Tool change system for a robot

Abstract

The present invention relates to a tool change system (10) for a robot. The tool change system (10) has a robot-side connection device (12) and a tool-side connection device (14), which are designed to be detachably connected to each other. The tool-side connection device (14) is designed to adjust a tolerance of an orientation of the robot-side connection device (12) with respect to the tool-side connection device (14).

Description

[0001] Tool changing system for robots

[0002] Technical area

[0003] The present invention relates to a tool changing system for robots.

[0004] State of the art

[0005] Robots can be used in the production of a wide variety of goods and can either support or replace human labor. For example, robots are used in the automotive industry to weld and / or paint vehicle bodies. Robots are characterized by their high flexibility and can often perform tasks that were previously reserved for humans before the development of these robots, which are also known as industrial robots. Another area of ​​application for robots is medical procedures, where they can perform highly precise work.

[0006] A robot, for example, has a base by means of which the robot is attached to a floor, and a support arm movably attached to it. The base can also be attached to a cell or a pedestal, for example. A tool is attached to the support arm, which the robot uses to perform certain tasks. Typically, the tool must be changed depending on the task or work step to be performed. Accurate and reproducible positioning on the support arm is required to achieve sufficient precision in the robot's work. In addition, short setup and setup times are desired so that production is not delayed or even interrupted due to unnecessarily long tool change times. These requirements can be associated with high costs, which may make the use of robots prohibitive in certain production processes.

[0007] WO 2020 / 249465 A1 describes a tool changing system for robots. Description of the invention

[0008] A first aspect of the invention relates to a tool changing system for robots. The tool changing system can be designed to exchange tools on the robot. The robot can, for example, have a movable support arm, to whose free end different tools can be attached, for example by flanging them onto a flange of the support arm. The robot can, for example, be designed as an industrial robot and / or a medical robot. The robot can be mobile or stationary. Examples of a tool are a gripper, an adhesive device, a painting device, and a welding device. The robot can, for example, be designed as a collaborative robot. A collaborative robot can work in a room together with people in their work area. For this purpose, a collaborative robot can have special properties, such as force limitations in the event of a collision.In collaborative robots, sharp edges and corners should be avoided, for example with a special external design, in order to further reduce the potential for injury.

[0009] The tool changing system has a robot-side connecting device and a tool-side connecting device, which are designed to be detachably connected to one another. The tool changing system can therefore be adjusted between a separated state, in which the two connecting devices are not connected to one another, and a connected state in which the two connecting devices are connected to one another. The robot-side connecting device can be designed to be attached to a free end of the support arm of the robot. The tool-side connecting device can be designed to attach a tool thereto. The two connecting devices can form a type of coupling, which can enable tools to be exchanged on the robot, for example, even during operation.The tool-changing system can have a plurality of tool-side connecting devices, each of which is permanently connected to an associated tool, for example. The tool-changing system can be configured for use with collaborative robots, for example through a special external design. The tool-changing system can be configured to enable repeatable positioning of the tool-side connecting device on the robot-side connecting device. After replacing a tool or detaching and reconnecting a tool, centering for precise alignment can thus be unnecessary. This can enable largely uninterrupted work by the robot, in particular without human intervention.

[0010] The tool-side connection device has an adjustment device. The adjustment device is designed to adjust a tolerance of an alignment of the robot-side connection device to the tool-side connection device. This allows tolerance compensation for the tool-side connection device. For example, manufacturing deviations during the manufacture of the tool-side connection device can result in each tool-side connection device being slightly differently aligned after connection to the robot-side connection device. This can be at least partially compensated for by the adjustment device. This allows the tool-changing system to be manufactured very cost-effectively and with high tolerances.For example, many parts of the tool change system can be manufactured using a generative manufacturing process, such as a plastic 3D printing process such as fused deposition modeling, and still achieve alignment with a precision comparable to the repeatability of the robot's motion. If individual parts are manufactured using a generative manufacturing process, the respective layers and / or filament paths can be aligned along a force direction to hold the two connecting devices together. The robot-side connecting device, on the other hand, can be free of an adjustment device. This allows the robot-side connecting device to be particularly robust and cost-effective.In addition, a robot-side adjustment device may require readjustment after each tool change, whereas a consistent combination of robot-side connection device, tool-side connection device, and tool only needs to be adjusted once on the tool side before first use. This results in a tool-changing system in which each tool-side connection device and thus the tool attached to it can be aligned. After a one-time adjustment, for example, no further adjustment may be necessary during the service life of the tool and / or until the tool is replaced on the respective tool-side connection device. When changing the tool orThe tool-side connection device on the robot requires no robot-side adjustment, and if the tool-side connection device has already been adjusted, no further tool-side adjustment is required. Adjustment can be performed, for example, in the connected state.

[0011] In one embodiment of the tool changing system, it is provided that the tool-side connecting device is designed to adjust a play between the robot-side connecting device and the tool-side connecting device along a longitudinal axis, for example in the connected state. The longitudinal axis can, for example, correspond to a transverse movement for connecting the tool-side connecting device to the robot-side connecting device. The tool changing system can be designed to connect the two connecting devices to one another along a longitudinal axis. For example, a pin portion of the robot-side connecting device can be inserted into a body of the tool-side connecting device to establish the connected state. The longitudinal axis can correspond to a main extension axis of the pin and / or the insertion axis.By adjusting the clearance, for example, one end of the tool-side connection device can be adjusted to rest against the robot-side connection device. This can prevent unwanted relative movement of the tool relative to the robot when connected, particularly along the longitudinal axis.

[0012] In one embodiment of the tool changing system, the adjustment device is designed to adjust a tilt of the tool-side connection device relative to the robot-side connection device about a transverse axis orthogonal to the longitudinal axis. For example, the tool can be aligned with respect to the longitudinal axis. A longitudinal axis of the tool can thus be aligned, for example, parallel or coaxial with a longitudinal axis of the robot's support arm. To compensate for the tilt, the adjustment device can, for example, have two independent adjustment options.

[0013] The tool-side connecting device can have an adjustment device. The adjustment device can be designed to accommodate further adjustment options, in particular with regard to tilting or transverse play.

[0014] In one embodiment of the tool changing system, it is provided that the tool-side connecting device has a body and a pair of receiving elements mounted on the body, in particular mounted in a translationally guided manner. The two receiving elements can be designed as identical parts. The body of the tool-side connecting device can, for example, be formed from plastic, in particular by means of an additive manufacturing process. The body of the tool-side connecting device can, for example, have a substantially cylindrical basic shape. The body of the tool-side connecting device can be designed to receive a partial section of the robot-side connecting device. The receiving elements can, for example, be formed from plastic, in particular by means of an additive manufacturing process.The receiving elements can be designed so that parts of the robot-side connecting device engage therewith, in particular in a form-fitting manner. The two receiving elements can be arranged symmetrically on the body of the tool-side connecting device. The receiving elements can, for example, be arranged opposite one another next to a receiving space in the body of the tool-side connecting device, wherein the receiving space of the body is designed to receive a partial section of the robot-side connecting device. A position of the receiving elements on the body of the tool-side connecting device can each be adjustable in order to adjust the tolerance of the alignment of the robot-side connecting device to the tool-side connecting device. This makes it possible, for example, to adjust the play along the longitudinal axis and / or the tilt.For example, during adjustment, the receiving elements can be moved independently of one another within the body in a translational manner parallel to the longitudinal axis. The receiving elements are, for example, fixed in their adjusted position. For example, the receiving elements can be attached to the body of the tool-side connecting device by means of an associated screw, with their position being translationally adjustable by turning the screw. Adjustability can be enabled, for example, by adjusting the fastening position of the receiving elements along the longitudinal axis.

[0015] The robot-side connecting device can have a body and a pair of engagement elements pivotably held on the body between an engagement position and a release position. The two engagement elements can be designed as identical parts. The body of the robot-side connecting device can be formed, for example, from plastic, in particular by means of a generative manufacturing process. The body of the robot-side connecting device can, for example, have a substantially cylindrical basic shape. The body of the robot-side connecting device can be designed to be inserted into a partial section of the tool-side connecting device, in particular into the receiving space of the body of the tool-side connecting device. The engagement elements can, for example, be formed from plastic, in particular by means of a generative manufacturing process.

[0016] In their engaged position when the tool-side connecting device is connected to the robot-side connecting device, the engagement elements can each engage with an associated receiving element in order to lock the tool-side connecting device to the robot-side connecting device. This can prevent the two connecting devices from becoming detached from one another, for example by means of a positive connection. The two connecting devices can thus be fixed and positioned to one another, in particular repeatedly with an alignment set by the adjustment. To separate the two connecting devices, the two engagement elements must be adjusted, for example, to their release position. In the release position, the engagement elements do not engage with the receiving elements, even if the two connecting devices are positioned next to one another as in the connected state.

[0017] The engagement of the engagement elements with the receiving elements can be self-locking. This self-locking prevents undesired displacement of the engagement elements, particularly in their released state when the two connecting devices are already connected. The engagement of the engagement elements with the receiving elements can alternatively or additionally be centering. This causes or at least promotes a desired alignment through the engagement. The engagement of the engagement elements with the receiving elements can alternatively or additionally be self-reinforcing under a separating load. This reliably prevents separation of the two connecting devices, even when working with high forces.For example, the tool changing system is designed in such a way that a force acting in a separating direction of the two connecting devices from each other presses the engagement elements in their engagement position more strongly in the direction of the respectively assigned receiving element.

[0018] The engagement elements can be pre-tensioned into their engagement position. During connection, the engagement elements can initially be automatically pressed into their release position, for example by the body of the tool-side connecting device pressing the engagement elements into their release position, in particular with a wall delimiting a receiving opening in the body of the tool-side connecting device. With a relative positioning of the two connecting devices, which corresponds to the connected state, the engagement elements can automatically adjust themselves to their engagement position or have already adjusted themselves, thus locking the two connecting devices together. This simplifies the connection. Furthermore, a connected position without locking can be avoided, whereby unwanted release of the tool can be reliably prevented.For example, the engagement elements are each preloaded into their engagement position by a spring held on the body of the robot-side connection device. The spring can, for example, be made of plastic and manufactured using a generative manufacturing process. However, the respective springs can also be formed from a metallic material. The spring can be integral to the body of the robot-side connection device or to the respective engagement element. Such a design is easily enabled by generative manufacturing. The number of parts can thus be low and assembly of the tool change system particularly easy. Alternatively, each spring can be a separate component. This simplifies maintenance. For example, each spring can be designed as a spiral spring produced using a generative manufacturing process. Each spring can be designed as an identical part.

[0019] In one embodiment of the tool change system, the engagement elements are pivotally mounted on the body of the robot-side connecting device, allowing transverse displacement. By pivoting, the engagement elements can be adjusted, for example, between their engagement position and their release position. Transverse displacement can be provided, for example, by securing the engagement elements to the body of the robot-side connecting device by means of a pin extending through an elongated hole in the engagement elements. This allows double fitting to be avoided by adjusting the receiving elements.

[0020] The engaging elements can each be supported with a first end region on the associated receiving element for locking purposes and can each be supported with an opposite second end region on the body of the robot-side connecting device. Such support can be facilitated or even made possible by the transverse displaceability. The transverse displaceability can, for example, be provided along a main extension of the two engaging elements. For this purpose, the elongated hole in each engaging element can extend along the main extension of the engaging elements. The elongated hole can be arranged adjacent to the second end region. The displaceability can, for example, be transverse, in particular orthogonal, to a pivot axis. A displacement axis of the engaging elements can correspond to their current pivot position.

[0021] By supporting the parts involved in the locking mechanism, they are essentially only subjected to compressive stress. This type of stress is particularly suitable for plastics. This allows the tool change system to absorb high loads and / or many or all of the parts to be made of plastic. For example, there is no support of a holding force on a pivot bearing of the engagement elements on the body of the robot-side connecting device. This allows these bearings to be small and designed for low loads. For example, the engagement elements can each be held on a plastic pin integral with the body of the robot-side connecting device.

[0022] In one embodiment of the tool changing system, the first end region of the two engagement elements is rounded. Alternatively or additionally, the second end region of the two engagement elements can be rounded. The roundings can result in uniform support largely independent of the pivoting angle. Sharp-edged areas, which could lead to deformation of other parts, are avoided. This also prevents unwanted jamming when pivoting the engagement elements. The rounding can, for example, have a radius that essentially corresponds to a distance from a center point of an opposite rounded end region.

[0023] In one embodiment of the tool changing system, it is provided that the two engagement elements each have an elongated hole with which the engagement elements are held on the body of the robot-side connecting device. The elongated hole can extend with its main extension direction between the first end region and the second end region. Accordingly, the engagement element can be easily displaced such that both end regions are engaged. In one embodiment of the tool changing system, it is provided that the body of the robot-side connecting device has an insertion section which is designed to be inserted into a corresponding receiving region of the body of the tool-side connecting device. The insertion section can, for example, be peg-shaped, as already described.The receiving area of ​​the body of the tool-side connecting device can be designed as a recess, in particular as a peg-shaped recess. The recess can be open to the outside at least on one side facing the robot-side connecting device. In this way, the two connecting devices can support each other well in the connected state. The second end area of ​​the two engagement elements can each be supported on the inside on an end of the insertion section facing the tool-side connecting device in the connected state, whereby the engagement elements can be mounted on the insertion section. The insertion section can be partially hollow. The insertion section can have respective openings through which the engagement elements can protrude from the insertion section. The engagement elements can be arranged at least with the second end area in the insertion section. In the connected state orIn their engaged position, the first end region can protrude from the insertion section. In the release position, for example, the first end region can also be arranged within the insertion section and thus no longer protrude from the insertion section. For example, an inner wall against which the two engagement elements rest with their second end regions can be rounded to correspond to the two second end regions. This allows for uniform force application and prevents deformation, particularly when the insertion section is made of plastic.

[0024] In one embodiment of the tool-changing system, the tool-side connecting device comprises a pair of slide elements movably mounted on the tool-side connecting device. The two slide elements can be designed as identical parts. By actuating the slide elements, when the tool-side connecting device is connected to the robot-side connecting device, for example, an associated one of the two engagement elements can be pivoted from the engaged position to the released position. This allows for easy separation of the two connecting devices.

[0025] The slide elements can, for example, be mounted transversely movable on the body of the tool-side connecting device and / or on an associated receiving element. For this purpose, the slide elements can be arranged in a through-opening of the associated receiving element. The slide elements can be actuated from the outside of the tool-side connecting device. The slide elements can be arranged such that they can only be actuated by another element, in particular the holder described below. However, accidental actuation by hand can be impossible. An actuating area, for example, does not protrude from the body of the tool-side connecting device. The actuating area of ​​the slide elements can, for example, be arranged at most flush with an outer wall of the body of the tool-side connecting device.For example, the actuating area can be arranged in a groove in the body of the tool-side connecting device in such a way that it cannot be accidentally actuated by an adult's hand and / or by being knocked against a flat surface. Because the sliding elements are accessible from the outside, their position can also be recognized from the outside. This makes it possible to determine whether the engagement elements are in their engaged position when connected. This makes it easy to check whether the two connecting devices are correctly locked together when connected. This can prevent adjustment of the two receiving elements, which would prevent the engagement elements from engaging.

[0026] The tool-side connecting device can be designed so that the actuation occurs automatically and purely mechanically during storage to separate the two connecting devices. Storage can involve arranging the tool-side connecting device on a holder and / or in a magazine. The robot can therefore bring the tool-side connecting device to a storage location, whereby the two connecting devices are automatically separated. The purely mechanical separation is particularly robust and cost-effective. The automatic separation, for example, requires no additional actuators, sensors, and / or control devices beyond those that the robot already has for its work.

[0027] In one embodiment of the tool changing system, it is provided that the tool changing system has a holding device for the tool-side connecting device. The tool-side connecting device can be held on the holding device when it is not connected to the robot-side connecting device. The holding device can have a holding element for each tool-side connecting device, in particular in the form of a bracket element. The holding device can be designed to hold the tool-side connecting device horizontally or vertically. For example, the holding device can be mounted vertically and thus the tool-side connecting device can be stored vertically. Vertical storage can prevent respective tools from protruding into an adjacent work space of the robot.For example, the holding device can be mounted horizontally and thus store the tool-side connecting device horizontally. For this purpose, the holding device can be designed, for example, to engage positively with a free tool-side connecting device. The holding device can be designed to hold the tool-side connecting device together with a tool attached to it.

[0028] The body of the tool-side connecting device can have a pair of external grooves designed for engagement of the holding device for holding the tool-side connecting device. The grooves can, for example, prevent the tool-side connecting device from tilting during storage. This helps during storage with an eccentric center of gravity, for example due to a tool that is asymmetrical and / or not centrally arranged relative to the tool-side connecting device. The grooves can also, as described above, protect the slide elements from accidental actuation. For example, the slide elements can be arranged in the groove when not actuated. By engaging the holding device in the grooves, for example by pushing it into the bracket element, the slide elements can be actuated and thus the engagement elements can be pivoted into their release position.The grooves can be configured to correspond to the bracket element. The pair of grooves can be formed as a single circumferential groove, in which case, for example, a portion of each is assigned to a bracket side and / or a slide element. By means of engagement elements pre-tensioned with respect to their engagement position, the engagement for locking the two connecting devices can be automatically established when the tool-side connecting device is removed with the robot-side connecting device positioned thereon as in the connected state. By means of engagement elements pre-tensioned with respect to their engagement position, the slide elements can, for example, be automatically pushed back into a non-actuated position.

[0029] In one embodiment of the tool changing system, it is provided that arranging the tool-side connecting device on the holding device, in particular a translational insertion of the tool-side connecting device into the holding device by the robot, causes the slide elements to be actuated. This allows the locking of the two connecting devices to be automatically released during storage, so that the robot can separate the robot-side connecting device from the tool-side connecting device held on the holding device without further steps, for example, by translational movement away.Conversely, by pulling the tool-side connecting device off the holding device, the two connecting devices can be automatically locked together, so that a tool can be removed and inserted without additional steps for locking the two connecting devices together. In the unactuated state, the slide elements can each protrude into one of the two grooves, and when the holding device engages with the groove, it presses the slide elements against the respectively assigned engagement element. In one embodiment of the tool changing system, it is provided that the robot-side connecting device has a modularly replaceable feedthrough module. In addition, the tool-side connecting device can have a corresponding modularly replaceable feedthrough module.The robot-side feedthrough module can be designed to be inserted into the body of the robot-side connecting device, in particular releasably and / or without locking. The tool-side feedthrough module can be designed to be inserted into the body of the tool-side connecting device, in particular releasably and / or without locking. This eliminates the need for external screwing of such feedthrough modules. Thus, the feedthrough modules protrude little or not at all from the respective bodies of the connecting devices, which facilitates use in collaborative robots and reduces space requirements. Furthermore, changing them can be particularly quick and easy. The tool-changing system can also comprise a plurality of pairs of interchangeable feedthrough modules, which are used depending on the tool and / or requirements.When the tool-side connecting device is connected to the robot-side connecting device, the tool can be supplied with power via the feedthrough modules, in particular with air pressure, energy, a signal, and / or fluid. The feedthrough modules can, for example, be designed to provide a fluidic, pneumatic, and / or electrical connection between the robot and the tool. Furthermore, respective control signals can also be transmitted to the tool via the feedthrough modules. The feedthrough modules of the robot-side connecting device and the feedthrough modules of the tool-side connecting device can be designed as identical parts. This allows for particularly low manufacturing costs. The feedthrough modules can have a fastening section designed to be inserted into the respective body.The feedthrough modules can have a connecting section at which a transfer from the robot-side feedthrough module to the tool-side feedthrough module can take place. The connecting section can be arranged on the end face. When the two connecting devices are connected, the connecting sections can be in contact with one another, in particular in an airtight and / or fluid-tight manner. When connected, the connecting section can be arranged inside between the bodies of the two connecting sections. As a result, the connecting sections are arranged internally and / or are not accessible from the outside. This prevents manipulation of the connection and avoids unwanted contact with people in the robot's work area. The feedthrough modules can have a coupling section to which respective supply lines can be connected.For example, each coupling section can have a connection for compressed air, fluids, and / or an electrical line. The coupling section can protrude from the outside of the respective body when the feedthrough module is plugged into it. The coupling section can be rounded and / or inclined by at least 60°, in particular at least 45°, with respect to the longitudinal axis. This can facilitate use with collaborative robots. The feedthrough modules can be locked to the body of the respective connecting device, for example, by connecting the connecting device to the robot or tool. Changing the feedthrough modules is then blocked. By separating the respective connecting device from the robot or tool, this blocking can be removed, making replacement possible.

[0030] In one embodiment of the tool changing system, it is provided that the tool-side connecting device has an adapter module. The adapter module can be designed to fasten the tool-side connecting device to different tools. The adapter module can be designed, for example, as a round plate. The adapter module can be adapted in its diameter and / or basic shape to the body of the tool-side connecting device. For example, the adapter module does not protrude from the body of the tool-side connecting device orthogonally to the longitudinal axis. The adapter module can be connected to the body of the tool-side connecting device at an end region facing away from the robot-side connecting device when it is connected.The adapter module can, for example, be attached to a front side of the body of the tool-side connecting device facing away from the robot-side connecting device when connected. The adapter module can, for example, be made of plastic, in particular by means of a generative manufacturing process.

[0031] The adapter module can have two intersecting slots for attachment to different tools. This creates a particularly universal connection option for different tools with different fastening structures. This allows, for example, tools from different manufacturers and / or tools with non-standardized flange options to be attached. For example, flange options with any bolt circle up to 55 mm can be connected using the adapter module without the need to modify the adapter module. However, if adjustment is necessary, the adapter module can be easily replaced, eliminating the need to replace the entire tool-side connection device. For example, the adapter module is detachably attached to the body of the tool-side connection device with a simple screw connection.Due to the special design of the tool change system, the adapter module can be manufactured using a generative manufacturing process, especially since tolerance compensation is possible in the tool-side connection device. This allows a suitable adapter module to be provided cost-effectively within a very short time.

[0032] A further aspect relates to a robot system comprising a robot, a tool, and a tool-changing system according to the first aspect. The tool is releasably held on the robot by means of the tool-changing system. The robot system can also have a plurality of tool-side connecting devices, each with a tool held thereon. Corresponding features and advantages of the first aspect also form features and advantages of the further aspect, and vice versa.

[0033] Brief description of the figures Fig. 1 schematically illustrates in an exploded view a tool changing system for a robot, which has a robot-side connecting device, a tool-side connecting device and a holding device.

[0034] Fig. 2 schematically illustrates in a perspective view an arrangement of the two connecting devices on the holding device, which is aligned horizontally.

[0035] Fig. 3 schematically illustrates in a perspective view an arrangement of the two connecting devices on the holding device, which is aligned vertically.

[0036] Fig. 4 schematically illustrates in a perspective view a connected state of the tool-side connecting device to the robot-side connecting device.

[0037] Fig. 5 illustrates the robot-side connecting device in a first side view.

[0038] Fig. 6 illustrates the robot-side connection device in a second side view.

[0039] Fig. 7 illustrates the robot-side connection device in a plan view.

[0040] Fig. 8 illustrates the robot-side connection device in a schematic perspective view from above.

[0041] Fig. 9 illustrates the robot-side connection device in a schematic perspective view from below. Fig. 10 illustrates the robot-side connection device in a schematic sectional view.

[0042] Fig. 1 1 illustrates the tool-side connecting device in a first side view.

[0043] Fig. 12 illustrates the tool-side connecting device in a second side view.

[0044] Fig. 13 illustrates the tool-side connecting device in a plan view.

[0045] Fig. 14 illustrates the tool-side connecting device in a schematic perspective view from above.

[0046] Fig. 15 illustrates the tool-side connecting device in a schematic perspective view from below.

[0047] Fig. 16 illustrates the robot-side connecting device in a schematic sectional view.

[0048] Fig. 17-20 illustrate schematically in sectional views the connection of the two connecting devices to each other and their release from each other.

[0049] Detailed description of embodiments

[0050] Fig. 1 shows a schematic exploded view of a tool changing system 10 for a robot. The tool changing system 10 has a robot-side connecting device 12 and a tool-side connecting device 14, which can be detachably connected to one another. The tool changing system 10 also has a holding device 16, which in the embodiment shown is formed by a bracket element 18. The robot-side connecting device 12 has a body 20, which is formed by two half-shells 22 and a sleeve element 32. The two half-shells 22 are designed as identical parts. The two half-shells 22 form an interior space in which a pair of engagement elements 24 are at least partially received, held pivotably on the body 20. In addition, two coil springs 26 are received in the interior space, each of which presses an associated one of the engagement elements 24 outwards and thus into its engaged position.The two coil springs 26 are designed as identical parts. The two half-shells 22 are connected to each other by three screws 28 and three nuts 30. The screws 28 and the nuts 30 are recessed so that they do not protrude from the body 20. The two interconnected half-shells 22 form a pin-shaped insertion section 34, which can be inserted into a corresponding recess in the tool-side connecting device 14. The insertion section 34 is particularly clearly visible in Fig. 9. The insertion section 34 centers the tool-side connecting device 14 on the robot-side connecting device 12.

[0051] The sleeve element 32 has a substantially cylindrical basic shape. In the center, the sleeve element 32 has a through-opening 42 through which the two half-shells 22 are inserted in the assembled state. The half-shells 22 rest on a stop on the underside of the sleeve element 32, which stop protrudes into the through-opening 42. On an upper side of the sleeve element 32 facing the robot when attached to the robot, the two half-shells 22 protrude slightly in order to center the robot-side connecting device 12 on the robot. The upper side points upward in the view shown in Fig. 1. This centering is particularly clearly visible in Fig. 2.

[0052] Furthermore, the sleeve element 32 has an edge 36 protruding in the direction of the robot. The edge can protect the interior of the body 20 from contamination and, for example, can at least partially encompass a support arm of the robot when a robot-side connection device is attached thereto. The sleeve element 32 is designed to be attached to the robot. For this purpose, the sleeve element 32, in the embodiment shown, has four bores 38 by means of which the robot-side connection device can be screwed to the robot. Depending on the robot, the sleeve element 32 can also be designed differently for attachment. Due to the modular design of the robot-side connection device 12, the sleeve element 32 can be replaced, while the other parts can continue to be used in their unchanged form.

[0053] In addition, the robot-side connecting device 12 has a pair of modular, interchangeable feedthrough modules 40. The feedthrough modules 40 of the robot-side connecting device 12 are inserted into the sleeve element 32 from above for their attachment, with a dovetail-shaped attachment area being threaded into a corresponding recess in the sleeve element 32. The feedthrough modules 40 rest on a stop on the underside of the sleeve element 32, which protrudes into the corresponding recess.

[0054] The release of the feedthrough modules 40 and the two half-shells 22 from the sleeve element 32 is blocked in the assembled state when the robot-side connecting device 12 is attached to the robot. The support arm of the robot, which is then arranged on top, prevents these parts from being pulled off the sleeve element 32, so that no further locking is necessary. The support arm can have a flange. After releasing the robot-side connecting device 12, the two interconnected half-shells 22, the feedthrough modules 40, and the sleeve element 32 can be exchanged as needed without the use of tools.

[0055] The tool-side connecting device 14 has a body 60, which is formed by a substantially cylindrical body element 62 and a plate-shaped cover element 64. The cover element 64 is fastened to the top of the body element 62 in the assembled state by means of four screws 66 and four nuts 100. The screws 66 are screwed to the nuts 100 arranged in an adapter module 100 and are countersunk into the cover element 64 such that they do not protrude from the body 60 of the tool-side connecting device 14. The cover element 64 and the body element 62 together form a receiving area 68 in the form of a recess for the insertion section 34. A pair of translationally guided receiving elements 70 are also received in the recess. The receiving elements 70 are each mounted for translational movement by means of an associated screw 74 and a corresponding nut 76.For this purpose, the nuts 76 are arranged in a recess in an end region of the receiving elements 70 facing away from the robot. In addition, a pair of slide elements 72 are provided, which are movably mounted on the tool-side connecting device 14 and, in the assembled state, are arranged between the cover element 64 and the body element 62. A partial section of the slide elements 72 protrudes through corresponding through openings in the receiving elements 70 into the receiving area 68. The cover element 64 prevents the receiving elements 70 and the slide elements 72 from falling off the body element 62. The body element 62 prevents them from falling outwards and the cover element 64 prevents them from falling inwards. The body element 62 also specifies the end positions of the slide elements 72.

[0056] In addition, the tool-side connecting device 14 has the plate-shaped adapter module 78. The adapter module 78 is also fastened to the body element 62 by means of the screws 66 and the nuts 100. The nuts 100 are arranged in a recess on the adapter module 78 such that they do not protrude from the tool-side connecting device 14. The cover element 64, the body element 62, and the adapter module are centered to one another by alternating projections and recesses when fastened with the screws 66 and the nuts 100. The adapter module 78 is arranged on the underside on a side of the body 60 of the tool-side connecting device 14 facing the tool and on a side facing away from the robot. The adapter module 78 is designed to fasten the tool-side connecting device 14 to different tools.For this purpose, the adapter module 78 has two intersecting elongated holes 80 for attaching different tools to the tool-side connecting device 14. These can be seen particularly clearly in Fig. 3 and Fig. 15. In addition, the tool-side connecting device 14 also has a pair of modular, interchangeable feedthrough modules 82, which are designed to correspond to the feedthrough modules 40 of the robot-side connecting device 12. When the tool-side connecting device 14 is connected to the robot-side connecting device 12, the tool can be supplied via the feedthrough modules 40, 82. For example, the feedthrough modules 40, 82 can supply the tool with air pressure, energy, and / or fluid. In addition, the feedthrough modules 40, 82 can alternatively or additionally transmit respective control signals and / or measurement signals as signals.For this purpose, the feedthrough modules 40, 82 can establish a hydraulic, electrical, and / or fluidic connection. The feedthrough modules 82 of the tool-side connection device 14 and the feedthrough modules 40 of the robot-side connection device 12 can, as shown, be designed as identical parts, which makes the tool change system 10 particularly cost-effective.

[0057] The feedthrough modules 82 of the tool-side connecting device 14 are inserted into the body element 62 from above for fastening, with a dovetail-shaped fastening area being threaded into a corresponding recess in the body element 62. The feedthrough modules 82 rest on a stop on the underside of the body element 62, which protrudes into the corresponding recess. The release of the feedthrough modules 82 from the body element 62 is blocked by the attached cover element 64.

[0058] The feedthrough modules 40, the half-shells 22, the engagement elements 24, the spiral springs 26, the sleeve element 32, the body element 62, the cover element 64, the receiving elements 70, the slide elements 72, the adapter module 78, and the feedthrough modules 82 are manufactured from a plastic material using a generative manufacturing process. The bracket element 16 is also manufactured from plastic material using a generative manufacturing process. The screws 28, 66, 74 and the nuts 30, 70, 76 are standardized metal parts. The feedthrough modules 40, 82 may include additional parts, such as seals. The generatively manufactured plastic parts do not have threads. Instead, all screws are held by nuts, making the tool change system 10 particularly robust and wear-resistant. All generatively manufactured plastic parts are free of undercuts and therefore easy to demold.In an alternative embodiment, the plastic parts are manufactured using an injection molding process. This allows the tool change system 10 to be manufactured particularly cost-effectively in large quantities.

[0059] Fig. 10 shows a section of the robot-side connecting device 12, as shown in Fig. 7. It can be clearly seen how the engagement elements 24 are pressed outward by means of the coil springs 26. Each engagement element 24 has an elongated hole 84, the long sides of which extend along a main extension direction of the engagement element 24. The main extension direction is illustrated in Fig. 10 by arrows 86. The pin, by means of which the engagement elements 24 are held on the half-shell 22 and which is formed integrally with each of the half-shells 22, has a circular cross-section. Accordingly, the engagement elements 24 can move transversely along their main extension direction.

[0060] Fig. 16 shows a section of the tool-side connecting device 14 shown in Fig. 13. It can be clearly seen that the receiving elements 70 are accommodated in the body 60 of the tool-side connecting device 14 so as to be translationally displaceable along a longitudinal axis. By turning each screw 74, the receiving elements 70 can be pushed up or down independently of one another in the image plane of Fig. 16. The longitudinal axis is illustrated in Fig. 16 by arrow 88. The longitudinal axis corresponds to a transverse insertion movement and a transverse separation movement when connecting or separating the two connecting devices 12, 14 with one another. In the exemplary embodiment shown, the longitudinal axis also corresponds to a longitudinal extent of the tool-side connecting device 14, for which purpose it is symmetrical.The tool-side connecting device 14 is thus designed to adjust a tolerance of an alignment of the robot-side connecting device 12 to the tool-side connecting device 14. The tool-side connecting device 12 is designed to adjust a play between the robot-side connecting device 12 and the tool-side connecting device 14 along the longitudinal axis. For this purpose, both receiving elements 70 are adjusted uniformly, for example, until an end face of the robot-side connecting device 12 facing the tool-side connecting device 14 in the connected state is pressed against the tool-side connecting device 14 without play. The tool-side connecting device 14 is also designed to adjust a tilt of the tool-side connecting device 14 relative to the robot-side connecting device 12 about a transverse axis orthogonal to the longitudinal axis.In Fig. 16, the transverse axis extends into and out of the image plane and intersects the longitudinal axis. Accordingly, tilting can be compensated for by rotating left and right in the image plane. For this purpose, for example, only one of the two receiving elements 70 is adjusted, for example, until the end face of the robot-side connecting device 12 facing the tool-side connecting device 14 in the connected state rests evenly against the tool-side connecting device 14.

[0061] Furthermore, it can be seen, for example, in Fig. 4, Fig. 11 and in Fig. 16 that the body 60 of the tool-side connecting device 14 has a pair of external grooves 90. A leg of the bracket element 18 of the holding device can engage in a form-fitting manner in each of the grooves 90 in order to hold the tool-side connecting device 14 thereon. The tool-side connecting device 14 can thus not tilt on the holding device 16. In a vertical holder, as shown in Fig. 3, the tool-side connecting device 14 rests in the direction of gravity on an end stop region of the bracket element 18, whereby the tool-side connecting device 14 can also be securely stored in such an orientation. Fig. 2 shows an alternative horizontal holder.In each groove 90, one of the two slide elements 72 is accessible for actuation by the bracket element 18 when storing the tool-side connecting device 14. This automatically releases the locking of the tool-side connecting device 14 to the robot-side connecting device 12 when storing it on the holding device 16. In their unactuated position, as shown in Fig. 16, the slide elements 72 end flush with an outer side of the body 60 of the tool-side connecting device 14. This allows a visual check that the locking of the tool-side connecting device 14 to the robot-side connecting device 12 was successful, without the slide elements forming sharp outer edges that can easily be accidentally actuated.

[0062] Fig. 17 shows a schematic sectional view of the tool changing system 10 in the connected state. The robot-side connecting device 12 is inserted with its insertion section 34 into the receiving area 68 of the tool-side connecting device 14. During insertion, the engagement elements 24 are pressed inward into their release position by the tool-side connecting device 14. Upon reaching the inserted position, the engagement elements 24 are pressed outward into their engagement position by the coil springs 26. In the engagement position, the engagement elements 24, in the connected state, each engage with an associated one of the receiving elements 70 in order to lock the tool-side connecting device 14 to the robot-side connecting device 12. The locking mechanism is designed to be self-locking.When the two connecting devices 12, 14 are pulled apart, the engagement elements 24 are clamped more tightly to the receiving elements 70.

[0063] When engaged, the engagement elements 24 are each supported by a first end region 92 on the associated receiving element 70 during locking. The first end region 92 of each engagement element 24 is rounded to enable uniform support. This also reliably prevents tilting on the receiving element 70. An opposite second end region 94 of each engagement element 24 is supported on the body 20 of the robot-side connecting device 12. This support is made possible by the respective elongated hole 84, whereby the engagement elements 24 can move along their main extension direction 86 into simultaneous contact with both end regions 92, 94. The second end region 94 is rounded in each case to enable even pressure distribution and prevent tilting.The second end regions 94 are supported on a correspondingly rounded inner wall of the half-shells 22, which is arranged at an end of the body 20 of the robot-side connecting device 12 facing the tool-side connecting device 14. Fig. 17 shows how the engagement between the receiving elements 70 and the engagement elements 24 can be adjusted by displacing the receiving elements 70 using the screws 74. This allows the adjustment of a relative alignment of the two connecting devices 12, 14 in the connected state.

[0064] Fig. 18 shows a schematic sectional view of a state in which the engagement between the engagement elements 24 and the receiving elements 70 is canceled and the locking is thus released. For this purpose, the tool-side connecting device 14 with its grooves 90 was pushed onto the bracket element 18. A front section of each leg of the bracket element 18 initially forms a guide for sliding on the tool-side connecting device 14. A rounded mouth of the bracket element 18 facilitates sliding on. A rear section of each leg of the bracket element 18 projects further inward towards the pushed-on tool-side connecting device 14. As a result, the bracket element 18 presses on the slide elements 72 and thus moves them inward. This also pushes the engagement elements 24 out of engagement with the receiving elements 70 into their release position purely mechanically.

[0065] Fig. 19 shows a schematic sectional view of how the robot-side connecting device 12 can now be pulled with its insertion section 34 out of the receiving area 68 of the tool-side connecting device 14 along the longitudinal axis. Fig. 20 shows a schematic sectional view of how the robot-side connecting device 12 is detached from the tool-side connecting device 14, wherein the robot-side connecting device 12 has not yet been completely pulled out of the receiving area 68 with its insertion section 34. Complete separation occurs by pulling the robot-side connecting device 12 further transversely along the longitudinal axis away from the tool-side connecting device 14 until its insertion section 34 has been completely pulled out of the receiving area 68 of the tool-side connecting device 14. The tool-side connecting device 14 remains held on the holding device 16.A connection is possible by a reverse sequence of movements. The insertion section 34 is inserted into the receiving area 68. The engagement elements 24 are pressed into their release position by the walls delimiting the receiving area 68 due to their oblique orientation against the spiral springs 26. As soon as the insertion section 34 has been fully inserted into the receiving area 68, the two connecting devices 12, 14 can be pulled together by the robot from the holding device 16. The pulling takes place transversely to the longitudinal axis and thus also to the insertion movement of the insertion section 34 into the receiving area 68. As soon as the tool-side connecting device 14 reaches the front section of each leg of the bracket element 18, the slide elements 72 are no longer actuated by the bracket element 18.Accordingly, the engagement elements 24 are automatically pressed into their engagement position by means of the coil springs and thus into engagement with the receiving elements 70. The two connecting devices 12, 14 are thus locked together again, and the tool thus held can be used by the robot.

[0066] The feedthrough modules 40, 82 each have a plurality of coupling sections 98, to which respective supply lines can be connected. The coupling sections 98 protrude from the bodies 20, 60 of the two connecting devices 12, 14. The coupling sections 98 are cylindrical to avoid sharp edges and corners. Along their main extension, the coupling sections 98 are inclined relative to the longitudinal axis by at least 35° and a maximum of 60°, for example, 45° as shown, to additionally form a largely smooth surface, which can prevent injuries in collisions with people during collaborative use.

[0067] Reference symbol

[0068] 10 Tool changing system

[0069] 12 robot-side connection device

[0070] 14 tool-side connecting device

[0071] 16 Holding device

[0072] 18 bracket element

[0073] 20 robot-side body

[0074] 22 half shells

[0075] 24 engagement elements

[0076] 26 coil springs

[0077] 28 screws

[0078] 30 nuts

[0079] 32 sleeve element

[0080] 34 Introductory section

[0081] 36 upward protruding edge

[0082] 38 holes

[0083] 40 implementation modules

[0084] 42 passage opening

[0085] 60 tool-side body

[0086] 62 Body Element

[0087] 64 cover element

[0088] 66 screws

[0089] 68 Recording area

[0090] 70 recording elements

[0091] 72 slide elements

[0092] 74 screws

[0093] 76 nuts

[0094] 78 adapter module

[0095] 80 elongated holes

[0096] 82 implementation modules

[0097] 84 slot

[0098] 86 Main direction of extension / Arrow Longitudinal axis I Arrow Grooves First end area Second end area Coupling sections Nuts

Claims

Claims for a tool changing system (10) for a robot with a robot-side connecting device (12) and a tool-side connecting device (14), which are designed to be detachably connected to each other, wherein the tool-side connecting device (14) is designed to adjust a tolerance of an alignment of the robot-side connecting device (12) to the tool-side connecting device (14).Tool changing system (10) according to claim 1, wherein the tool-side connecting device (14) is configured to adjust a clearance between the robot-side connecting device (12) and the tool-side connecting device (14) along a longitudinal axis (88) and / or wherein the tool-side connecting device (14) is configured to adjust a tilting of the tool-side connecting device (14) relative to the robot-side connecting device (12) about a transverse axis orthogonal to the longitudinal axis (88).Tool changing system (10) according to claim 1 or 2, the tool-side connecting device (14) having a body (60) and a pair of receiving elements (70) mounted on the body (60), in particular mounted in a translationally guided manner, wherein a position of the receiving elements (70) on the body (60) is adjustable in order to adjust the tolerance of the alignment of the robot-side connecting device (12) to the tool-side connecting device (14), and the robot-side connecting device (12) having a body (20) and a pair of engagement elements (24) pivotably held on the body (20) between an engagement position and a release position, which in their engagement position in the connected state of the tool-side connecting device (14) with the robot-side connecting device (12) each have a The engagement elements (24) of the receiving elements (70) engage to lock the tool-side connecting device (14) onto the robot-side connecting device (12), in particular wherein the engagement of the engagement elements (24) with the receiving elements (70) is self-locking and / or centering and / or self-reinforcing under a separating load. Tool changing system (10) according to claim 3, wherein the engagement elements (24) are pivotably mounted transversely displaceably on the body (20) of the robot-side connecting device (12), such that, in engagement for locking, the engagement elements (24) each bear with a first end region on the associated receiving element (70) and each bear with an opposing second end region on the body (20) of the robot-side connecting device (12).Tool changing system (10) according to claim 4, wherein the first end region (92) of the two engagement elements (24) is rounded and / or wherein the second end region (94) of the two engagement elements (24) is rounded and / or wherein the two engagement elements (24) each have an elongated hole (84) with which the engagement elements (24) are held on the body (20) of the robot-side connection device (12), in particular wherein the elongated hole (84) extends with its main extension direction (86) between the first end region (92) and the second end region (94), and / or wherein the body (20) of the robot-side connection device (12) has an insertion section (34) which is configured to be inserted into a corresponding receiving area (68) of the body (60) of the tool-side connection device (14), wherein the second end region. (94) of the two engagement elements (24) are supported on the inside of an end of the insertion section (34) facing the tool-side connection device (14) in the connected state, in particular wherein an inner wall, on which the two engagement elements (24) are supported with their second end regions (94), is formed corresponding to the two second end regions (94).Tool changing system (10) according to one of the preceding claims 3 to 5, wherein the tool-side connecting device (14) has a pair of sliding elements (72) movably mounted on the tool-side connecting device (14), wherein the sliding elements (72) can be actuated from outside the tool-side connecting device (14), in particular wherein the tool-side connecting device (14) is designed so that the actuating is carried out automatically in a purely mechanical manner during storage to separate the two connecting devices, in order to pivot one of the two associated engagement elements (24) from the engagement position to the release position in the connected state of the tool-side connecting device (14) with the robot-side connecting device (12).Tool changing system (10) according to one of the preceding claims, wherein the tool changing system (10) has a holding device (16) for the tool-side connecting device (14), in particular wherein the holding device (16) has a bracket element (18) and / or in particular wherein the body (60) of the tool-side connecting device (14) has a pair of external grooves (90) which are designed for engagement of the holding device (16) to hold the tool-side connecting device (14), in particular to prevent the tool-side connecting device (14) from tilting during storage and / or. wherein the holding device (16) is configured to hold the tool-side connecting device (14) horizontally and vertically. Tool changing system (10) according to claim 7 in reference to claim 6, wherein arranging the tool-side connecting device (14) on the holding device (16), in particular translational insertion of the tool-side connecting device (14) into the holding device (16) by the robot, causes actuation of the sliding elements (72), in particular wherein the sliding elements (72) project into one of the two grooves (90) in the unactuated state and the holding device (16) presses the sliding elements (72) against the respective associated engagement element (24) when engaging the groove (90).Tool changing system (10) according to one of the preceding claims, wherein the robot-side connection device (12) has a modularly replaceable feedthrough module (40), in particular which is designed to be inserted into the body (20) of the robot-side connection device (12), and wherein the tool-side connection device (14) has a corresponding modularly replaceable feedthrough module (82), in particular which is designed to be inserted into the body (60) of the tool-side connection device (14), wherein in the connected state of the tool-side connection device (14) with the robot-side connection device (12) the tool can be supplied via the feedthrough modules (40, 82), in particular with air pressure, energy, a signal and / or fluid.Tool changing system (10) according to one of the preceding claims, wherein the tool-side connecting device (14) has an adapter module (78). which is designed to attach the tool-side connecting device (14) to different tools, in particular wherein the adapter module (78) is connected to the body (60) of the tool-side connecting device at an end area facing away from the robot-side connecting device (14) in the connected state and / or in particular wherein the adapter module (78) has two intersecting elongated holes (80) for attachment to different tools.

Images