedback means or socket) will be disconnected.

[0042] In one variant, it can be provided that a locking element is rotated into its unlocking position, a spring-loaded shaped element then snaps into a beveled cutout in the plug and locks the connector in this position.

[0043] If this cutout is linear, like a groove along the axis of rotation, the connector can be removed without force. If this cutout is localized, point-like, or cylindrical, like a hole, the connector must first be pulled against the spring force to be removed.

[0044] The cutout can be made on the locking body or at any point on the connector. Likewise, a reversal of the cutout and the shaped body is always possible. dh The cutout can optionally be arranged on the plug or the socket, and accordingly the shaped body can be arranged on the socket or the plug as a complementary part.

[0045] Such a variant allows for rotation into the unlocked position, but also beyond and back again.

[0046] Such embodiments will be described again later. Fig. 20 and Fig. 21 explained in more detail.

[0047] In a second variant, it can be provided that the haptic means achieves a form-fit connection between the elements of the cutout and the shaped body, in contrast to the first variant, in which a force-fit connection is achieved.

[0048] In the case of the second variant, the cutout must be defined as a groove directed in the direction of rotation.

[0049] The second option only allows rotation into the unlocked position, but no reversal or further rotation. In this case, the plug must be completely removed before the connection can be re-established by plugging it back in.

[0050] Such embodiments will be described again later. Fig. 22 and Fig. 23 explained in more detail.

[0051] A third variant is comparable to the first variant 1 and a local cutout, but with the difference that one or more pairs of magnets take over the center locking function instead of a mechanically force-fit connection. The user can feel when they approach the position where the magnets are attractively facing each other.

[0052] The magnets can be arranged radially or in a similar position axially to the direction of rotation.

[0053] The magnets can be separated from each other for final decoupling either by shearing or by tension.

[0054] Such embodiments will be described again later. Fig. 24 and Fig. 25 explained in more detail.

[0055] In a fourth variant, the magnetic arrangement centers the plug in the unlocked position and also generates a characteristic overtravel force when the plug is rotated by a certain angle from the unlocked position. This solution therefore represents a bistable system.

[0056] Such embodiments will be described again later. Fig. 26 and Fig. 27 explained in more detail.

[0057] In a fifth variant, the plug with the locking element is held in the unlocked position by locking elements on the counter-holder segments as soon as it has passed over the locking elements.

[0058] This fifth option only allows rotation into the unlocked position, but no reversal or further rotation. The plug must first be completely removed before the connection can be re-established by reinserting it.

[0059] The user experiences a defined effort when overcoming the locking elements. In a variation, the locking elements can also be part of the frame.

[0060] Such embodiments will be described again later. Fig. 28 and Fig. 29 explained in more detail.

[0061] In a sixth variant, the plug with the locking element is held in the unlocked position by the flanks of the counter-holder segments as soon as this position is reached. This is achieved by the plug with its locking element passing over an elastic spring element in the frame, which slightly lifts it and moves it outwards.

[0062] This sixth variant also only allows rotation into the unlocked position, but no reversal or further rotation. Here too, the connector must first be completely removed before the connection can be re-established by reinserting it. Unlike the second and fifth variants, a connection can also be re-established by pressing the connector against the spring at the level of the frame and then rotating it back into the locked position.

[0063] The user experiences a defined effort when overcoming the spring element. In a variation, the spring element can also be part of the plug, particularly the locking mechanism.

[0064] Such embodiments will be described again later. Figs. 30 to 32 explained in more detail.

[0065] A seventh variant is based in principle on the sixth variant, with the difference that the mechanical spring elements are replaced by pairs of magnets, which are arranged in such a way that they function on a repulsive effect.

[0066] Such embodiments will be described again later. Figs. 33 to 35 explained in more detail.

[0067] In another type of embodiment, unlocking is not achieved by "rotating freely" into a position without overlap of the locking element and counterholder, but rather the counterholder, in particular the counterholder segments, are opened radially outwards by relative rotation of the plug relative to the frame until the plug can be removed in the opposite direction of insertion.

[0068] This variant, for example, has four segments of locking elements, each with at least one-sided, and preferably both-sided, shaped features, particularly draft angles. The connector has, for example, a continuous locking element that is positively engaged by the locking elements. Furthermore, the connector has release elements at the level of the locking elements, which, in the locked state, are located in the free pockets between the locking elements. A rotation causes contact and a guided pressing of the segments. The size of the pockets relative to the size of the release elements defines the unlocking point. If the ratio is small, release occurs even with a small relative rotation. If the ratio is large, the opposite is true, and the connector remains coupled over a wider angular range.

[0069] Such embodiments will be described again later. Figs. 36 to 40 explained in more detail.

[0070] Another type of embodiment is comparable to the third variant, except that the function of the release elements is taken over by segmented locking elements and their flanks, which, when rotated, engage with shaped elements of the joint holder segments. In the locked state, the segmented locking elements retract into cavities beneath the joint holder segments. A necessary clearance is formed between the locking element segments.

[0071] Such embodiments will be described again later. Figs. 41 to 46 explained in more detail.

[0072] Another variant using magnets involves a possible design that does without free spaces and release elements by using magnets that are attached to the plug and the counterpart, dhThe magnets are positioned within the socket. Their orientation is chosen so that the magnet pairs attract each other when locked, providing additional stability, particularly against twisting of the connector. If an initial force threshold is exceeded, the connector, including the inner magnets, can be twisted. When the magnets encounter the outer magnets, which act in the opposite direction in this position, they repel each other and push the counter-holding segments radially back against weaker spring forces.

[0073] Such embodiments will be described again later. Figs. 47 to 49 explained in more detail.

[0074] Analogous to the variant just described, a modification can also provide for only one bar magnet being arranged in the middle of the plug and two segments being formed as counter-holders, each with a magnet, with one "North" and one "South" pointing inwards.

[0075] One such embodiment will be described again later. Fig. 50 explained in more detail.

[0076] The coupling means can thus comprise a first repulsive magnet and the feedback means a second repulsive magnet, wherein the first repulsive magnet and the second repulsive magnet are arranged relative to each other such that, in an unlocked position of the coupling means relative to the feedback means, the first repulsive magnet, in conjunction with the second repulsive magnet, produces a mutually repulsive magnetic force which pushes the locking element, which is adjustably mounted on the coupling means, into its unlocked position.

[0077] The problem is also solved by a system comprising a robot device, a robotic input device and a connecting device according to one or more of the described embodiments and / or variants, wherein the coupling means is connected to the robot device as the first object by means of its first fastening section and the counter-feedback means is connected to the robotic input device as the second object by means of its second fastening section, wherein the connecting device is designed and configured according to one of the described embodiments and / or variants for manually selecting and disconnecting the robotic input device and the robot device.

[0078] The problem is also solved by a system comprising a robot device, a robot input device (and a connecting device according to one or more of the described embodiments and / or variants, wherein the coupling means is connected to the robot input device as the first object by means of its first fastening section and the feedback means is connected to the robot device as the second object by means of its second fastening section, wherein the connecting device is designed and configured according to one or more of the described embodiments and / or variants for manually selecting and disconnecting the robot input device and the robot device.

[0079] As already described, a key feature of this coupling unit is the relative rotation of the coupling partners around the joining and disengaging direction.

[0080] Robotic devices, which typically include a robot arm and a robot controller, utilize robotic input devices, also known as handheld devices or HMIs, to enable manual input that controls or programs the robot controller, or even to move the robot arm manually via input on the device. These input devices have recently become miniaturized, allowing them to be operated with just one hand.

[0081] Thus, the input device can have one coupling partner and, for example, a link of the robot arm can directly have the other coupling partner, in order to be able to detachably couple the input device directly to the robot arm.

[0082] If it is possible to rotate the input device by, for example, 360 degrees without unlocking, an additional external unlocking mechanism may also be installed.

[0083] Additional release mechanisms can be effective, which are integrated directly into the special coupling partners, such as the input device, and which, when activated, either perform an isolated rotation of the plug or pull the counter-holder segments radially outwards without the plug having rotated.

[0084] Such embodiments will be described again later. Fig. 51 and Fig. 52 explained in more detail.

[0085] A variant is also possible in which the input device itself includes additional release actuators on each side.

[0086] Such an embodiment will be described again later. Fig. 53 explained in more detail.

[0087] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Specific features of these exemplary embodiments can, regardless of the specific context in which they are mentioned, and optionally considered individually or in further combinations, represent general features of the invention.

[0088] They show: Figs. 1 to 7 show various embodiments of connecting devices with elasto-mechanically interacting locking elements and counter-locking elements; Figs. 8 to 19 show various embodiments of connecting devices with spring-elastically interacting locking elements and counter-locking elements; Figs. 20 and 21 show a first variant of a connecting device with a haptic device that can haptically provide feedback on an unlocked position of the connecting device; Figs. 22 and 23 show a second variant of a connecting device with a haptic device that can haptically provide feedback on an unlocked position of the connecting device; Figs. 24 and 25 show a third variant of a connecting device with a haptic device that can haptically provide feedback on an unlocked position of the connecting device; Figs. 26 and 27 show...27 a fourth variant of a connecting device with a haptic device which can haptically provide feedback on an unlocked position of the connecting device, Fig. 28 and Fig. 29 a fifth variant of a connecting device with a haptic device which can haptically provide feedback on an unlocked position of the connecting device, Fig. 30 to Fig. 32 a sixth variant of a connecting device with a haptic device which can haptically provide feedback on an unlocked position of the connecting device, Fig. 33 to Fig. 35 a seventh variant of a connecting device with a haptic device which can haptically provide feedback on an unlocked position of the connecting device, Fig. 36 to Fig.46 Design forms in which the unlocking is not effected by "rotating freely" into a position without overlap of locking element and counterholder, but the counterholder, in particular the counterholder segments, are opened radially outwards by relative rotation of the plug relative to the frame, Fig. 47 to Fig. 50 Design forms analogous. Figs. 36 to 46 , however with magnetically acting plugs and counterholders, Figs. 51 to 53 show different embodiments in the use of a respective connection device together with a robotic input device, and a schematic representation of a system comprising a robot device, a robotic input device, further terminal devices and a respective connection device.

[0089] In the Fig. 1 and Fig. 2 A basic embodiment of a connecting device 1 according to the invention is shown schematically. Fig. 1The connecting device 1 is shown in a locked position and the Fig. 2 shows the connecting device 1 in an unlocked position.

[0090] The connecting device 1 is essentially composed of two parts and comprises a coupling means 2 and a corresponding negative feedback means 3.

[0091] The coupling means 2 has a first fastening section 4.1 for fastening the coupling means 2 to a first object. The coupling means 2 also has a socket 5 with an opening through which a socket cavity 6 of the socket 5 extends in an axial insertion direction S ( Fig. 5a ) is accessible.

[0092] The feedback element 3 has a second fastening section 4.2 for attaching the feedback element 3 to a second object. The feedback element 3 also has a plug 7 corresponding to the socket 5 of the coupling element 2, with a pin extending into the opening of the socket cavity 6 of the socket 5 in the axial insertion direction S ( Fig. 5a ) insertable shaft.

[0093] The coupling means 2 has at least one between a locking position ( Fig. 1 ) and an unlocking position ( Fig. 2 ) adjustable locking element 8, which in its locking position protrudes into the bushing cavity 6 of the bushing 5 and in its unlocking position releases the bushing cavity 6 of the bushing 5.

[0094] The feedback element 3 has at least one counter-locking element 9 which interacts positively in the locked position of the locking element 8 of the bushing 5. In the case of the present embodiment of the Figs. 1 to 5 The at least one counter-locking element 9 is formed by at least one undercut in the outer surface of the plug 7, behind which the at least one locking element 8 of the coupling means 2 is in the locking position ( Fig. 1 ) engages in a form-fitting manner and is in the unlocked position ( Fig. 2 ) is positioned out of the undercut.

[0095] The socket cavity 6 of the socket 5 and the corresponding shaft of the plug 7 have cross-sectional contours that are matched to each other, which allow a relative rotation of coupling means 2 and feedback means 3 about an axis of rotation parallel to the plugging direction S in a connected state of coupling means 2 and feedback means 3.

[0096] According to the invention, the feedback means 3 has at least one unlocking means 10 which is configured, when the coupling means 2 and the feedback means 3 are rotated relative to the axis of rotation parallel to the insertion direction S, to release the locking element 8 of the coupling means 2 from its locked position within a predetermined relative angular position range of the coupling means 2 and the feedback means 3 ( Fig. 1 ) into an unlocked position ( Fig 2) to move, in which the locking element 8 of the coupling means 2 and the counter-locking element 9 of the feedback means 3 are disengaged, so that the coupling means 2 and the feedback means 3 can be separated from each other opposite to the insertion direction S. In the specific embodiment of the Figs. 1 to 5 The coupling means 2 has exactly two locking elements 8. These two locking elements 8 are arranged opposite each other.

[0097] The unlocking means 10 of the feedback means 3 can have at least one extension projecting radially outwards from the shaft of the plug 7, which is designed to press the at least one locking element 8 into the unlocked position in a first rotational angular position range of the feedback means 3 relative to the coupling means 2, accordingly Fig. 2, and in a second rotational angular position range of the feedback means 3, different from the first, relative to the coupling means 2, to leave the locking element 8 in its locking position, accordingly Fig. 1 , wherein the locking element 8 is spring-loaded into its locking position and, in the first rotational angular position range of the feedback means 3 relative to the coupling means 2, the locking element 8 is pressed radially outwards into its unlocked position by the extension of the unlocking means 10 against a spring force. The spring force is, in the case of the embodiment according to Fig. 1 and Fig. 2 from a spring-elastic expansion of the coupling means 2, dh the outer wall of socket 5.

[0098] In the modified version according to Fig. 3 and Fig. 4The unlocking means 10 has at least one recess 10a extending axially along the shaft of the plug 7 in the outer surface of the shaft, which is designed to align with the locking elements 8 projecting radially inwards into the socket cavity 6 of the coupling means 2 in a first rotational angular position range of the feedback means 3 relative to the coupling means 2, according to Fig. 4 , wherein in a second rotational angular position range of the feedback means 3, which differs from the first rotational angular position range, the unlocking means 10 overlaps the locking elements 8 in a radial direction relative to the coupling means 2, so that in this locking position, accordingly Fig. 3The feedback element 3 is positively locked to the coupling element 2 in the axial direction. The recesses 10a can be formed by axially extending grooves or axially extending flats on the outer wall of the shaft of the connector 7.

[0099] In a further education course, such as in Fig. 5 As shown, a second stage can be inserted to ensure greater decoupling reliability. The socket 5 has a recess 13 in the insertion area, in the axial insertion direction, in front of a counter-holder 11 with snap hook 12 in the housing, as shown in Fig. 5 shown, or several recesses 13 as a second stage, namely rotated relative to the expansion rotation position. The plug 7 with its feature, for example the release means 10, can only be inserted into the socket 5 and locked in the correct orientation relative to the recess 13. For the decoupling process of the first stage, the plug 7 must first be rotated to the unlock position ( Fig. 2 or Fig. 4 ), so that it widens the counter-holder 11 or forces the locking elements 8 apart, and can be pulled out of the snap hook or the counter-locking elements 9. The plug 7 must continue to be pulled deliberately against the counter-holder of the socket 5, as the locking of the first stage is possible again in any rotational position. Subsequently, the plug 7 must be rotated further so that the feature, for example the release element 10, is aligned with the recess 13 or recesses 13 of the socket 5. Now the plug 7 can be completely removed.

[0100] By combining it with a backstop and uniquely shaped recesses 13 and / or features, a decoupling process may require up to one complete revolution, thus providing additional decoupling safety.

[0101] The Fig. 6illustrates the coupling and decoupling of a coupling means 2 from the feedback means 3, wherein the feedback means 3 is, for example, attached to an input device 14 of a robot device 15 ( Fig. 54The input device 14 is arranged on the robot device 15, and the coupling means 2 can be arranged on the robot device 15 itself. For better illustration, the input device 14 has two identically designed feedback means 3 on opposite sides. This allows the input device 14 to be coupled to the robot device 15 on either the left or right side. Furthermore, the opposite feedback means 3 also illustrates the shape, size, and orientation of the corresponding feedback means 3 opposite the robot device 15, which is not actually visible in the chosen perspective view but interacts with the visible feedback means 3. In the upper illustration, it can be seen that the feedback means 3 can engage between the two locking elements 8 in a snap-fit ​​manner, even though the locking elements 8 are in their locked positions.An axial removal opposite to the insertion direction S is not possible in the coupled state in this orientation of the input device 14, as can be seen from the crossed arrow in the second illustration from the top. If the input device 14 is rotated either clockwise (left middle illustration) or counterclockwise (right middle illustration), the feedback element 3 assumes the appropriate orientation to be able to pass the locking elements 8 in the axial direction opposite to the insertion direction S, thereby allowing the input device 14 to be separated from the robot device 15 again.

[0102] The Fig. 7 shows an analogous example to Fig. 6 , however, the coupling means 2 and the feedback means 3 are swapped, i.e., the input device 14 now has the coupling means 2 and the robot device 15 has the feedback means 3.

[0103] The Figs. 8 to 13Figure 16 shows a pair of counterholders 16 as locking elements 8, which are spring-loaded and guided in a frame 17 such that they can retract laterally from a locking element 18 of the plug 7 when inserted along the axis of rotation D, thus allowing the plug 7 to be inserted into the frame 17. In this embodiment, the locking elements 18 are not formed around the entire circumference of the plug 7, but have clearance areas 19.

[0104] In the locked state, the locking element 18 or locking elements 18 are positively locked to the segments of the counterholders 16 in axial and radial directions ( Fig. 10 ). Rotating the plug around its axis of rotation allows the two coupling partners to remain locked in an angular position ( Fig. 11 ). Only when a decoupling angle is exceeded, for example 90 degrees as shown ( Fig. 12), the overlap disappears because the locking element 18 lies between the counter-holders 16 from this decoupling angle onwards. The plug 7 can thus be removed again in the axial direction after a corresponding rotation ( Fig. 13 ).

[0105] In a special variation according to Figs. 14 to 16 The counter support 16, spring and guide are combined into one element, which can be designed, for example, as an elastically bendable bending rod 19 or bending rods 19 which are mounted in the frame 17.

[0106] In another special variation according to Figs. 17 to 19 A reversal of the retracting and spring-loaded locking elements 20 from frame 17 to the plug 7 is realized.

[0107] Thus, the retractable and spring-loaded locking elements 20 can be provided on the plug 7 and the rigid counterholders 21 can be provided on the frame 17.

[0108] The following section explains haptic features in more detail.

[0109] In a first variant according to Fig. 20 and Fig. 21 It may be provided that the locking element 18 is in its unlocking position ( Fig. 21 ) is rotated, a spring-loaded shaped body 22 then engages in a beveled cutout 23 in the plug 7 and locks the plug 7 in this position.

[0110] The shaped body 22, together with the cutout 23, forms a locking device 35.

[0111] In a relative angular position of coupling means 2 to feedback means 3 corresponding to the unlocking position, the plug 7 of the feedback means 3 can thus be held in its unlockable rotary position by means of the locking device 35 relative to the socket 5 of the coupling means 2 by means of force-locking and / or form-locking.

[0112] The locking device 35 can comprise a locking pin 22a (shaped body 22) pre-tensioned on the coupling means 2 projecting radially into the bushing cavity 6, which in the unlocked position ( Fig. 21 ) mechanically engages in a recess 23a (cutout 23) in the shaft of the plug 7 corresponding to the locking pin 22a of the feedback means 3.

[0113] If this cutout 23 is linear, like a groove along the axis of rotation, the connector 7 can be removed without force. If this cutout is local, point-like, or cylindrical, like a hole, the connector 7 must first be pulled against the spring force in order to be removed.

[0114] The cutout 23 can be made on the locking body 18 or at any point on the connector 7. Likewise, a reversal of cutout 23 and shaped body 22 is always possible. dhThe cutout 23 can optionally be arranged on either the plug 7 or the socket 5, and accordingly the shaped body 22 can be arranged on the socket 5 or the plug 7 as a complementary part. Such a variant allows rotation into the unlocked position, but also beyond and back again.

[0115] In a second variant according to Fig. 22 and Fig. 23 It may be provided that in the haptic means a form-fit connection of the elements of cutout 23 and shaped body 22 is realized, in contrast to the first variant according to Fig. 20 and Fig. 21 , in which a force-fit connection is achieved. In the case of the second variant, the cutout 23 must be formed as a groove oriented in the direction of rotation. The second variant only allows rotation into the unlocked position but no reverse or further rotation. Here, the plug 7 must first be completely removed before this connection can be re-established by reinserting it.

[0116] A third option according to Fig. 24 and Fig. 25 is with the first variant according to Fig. 20 and Fig. 21 and comparable to a local section 23, except that one or more pairs of magnets 24 provide the center locking instead of a mechanically force-fit connection. The user can feel when approaching the position where the magnets 24 are attractively opposed to each other. The magnets 24 can be arranged radially or axially to the axis of rotation in a similar position. The magnets 24 can be separated from each other either by shearing or by tension for final decoupling.

[0117] The locking device 35 can accordingly comprise a first magnet 24.1 attached to the coupling means 2, which in the unlocked position magnetically interacts with a second magnet 24.2 arranged on the feedback means 3 in order to hold the feedback means 3 in its instantaneous rotational angular position relative to the coupling means 2 in the unlocked position.

[0118] In a fourth variant according to Fig. 26 and Fig. 27 The magnetic arrangement 24 centers the plug 7 in the unlocked position and also generates a characteristic overtravel force when the plug 7 is rotated by an angular amount from the unlocked position. This solution thus represents a bistable system.

[0119] Accordingly, the coupling means 2 can comprise at least one first repulsive magnet 24a and the feedback means 3 can comprise a second repulsive magnet 24b, wherein the at least one first repulsive magnet 24a and the second repulsive magnet 24b are arranged relative to each other such that, in an unlocked position of the coupling means 2 relative to the feedback means 3, the at least one first repulsive magnet 24a, in conjunction with the second repulsive magnet 24b, produces a mutually repulsive magnetic force which moves the locking element 8, which is adjustably mounted on the coupling means 2, into its unlocked position ( Fig. 27 ) presses. In the illustrated embodiment, the coupling means 2 has two repulsive magnets 24a.

[0120] In a fifth variant according to Fig. 28 and Fig. 29The plug 7 with the locking element 18 is held in the unlocked position by additional locking elements 25 on the counter-holder segments as soon as it has passed over the locking elements, i.e., the counter-holders 16. This fifth variant only allows rotation into the unlocked position, but no reversal or further rotation. Here, the plug 7 must first be completely removed before the connection is re-established by reinserting it.

[0121] The user experiences a defined effort when overcoming the locking elements, i.e., the counterholders 16. The locking elements, i.e., the counterholders 16, can also be part of the frame 17 in a modification.

[0122] In a sixth variant according to Figs. 30 to 32The plug 7 with the locking element 18 is held in the unlocked position by the flanks of the counterholders 16 as soon as this position is reached. This is achieved by the plug 7 with its locking element 18 passing over an elastic spring element 26 in the frame 17, which slightly lifts it and moves it outwards.

[0123] This sixth variant also only allows rotation into the unlocked position, but no reversal or further rotation. Here too, the plug must first be completely removed before the connection is re-established by reinserting it. Unlike the second and fifth variants, a connection can also be re-established by pressing the plug 7 down against the force of the elastic spring element 26 to the level of the frame 17 and then rotating it back into the locking position.

[0124] The user experiences a defined effort when overcoming the spring element 26. In a modified version, the spring element 26 can also be part of the plug 7, in particular the locking body 18.

[0125] A seventh variant according to Figs. 33 to 35 is based in principle on the sixth variant according to Figs. 30 to 32 , with the difference that the mechanical spring elements 26 are replaced by pairs of magnets 27, which are arranged in such a way that they function on a repulsive effect.

[0126] In another type of embodiment according to Figs. 36 to 40 The unlocking is not achieved by "rotating freely" into a position without overlap of locking element 18 and counterholder 16, but rather the counterholder 16, in particular the counterholder segments, are opened radially outwards by relative rotation of the plug 7 relative to the frame 17 until the plug 7 can be removed against the insertion direction S.

[0127] This type of embodiment has, for example, four segments 28 as counterholders 16, each of which has at least one-sided, and in particular two-sided, shaped elements, especially draft angles. The connector 7 has, for example, a continuous locking element 18, which is positively locked in place by the counterholders 16, i.e., by the four segments 28. Furthermore, the connector 7 has release elements 29 at the level of the counterholders 16, which, in the locked state, are located in the free pockets 30 between the segments 28. A rotation causes contact and a guided pressing of the segments 28. The size of the pockets 30 in relation to the size of the release elements 29 defines the unlocking point. If the ratio is small, release occurs even with a small relative rotation. If the ratio is large, the opposite is true, and the connector 7 remains coupled over a larger angular range.

[0128] Another type of embodiment according to Figs. 41 to 46 is comparable to the embodiment according to Figs. 36 to 40 However, the function of the release elements 29 is here taken over by segmented locking bodies 18.1, 18.2, 18.3 and 18.4 and their flanks, which, upon rotation, engage with shaped elements of joint holder segments 16a. In the locked state, the segmented locking bodies 18.1, 18.2, 18.3 and 18.4 retract into cavities beneath the joint holder segments 16a. A necessary clearance 30a is formed between the segmented locking bodies 18.1, 18.2, 18.3 and 18.4.

[0129] Another variant according to Figs. 47 to 49The embodiment with magnets 31 represents a possible configuration that dispenses with clearances 30a and release elements by utilizing magnets 31 positioned on the plug 7 and the counter-holder 16, i.e., the socket 2. The orientation is chosen such that the pairs of magnets 31 attract each other in the locked state, providing additional stability, particularly against rotation of the plug 7. If a first force threshold is exceeded, the connector 7, including the inner magnets 31, can be rotated. When the magnets 31 encounter the outer magnets 31, which act in the opposite direction in this position, they repel each other and push the counter-holder segments radially back against weaker spring forces.

[0130] Analogous to the variant just described, a modification according to Fig. 50It is also provided that only one bar magnet 32 ​​is arranged in the middle of the plug 7 and two segments are formed as counterholders 16, each with a magnet 33, with one "North" and one "South" pointing inwards.

[0131] The Fig. 51 Illustrates how the feedback means 3 can be provided with a manual actuating device 34, via which, alternatively or additionally to a release means 10, which is activated by turning the coupling means 2 and the feedback means 3, the at least one locking element 8 of the coupling means 2 and the at least one counter-locking element 9 of the feedback means 3 can be disengaged.

[0132] The Fig. 52Figure 2 illustrates how the coupling means 2 can be provided with a manual actuating device 34, via which, alternatively or additionally to a release means 10, which is activated by turning the coupling means 2 and the feedback means 3, the at least one locking element 8 of the coupling means 2 and the at least one counter-locking element 9 of the feedback means 3 can be disengaged.

[0133] The Fig. 53 Figure 14 illustrates how the input device 14 can be provided with a manual actuating device 34, by means of which, alternatively or additionally to a release means 10, which is activated by rotating the coupling means 2 and the feedback means 3, the at least one locking element 8 of the coupling means 2 and the at least one counter-locking element 9 of the feedback means 3 can be disengaged. Fig. 54Figure 1 illustrates a schematic representation of a system comprising a robot device 15, a robotic input device 14, further terminal devices and a respective connecting device 1.

Claims

1. Connecting device (1) for the mechanically positively locking connection of a first object to a second object, comprising: - a coupling means (2) having a first fastening portion (4.1) for fastening the coupling means (2) to the first object, with a socket (5) having an opening, via which a socket cavity (6) of the socket (5) is accessible in an axial plug-in direction (S), and at least one locking element (8) which is mounted adjustably between a locking position and an unlocking position and which projects into the socket cavity (6) of the socket (5) in its locking position and releases the socket cavity (6) of the socket (5) in its unlocking position, - a mating coupling means (3) having a second fastening portion (4.2) for fastening the mating coupling means (3) to the second object, with a plug-in connector (7) corresponding to the socket (5) of the coupling means (2) and having a shank which can be plugged into the opening of the socket cavity (6) of the socket (5) in the axial plug-in direction (S), and at least one counter-locking element (9) interacting in a positively locking manner in the locking position of the locking element (8) of the socket (5), characterized in that - the socket cavity (6) of the socket (5) and the shank of the plug-in connector (7) corresponding to the socket cavity (6) have cross-sectional contours matched to each other, which allow a relative rotation of the coupling means (2) and the mating coupling means (3) around a rotational axis parallel to the plug-in direction (S) in a connected state of the coupling means (2) and the mating coupling means (3), - further comprising an unlocking means (10) which is arranged on the mating coupling means (3) and is formed, in the case of a relative rotation of the coupling means (2) and the mating coupling means (3) about the axis of rotation, parallel to the plug-in direction (S), to move the locking element (8) of the coupling means (2) in a predetermined relative rotational angle position range of the coupling means (2) and the mating coupling means (3) from its locking position into an unlocking position, in which the locking element (8) of the coupling means (2) and the mating locking element (9) of the mating coupling means (3) are not engaged, such that the coupling means (2) and the mating coupling means (3) can be disconnected from each other counter to the plug-in direction (S).

2. Connecting device according to Claim 1, characterized in that the unlocking means (10) has at least one projection which projects radially outwards from the shank of the plug-in connector (7) and is formed to press the locking element (8) into the unlocking position in a first rotational angle position range of the mating coupling means (3) relative to the coupling means (2), and to leave the locking element (8) in its locking position in a second rotational angle position range of the mating coupling means (3) relative to the coupling means (2), which differs from the first rotational angle position range, wherein the locking element is spring-preloaded into its locking position and, in the first rotational angle position range of the mating coupling means (3) relative to the coupling means (2), the locking element (8) is pressed radially outwards into its unlocking position by the projection of the unlocking means (10) counter to a spring force.

3. Connecting device according to Claim 1, characterized in that the unlocking means (10) has at least one depression (10a), extending axially along the shank of the plug-in connector (7), in the lateral surface of the shank, which depression is formed, in a first rotational angle position range of the mating coupling means (3) relative to the coupling means (2), to align with the locking element (8) projecting radially inwards into the socket cavity (6) of the coupling means (2), wherein, in a second rotational angle position range, different from the first rotational angle position range, of the mating coupling means (3) relative to the coupling means (2), the unlocking means (10) overlaps in the radial direction with the locking element (8), such that, in this locking position, the mating coupling means (3) is held on the coupling means (2) in a positively locking manner in the axial direction.

4. Connecting device according to any one of Claims 1 to 3, characterized in that the mating coupling means (3) is coupled via a freewheel to the coupling means (2), in such a way that a relative rotation of the mating coupling means (3) and the coupling means (2) with respect to each other is only possible in one direction of rotation.

5. Connecting device according to any one of Claims 1 to 4, characterized by an intermediate plane, into which the mating locking element (9) of the mating coupling means (3) is introduced when the mating coupling means (3) is moved from the coupling means (2) counter to the plug-in direction (S), in order to disconnect the mating coupling means (3) from the coupling means (2) in the unlocking position, wherein the intermediate plane has positive-locking retaining means, which first of all prevent further disconnection of the mating coupling means (3) from the coupling means (2) beyond the intermediate plane and permit it only after additional rotation of the mating coupling means (3) relative to the coupling means (2) by a further rotational angle.

6. Connecting device according to any one of Claims 1 to 5, characterized in that, in a relative angular position, corresponding to the unlocking position, of the coupling means (2) with respect to the mating coupling means (3), the plug-in connector (7) of the mating coupling means (3) is held by means of a latching device (35) in its unlockable rotational position in a non-positive and / or positively locking manner relative to the socket (5) of the coupling means (2).

7. Connecting device according to Claim 6, characterized in that the latching device (35) comprises a latching pin (22a) which is pre-loaded on the coupling means (2) so as to project in the radial direction into the socket cavity (6) and, in the unlocking position, mechanically latches into a depression (23a), corresponding to the latching pin (22a) of the mating coupling means (3), in the shank of the plug-in connector (7).

8. Connecting device according to Claim 6, characterized in that the latching device comprises a first magnet (24.1) which is attached to the coupling means (2) and, in the unlocking position, interacts magnetically with a second magnet (24.2) arranged on the mating coupling means (3), in order to hold the mating coupling means (3) in the unlocking position relative to the coupling means (2) in its current rotational angle position.

9. Connecting device according to any one of Claims 1 to 8, characterized in that the coupling means (2) comprises at least one first repelling magnet (24a) and the mating coupling means (3) comprises a second repelling magnet (24b), wherein the first repelling magnet (24a) and the second repelling magnet (24b) are arranged relative to each other in such a way that, in an unlocking position of the coupling means (2) relative to the mating coupling means (3), the at least one first repelling magnet (24a) brings about, in interaction with the second repelling magnet (24b), a magnetic force which repels each other and presses the locking element (8), which is mounted adjustably on the coupling means (2), into its unlocking position.

10. System comprising a robot device (15), a robotic input unit (14) and a connecting device (1) according to any one of Claims 1 to 9, characterized in that, by means of its first fastening portion (4.1), the coupling means (2) is connected to the robot device (15) as the first object and, by means of its second fastening portion (4.2), the mating coupling means (3) is connected to the robotic input unit (14) as the second object, wherein the connecting device (1) according to any one of Claims 1 to 9 is designed and configured to manually selectively connect and disconnect the robotic input unit (14) and the robot device (15).

11. System comprising a robot device (15), a robotic input unit (14) and a connecting device (1) according to any one of Claims 1 to 9, characterized in that, by means of its first fastening portion (4.1), the coupling means (2) is connected to the robotic input unit (14) as the first object and, by means of its second fastening portion (4.2), the mating coupling means (3) is connected to the robot device (15) as the second object, wherein the connecting device (1) according to any one of Claims 1 to 9 is designed and configured to manually selectively connect and disconnect the robotic input unit (14) and the robot device (15).