Layer Modules, Adapter Systems and Layer Module Systems

Abstract

The present invention relates to a layer module for use in a robot, the layer module having an input side with an input-side mechanical adapter geometry and an output side with an output-side mechanical adapter geometry, the input-side mechanical adapter geometry and the output-side mechanical adapter geometry being configured complementary to each other, the layer module having at least one electrical, electromechanical, hydraulic, and / or pneumatic functional element that is electrically, hydraulically, and / or pneumatically contactable on the input side and / or the output side, an adapter system consisting of at least two such layer modules, and a layer module system consisting of the adapter system and a fixing element connected to the exposed input side or the exposed output side of the adapter system in a force-locking and / or form-locking manner. The layer module has at least two spring-loaded, slidably or pivotably supported locking elements and at least two guide elements oriented in the longitudinal direction of the layer module and having different geometric shapes. The present invention develops a rapidly replaceable layer module, an adapter system with such a layer module, and a layer module system including the adapter system.

Description

[Technical Field]

[0001] The present invention relates to a layer module for use in a robot, which has an input side with an input-side mechanical adapter geometry and an output side with an output-side mechanical adapter geometry, where the input-side mechanical adapter geometry and the output-side mechanical adapter geometry are configured complementary to each other, and the layer module has at least one electrical, electromechanical, hydraulic and / or pneumatic functional elements that are electrically, hydraulically and / or pneumatically contactable on the input side and / or the output side, an adapter system consisting of at least two such layer modules, and a layer module system consisting of the adapter system and a fastening element, where the fastening element is force-lockingly and / or form-lockingly connected to the exposed input side or the exposed output side of the adapter system.

[0002] From DE 10 2017 009 319 C1 a layer module and an adapter system with several layer modules is known.

[0003] The problem underlying the present invention is to develop a layer module that can be quickly exchanged, an adapter system with such a layer module, and a layer module system with an adapter system.

[0004] This problem is solved by the features of the main claim, in which the layer module has at least two spring-loaded, slidably or pivotably supported locking elements and at least two guide elements oriented in the longitudinal direction of the layer module and having different geometric shapes, each locking element engaging with a respective one of the guide elements, so that the layer module can be force- and / or form-lockedly connected to a fastening element and / or at least one other layer module having a fastening element output complementary to the input or output side.

[0005] In an adapter system consisting of at least two such layer modules, the output side of a first such layer module is coupled in a force- and / or form-locking manner to the input side of a second such layer module.

[0006] In the layer module system, the output side of the fastening element is configured complementary to the input or output side of the adapter system that is to be coupled to it.

[0007] When assembling the layer modules, the positions of the individual layer modules relative to one another are determined by the guide elements, and the spring-loaded locking elements respectively fix the position of the layer modules relative to one another in a force-locking and form-locking manner after they have been joined together.

[0008] Further details of the invention are evident from the subclaims and the following description of outlined embodiments. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 10 is a diagram illustrating a camera module as a layer module. [Figure 2] FIG. 2 is a bottom view of FIG. 1. [Figure 3] FIG. [Figure 4] FIG. 4 is a view showing a first guide member. [Figure 5] FIG. 10 is a view showing a second guide member. [Figure 6] FIG. [Figure 7] FIG. 2 is a cross-sectional view of the layer module shown in FIG. [Figure 8] FIG. 2 is a longitudinal cross-sectional view showing FIG. 1 cut parallel to the longitudinal center plane in the vertical direction. [Figure 9] FIG. 10 illustrates a force measurement module as a layer module. [Figure 10] FIG. 9 is a bottom view of FIG. [Figure 11] FIG. 2 is a view showing the lower part of the casing body. [Figure 12] FIG. 2 is a view showing the upper part of the casing body. [Figure 13] FIG. 10 is an isometric cross-sectional view of the layer module shown in FIG. 9. [Figure 14] FIG. 10 is a diagram illustrating a layer module as a calculation module. [Figure 15] FIG. 15 is a cross-sectional view of the layer module shown in FIG. [Figure 16] FIG. 10 is a diagram showing a layer module as a nozzle module. [Figure 17] FIG. 17 is a cross-sectional view of the layer module shown in FIG. [Figure 18] 10A and 10B are diagrams showing variations of the nozzle module; [Figure 19] FIG. 1 shows a nozzle module with a central feed. [Figure 20] FIG. 1 shows a cross section of a layer module with a gripping member. [Figure 21] FIG. [Figure 22] FIG. 1 illustrates a system consisting of two layer modules. [Figure 23] FIG. 10 shows a fixing member as a Y-shaped fixing member. [Figure 24] FIG. 1 shows a layer module system with a fixing member.

[0010] 1 to 8 show a layer module 30 and some of its individual parts. Such a layer module 30 is used, for example, in an industrial robot. The layer module 30 is, for example, seated on the arm of a robot between a joint and at least one tool, such as at least one manipulation tool, processing tool, measuring tool, camera, etc. The manipulation tool can be, for example, a gripping tool, a sliding tool, a pulling tool, etc. These can be operated electrically, pneumatically, or hydraulically. The processing tool can be, for example, a cutting or non-cutting tool, such as a milling cutter, a drill, a saw, a bending punch, etc. The layer module 30 can also be arranged on the arm of a robot without a downstream tool, for example, if the layer module is configured as a camera module 31.

[0011] In this case, a single layer module 30 may be arranged on one arm. It is also conceivable to combine several such layer modules 30 with one another on one arm. The individual layer modules 30 connected in series may be configured differently. Each layer module 30 has a functional group 41. Each functional group 41 has, for example, electrical, optical, pneumatic and / or hydraulic input values ​​and converts these into electrical, electromechanical, pneumatic and / or hydraulic output values. Each layer module 30 may have another functional group 41. In this case, for example, an operating device follows the end of these layer modules 30.

[0012] In this embodiment, each layer module 30 is disk-shaped. Each layer module 30 has a casing 51, which is defined in its longitudinal direction 35 by an input side 52 and an output side 81. In the views shown in FIGS. 1 and 2, the input side 52 is located at the top and the output side 81 is located at the bottom. For example, the input side 52 faces the robot arm, and the output side 81 faces the gripping tool. The layer module 30 may also be configured so that the side referred to here as the output side 81 faces the robot arm. In this case, the side referred to as the input side 52 faces, for example, the handling device.

[0013] In the illustrated embodiment, the layer module 30 supports a camera system 151 directed towards the output side 81. The camera system 151 is part of the functional configuration group 41 of the layer module 30.

[0014] The input side 52 is bowl-shaped and has a cover area 53 and a rim 54 that protrudes beyond the cover area 53. In this embodiment, two guide element receptacles 55, 56, each of different size, are arranged in the cover area 53 of the base body 61. In the view shown in Figure 1, the right guide element receptacle 55 has a larger cross section than the left guide element receptacle 56.

[0015] On the side of the cover area 53 opposite the camera system 151, the layer module 30 has two pneumatic passages 36. Each of these passages 36 has an annular sealing insert 57 at its input passage inlet 86. The two passage inlets 86 form, in this example, the layer module-side part of a pneumatic input interface 181.

[0016] Between the guide member receiving portions 55, 56 and the camera system 151, two groups 38 of electrical input contacts 58 are arranged. These electrical input contacts 58 form an input-side electrical interface bank 183. In this embodiment, each group 38 has five input contacts 58. Each input contact 58 is formed as a spring-loaded contact pin 59 and protrudes beyond the plane of the cover area 53.

[0017] The edge 54 is annular and completely surrounds the cover area 53. The cover area 53 has a flat upper surface 62, which is oriented, for example, perpendicular to the longitudinal direction 35 of the layer module 30. In this embodiment, the edge 54 has two inserts 71, which are arranged, for example, opposite each other. In the upper region of the view shown in FIG. 1, the inserts 71 have inward-facing circumferential engaging edges 72. The inner space 42 of the layer module 30 is covered by the lid 64. The circumferential engaging edges 72 and the guide member receptacles 55, 56 determine the mechanical adapter geometry 185 of the input side of the layer module 30 in this embodiment.

[0018] The casing 51 of the layer module 30 is formed, for example, from a base body 61 and the insert member 71. In this embodiment, the base body 61 is made of aluminum, which has an elastic modulus of, for example, 70,000 Newtons per square millimeter.

[0019] FIG. 3 shows one insert 71. The two inserts 71 are identical in this embodiment. The inserts 71 have a bowl-like shape. The circumferential engagement edges 72 cover an area of, for example, 67 degrees. Each circumferential engagement edge 72 is wedge-shaped in cross section. The upper and lower surfaces 73 and 74 of the circumferential engagement edges 72 form an angle of 5 degrees in this embodiment. The apex of this angle is oriented toward the longitudinal axis 45. When the inserts 71 are installed, the upper surface 73 lies in the plane of the flat surface 63 of the rim 54. Outside and below the circumferential engagement edges 72, the inner diameter of the inserts 71 corresponds to the inner diameter of the rim 54 of the base 61. The outer diameter of the insert (71) corresponds to the outer diameter of the base (61).

[0020] The insert (71) is made of steel in this embodiment. The modulus of elasticity of this material is 210,000 Newtons per square millimeter. This modulus of elasticity is therefore three times that of the base body (61). The material may be selected so that the modulus of elasticity of the insert (71) is more than twice that of the base body (61). It is also conceivable to use the insert (71) as a replacement part. For this purpose, the insert (71) may be made of, for example, plastic.

[0021] 2 shows the output side 81 of the layer module 30. The output side 81 has a bottom plate 82 from which two guide elements 121, 131 protrude. Furthermore, two groups 39 of contact plates 83 are arranged on the bottom plate 82. These contact plates 83 form an electrical interface bank 184 on the output side in this embodiment. In this embodiment, the output side 81 also has two pneumatic connections 84. These pneumatic connections 84 form the layer module-side portion of the pneumatic output interface 182 in this embodiment.

[0022] The two guide members (121, 131) are geometrically different from each other. The guide member (121) shown on the left side of the drawing in Figure 2, hereinafter referred to as the first guide member (121), has a narrower guide member head (128) than the second guide member (131) shown on the right side. In this embodiment, the two guide members (121, 131) are formed as guide studs (121, 131). The guide members (121, 131) may also be formed as pins, cones, etc.

[0023] In Fig. 4, the first guide stud (121) of this embodiment is shown. Then, in Fig. 5, the second guide stud (131) of this embodiment is shown. The two guide studs (121, 131) have, for example, the same length. In this embodiment, the two guide studs (121, 131) are made of the same material as the insert member (71).

[0024] The first guide stud (121) has an external thread (122) whose nominal size corresponds to the nominal size of the threaded hole in the base body (61). The external thread (122) is followed by a guide collar (123) whose diameter is larger than the nominal size of the threaded hole. Adjacent to the guide collar (123) is a support collar (124).

[0025] Adjacent to the support collar 124 of the first guide stud 121 is a mounting portion 125, which in this embodiment has two parallel key surfaces 127 disposed around its periphery. Adjacent to the mounting portion 125 is a guide stud head 128, which in this embodiment is spherically recessed.

[0026] The second guide stud (131) also has an external thread (132) and a guide collar (133). The external thread (132) and the guide collar (133) are formed in the same manner as the corresponding areas of the first guide stud (121). The support collar (134) of the second guide stud (131) is formed to a length equal to, for example, the sum of the length of the support collar (124) and the length of the mounting portion (125) of the first guide stud (121). The guide stud head (135) of the second guide stud (131) is also formed in a spherical notch shape. The second guide stud (131) has a hexagonal hole (136) on its end face.

[0027] A locking element (91; 111) is slidably supported on each of the two guide elements (121; 131). Each locking element (91; 111) has an outward-facing gripping area (92). The two locking elements (91; 111) are arranged opposite each other on the layer module (30). In this embodiment, the locking elements (91; 111) are positioned in a common plane perpendicular to the longitudinal axis (45) of the layer module (30). An offset angle of the two locking elements (91, 111) relative to each other other than 180 degrees is also conceivable. For example, the two locking elements (91, 111) may be offset from each other within the range of 90 degrees to the above-mentioned angle. The gripping area (92) may be flat or curved outward or inward. In this embodiment, the locking members (91, 111) and the guide members (121, 131) define the mechanical adapter geometry (186) on the output side of the layer module (30).

[0028] It is also conceivable to arrange one of the guide members (121; 131) and its associated locking member (91; 111) on the input side (52) and the other guide member (131; 121) and its correspondingly arranged locking member (111; 91) on the output side (81). Embodiments with more than two guide members (121, 131) are also conceivable. The two locking members (91; 111) may be operated via one gripping area (92).

[0029] FIG. 6 shows one locking element (91; 111). In this embodiment, the two locking elements (91; 111) are identical to one another. However, it is also conceivable to form the two locking elements (91, 111) with different widths, for example. Each locking element (91; 111) has a central guide slot (93) that accommodates the guide collar (123; 133) of the respective guide element (121; 131). The support surface (106) of the guide slot (93) serves to support the support collar (124; 134) of each guide stud (121; 131) (see FIG. 7). This prevents the locking element (91; 111) from lifting or tilting relative to the casing body (61) in the installed state of the layer module (30). The guide slot (93) is oriented radially relative to the longitudinal axis (45) of the layer module (30).

[0030] Each locking element 91, 111 further has two lateral guide strips 94 which are parallel to the guide slots 93. In the mounted state of the layer module 30, the guide strips 94 are guided in the guide grooves 65 of the housing body 61.

[0031] The locking members 91 and 111 each have a gripping area 92 on their outer surface. In the view shown in FIG. 6, a protruding hook 96 is located above and spaced from the gripping area 92. In this case, the gripping area 92 extends beyond the hook 96 by 30% of the radial length of the component. The hook 96 is arc-shaped in plan view of the locking members 91 and 111. The arc length is 38 degrees in a plane perpendicular to the longitudinal axis 45. In cross section (see FIG. 7), the hook 96 is wedge-shaped. The wedge angle between the upper hook surface 97 and the lower hook surface 98 is 5 degrees in this embodiment. This is also the angle formed by the lower hook surface 98 and a plane perpendicular to the longitudinal axis 45. At its free end, the hook (96) has a lead-in ramp (99) adjacent to the hook lower surface (98). The angle between the lead-in ramp (99) and the hook upper surface (97) is 30 degrees in this embodiment. Each locking element (91; 111) has two spring receptacles (101) on its rear surface facing the longitudinal axis (45). In the installed state of the layer module (30), these spring receptacles (101) are located opposite similar spring receptacles in the base body (61). In this embodiment, the two locking elements (91, 111) are made of the same material as the insert element (71).

[0032] Above each locking element (91; 111), the layer module (30) has one gripping or guide notch (67). Each gripping or guide notch (67) has a base surface (68), e.g., a circular segment, and a constant height. The guide surfaces (69) of two gripping or guide notches (67) are oriented at least partially parallel to each other. Each gripping or guide notch (67) may have a trapezoidal, circular, oval, rectangular, or other cross section. In this embodiment, the maximum depth of a gripping or guide notch (67) corresponds to its height.

[0033] The camera system 151 of the camera module 31 includes a camera casing 152, an optical unit 153, and an illumination unit 154. The camera casing 152 is integrally molded or attached to the cylindrical periphery 43 of the layer module 30. In this embodiment, the camera casing 152 protrudes beyond the layer module 30 in both longitudinal directions 35.

[0034] Figure 7 shows a cross section of the layer module 30. In this view, the input side 52 is arranged at the top and the output side 81 is arranged at the bottom. An insert 71 is attached to the base 61, and the peripheral engaging edges 72 of the insert 71 face each other. A lid 64 and a camera casing 152 close the interior space 42 of the layer module 30 (see Figure 8). A circuit board 141, for example, is arranged in the interior space 42. The circuit board 141 may be equipped with electrical components, such as a data processing unit and a memory unit.

[0035] The center lines of the guide member accommodating portions (55, 56) coincide with the center lines of the guide members (121, 131). In the view shown in FIG. 7, the first guide member accommodating portion (56) is located above the first guide member (121). The second guide member accommodating portion (55) is located above the second guide member (131) in this view. In this case, the first guide member accommodating portion (56) that accommodates the first guide member (121) and the second guide member accommodating portion (55) that accommodates the second guide member (131) of another layer module (30) are formed.

[0036] Two guide studs (121, 131) are threaded into the base body (61). Each of the two guide members (121, 131) passes through a respective locking member (91, 111) in a guide slot (93), slidably supporting the locking member (91, 111). The rear engagement hooks (96) face outward. Each locking member (91, 111) is supported on the base body (61) by two spring members (112). In this case, the spring members (112), for example, formed as compression springs (112), are supported in the spring receiving portions (101) of each locking member (91, 111) and in spring receiving portions of the base body (61). Each locking member (91, 111) is biased radially outward by the spring members (112). In this case, the stroke of each locking member (91; 111) is limited by a correspondingly arranged guide member (121; 131).

[0037] Figure 8 shows an isometric longitudinal section in a plane perpendicular to the section shown in Figure 7. In this case, the section shown in Figure 8 is through the pneumatic passages (36) and the electrical lines (37). Again, the input side (52) of the layer module (30) is at the top and the output side (81) is at the bottom.

[0038] Each pneumatic passage 36 connects the input side 52 of the layer module 30 to the output side 81. The pneumatic passages 36 are arranged parallel to the longitudinal axis 45 of the layer module 30. Each passage outlet 87 and each passage inlet 86 overlap vertically in the view shown in FIG. 8. In this case, for example, the sealing insert 57 is arranged on the input side 52 and the abutment collar 85 is arranged on the output side 81. The reverse arrangement is also conceivable.

[0039] It is conceivable that the two pneumatic channels 36 can be used for different purposes. For example, one pneumatic channel 36 can carry, for example, air or nitrogen from the input side 52 to the output side 81. In this case, the other pneumatic channel 36 can carry, for example, a pneumatic medium in the other direction. This means, for example, that a double-acting valve can be used in the operating device. Furthermore, for example, the two pneumatic channels 36 can be used to generate and release negative pressure in the suction cups, for example when using a vacuum gripper.

[0040] Each pneumatic passage 36 may have a directional valve or a shut-off valve inside the layer module 30. This prevents loss of pneumatic medium and prevents contamination of the pneumatic passages, for example when the layer module 30 is used as an end module.

[0041] The individual pneumatic channels (36) may have branches. For example, shielding air can be supplied to the area of ​​the electrical components to prevent the ingress of impurities. Air can also be freely blown in front of the lens (155) of the camera system (151) and / or in front of the lighting unit (154) to ensure consistent optical properties. For example, the closing cover of the lens (155) can also be pneumatically operated.

[0042] Individual electrical lines 37 also connect the input side 52 to the output side 81. Each one of the contact pins 59 is electrically connected to a contact plate 83. In this case, the individual electrical lines 37 are arranged parallel to the longitudinal axis 45 of the layer module 30.

[0043] The electrical lines (37) are, for example, energy lines, data lines, and signal lines. At least some of these electrical lines (37) are connected to the camera system (151). These include, for example, two energy lines, at least one data line, and at least one signal line. These supply, for example, a control and evaluation module (142) of the camera system (151). This control and evaluation module (142) includes, for example, a data processing and memory unit (145). The data processing and memory unit (145) includes, for example, a calculation unit (143) and a data memory unit (144). The control and evaluation module (142) controls the functions of the camera (156) and the lighting (154) on the one hand, and evaluates the information detected by the camera (156) on the other hand. This information can be evaluated, for example probabilistically, in the calculation unit (143) and then stored in the data memory unit (144).

[0044] The layer module 30 may be provided with a transceiver device, which allows, for example, probabilistic data to be queried directly from the layer module 30, and also allows, for example, control commands to the camera 156 to be input.

[0045] The layer module 30 may also have an energy accumulator, which can, for example, buffer the power supply of the memory unit 144, so that, for example, data stored in the data memory unit 144 can still be read after the layer module 30 is removed.

[0046] 9 to 13 show the layer module 30 in the form of a force-measuring module 32. The input side 52 and output side 81 of this layer module 30 are configured similarly to those described in relation to the first embodiment. A lid 64 closes the internal space 42 of the layer module 30. The force-measuring module 32 also has an electric line 37 and a pneumatic passage 36 that extend from the input side 52 to the output side 81. These are configured similarly to those described in relation to the camera module 31. The configurations of the guide members 121, 131, the guide member receiving portions 55, 56, and the locking members 91, 111 also correspond to those described in relation to the first embodiment.

[0047] The casing 51 has an input-side casing member 161 and an output-side casing member 171. The output-side casing member 171 (see FIG. 11) is made of, for example, the material of the base body 61 of the first embodiment. The input-side casing member 161 (see FIG. 12) is made of the material of the insert member 71 of the camera module 31 in this embodiment. In the assembled state, the input-side casing member 161 and the output-side casing member 171 are screwed together in their central regions.

[0048] The output-side casing element (171) has guide grooves (65) for the locking elements (91, 111) on both sides. The locking elements (91, 111) are formed in the same manner as described in connection with the first embodiment. The output-side casing element (171) has a circuit board support (172) on the side opposite the guide grooves (65). Two centering pin receptacles (174) are molded into a central web (173) passing through the circuit board support (172). In this case, a data processing and memory unit (145) is arranged in the assembled state of the force-measuring module (32) (see FIG. 13).

[0049] The data processing and memory unit (145) comprises, for example, a calculation unit (143), a data memory (144) and an energy store, which are formed, for example, in the same way as those described in connection with the first embodiment.

[0050] Four guide tubes (175, 176) protrude from the output-side casing member (171) on the side opposite the guide groove (65). Two of these guide tubes (176) engage with the circumferential surface of the pneumatic passage (36). Two other guide tubes (175) form empty tubes for the electrical lines (37). Between each pair of similar guide tubes (175, 175; 176, 176), the output-side casing member (171) is provided with an internal thread (177).

[0051] The input-side casing element 161 (see FIG. 12) is configured as a spoked wheel. This spoked wheel has an outer ring 162 with an integrated circumferential engagement edge 72. The guide element receptacles 55, 56 are also firmly connected to the outer ring 162. The geometrical configuration of the guide element receptacles 55, 56 and their arrangement relative to the circumferential engagement edge 72 correspond to the configuration and arrangement of these elements in the camera module 31.

[0052] The hub 163 of the input casing element 161 has two centering pin receptacles 164 that, in the assembled state of the force-measuring module 32, coincide with the centering pin receptacles 174 of the central web 173. When the force-measuring module 32 is assembled, for example, two centering pins 165 center the output casing element 171 and the input casing element 161 relative to each other. The hub 163 also has a number of threaded holes 166 for receiving lid closure screws 167. Two opposing holes 168 are also molded into the hub 163. When the force-measuring module is assembled, the input casing element 161 and the output casing element 171 are fastened to each other by a number of screws. These screws pass through holes (168) and are secured within internal threads (177).

[0053] The outer ring 162 and the hub 163 are connected to each other via four radially oriented spokes 169. Each spoke 169 has, for example, a rectangular cross section, and its extension in the longitudinal direction 35 is greater than its extension in the tangential direction relative to the circumferential direction. Strain gauges are attached to the spokes 169 and, for example, to the hub 163. For example, two strain gauges are attached to each spoke 169.

[0054] In the assembled force-measuring module 32, the outer ring 162 can rotate and / or slide relative to the hub 163 and the output casing element 171 based on the deformation of the spokes 169. The deformation of the spokes 169, detected by the strain gauges, is a measure of the forces and moments acting on the output casing element 171 relative to the input casing element 161. From the change in the electrical resistance of the strain gauges, the calculation unit 143 can determine the direction and amount of deformation. The results are stored, for example, in the data memory 144 as single values ​​and / or as average values. Optionally, the values ​​thus detected may be provided with a timestamp. The calculation unit 143 and / or the data memory 144 may comprise a transmitting / receiving device. The transmitting / receiving unit may be configured, for example, similar to that described in connection with the first embodiment.

[0055] For power supply, data transmission and signal transmission, the data processing and memory unit (145) is connected to the electrical lines (37). The force measuring module (32) may also be supplied with shielding air.

[0056] 14 and 15 show the layer module 30 in the configuration of the calculation module 33. In this layer module 30, the output side 81 is also configured complementary to the input side 52. This applies in this embodiment to the mechanical adapter geometries 185, 186, the pneumatic connections 181, 182, and the electrical interface banks 183, 184. However, it is also conceivable to configure only the mechanical coupling elements 56, 121; 55, 131; 72, 91; 72, 111 complementary to one another. The mechanical adapter geometries 186 on the output side and the mechanical adapter geometries 185 on the input side are configured identically to the respective adapter geometries 185, 186 described in connection with the previous embodiment.

[0057] A data processing and memory unit (145) is arranged in the internal space (42) of the computing module (33) as part of the functional group (41). The data processing and memory unit (145) is connected to the electrical lines (37) for energy, signals, and data. The data processing and memory unit (145) has the same components as the data processing and memory unit (145) of the force-measuring module (32). This data processing and memory unit (145) can, for example, evaluate and consolidate data acquired by sensors in the gripper. For example, control commands for the robot can be calculated from the actual sensor data. The consolidation data can also provide information on wear on the gripping device or its components. The internal space (42) of the computing module (33) can also be supplied with shielding air. The compressed air required for this purpose is taken, for example, from the pneumatic line (36), for example, via a directional control valve and / or a throttle valve.

[0058] 16 and 17 show a layer module 30 in the form of a nozzle module 34. In this layer module 30, the input side 52 and the output side 81 are also designed to complement each other. For example, the pneumatic interfaces 181, 182, the electrical interface banks 183, 184, and the mechanical adapter geometries 185, 186 on the layer module side are designed in the same way as described in connection with the previous embodiment. However, it is also conceivable to design only the mechanical adapter geometries 185, 186 to be complementary to each other.

[0059] The nozzle module (34) in this embodiment has two alternative nozzle inlets (191, 192) and one nozzle outlet (193). Each nozzle inlet (191, 192) is located on the periphery (43) of the nozzle module (34). A nozzle (195, 196) is located between each nozzle inlet (191, 192) and the longitudinal passage (194). Each nozzle (195, 196) tapers toward the longitudinal passage (194). The two nozzles (195, 196) have interchangeable nozzle inserts (197, 198). These nozzle inserts (197, 198) may be configured, for example, as Venturi nozzles. The nozzle inlet (192) shown on the right side of the view in FIG. 17 is closed by a closing plate (199). When pressure is supplied to the pneumatic conduit connected to the other nozzle inlet 191, the flow velocity in the longitudinal passage 194 is higher than at the nozzle inlet 192. This nozzle module 34 can, for example, drive a pneumatically operated gripping unit. The pneumatic functional group 41 of the layer module 30 can generate, move or transmit negative pressure, for example a vacuum or excess pressure.

[0060] In the views shown in Figures 16 and 17, the longitudinal passages (194) open onto the input side (52), but it is also conceivable to arrange the openings (201) of the longitudinal passages (194) on the output side (81) of the nozzle module (34).

[0061] FIG. 18 shows a variant of the nozzle module 34. The functional group 41 has a longitudinal passage 194 with an opening 201 on the input side 52 and an opening 202 on the output side 81. In the view shown in FIG. 18, the opening 201 on the input side is closed by a cover plate 203. Alternatively, the opening 202 on the output side may be closed. Optionally, in the embodiments shown in FIGS. 16 and 17 as well as in the embodiment shown in FIG. 18, a directional valve, for example, an electromagnetically actuated valve, may be provided to switch the gas flow. Furthermore, a measuring device for measuring the pressure and / or volume flow rate of the pneumatic medium may be arranged in the layer module 30.

[0062] The layer module (30) shown in Figures 16 to 18 may additionally or alternatively comprise pressure transducers, pressure accumulators, compressors, etc. In this case, electrical control is effected via electrical lines (37). Optionally, a memory and evaluation unit (142) as described above may also be provided, e.g. together with a measuring device.

[0063] 19 shows a cross-sectional view of the nozzle module 34 with the pneumatic passage 36 connected to the nozzle outlet 193. In this case, the pneumatic passage 36 opens into a pneumatic output interface. The longitudinal passage 194 is formed in this embodiment as described in connection with the previous embodiment.

[0064] FIG. 20 shows a cross-sectional view of a layer module 30 with a single gripping area 92. The configuration of the guide members 121, 131 and the interface geometry of the locking members 91, 111 are the same as those of the layer module 30 shown in, for example, FIGS. 1-18. Therefore, the layer module 30 shown in FIG. 20 can be used with and combined with another layer module 30. The pneumatic passages 36 and electrical lines 37 of another layer module 30 can also be directly connected. The external dimensions of the casing 51 correspond to those of, for example, other embodiments.

[0065] In this layer module 30, both locking members 91, 111 can be operated by a single button 114 including a gripping area 92. The two locking members 91, 111 are slidably supported within the casing 51 and guided by guide members 121, 131 mounted within the casing 51. The guide members 121, 131 are, for example, hollow and have internal passages 129, 137. The guide slots 93 and hooks 96 are formed in the same manner as those described in connection with the first embodiment. Each locking member 91, 111 has a driving pin 104, 113 that engages in a driving slot 115, 116 of the button 114.

[0066] The gripping area 92 projects radially outward from the layer module 30. In this embodiment, the gripping area 92 is biased toward the extended position by two spring elements 118. In the view shown in FIG. 20, the two spring elements 118, for example, formed as compression springs 118, are arranged between the base body 61 and the gripping area 92. Other arrangements of the spring elements 118 are also possible. In this embodiment, the two entrainment slots 115, 116 are arranged in a V-shape relative to each other. The angle formed by the two entrainment slots 115, 116 is, for example, 90 degrees. The entrainment pins 104, 113 are located at the ends of the entrainment slots 115, 116 facing the hooks 96. The hooks 96, located at the top of this cross section, are not shown here.

[0067] In the illustrated locked position (103), the spring element (118) presses the two locking elements (91, 111) toward the outside, for example, in the radial direction, via the forcing guides (104, 115; 113, 116) of the entraining slots (115, 116) and the entraining pins (104, 113). The compression spring (118) is partially loaded and partially compressed compared to its relaxed state. When the button (114) is pressed by an external force, the load of the compression spring (118) increases. The button (114) pushes the two locking elements (91, 111) toward the center via the forcing guides (104, 115; 113, 116). For example, the hook (96) of the lock is disengaged. After the manually or automatically applied external force is removed, the locking members (91, 111) are again spring loaded and biased to the locked position (103).

[0068] Each spring-loaded locking element (91; 111) may be rear-engaged with another layer module (30) or a fixing element (230), for example, by pivoting about the longitudinal axis (45). In this case, at least two locking elements (91, 111) have the same pivoting direction. The locking elements (91; 111) may be, for example, rigidly coupled to one another and locked together under the load of a single spring element (112). In this embodiment, each locking element (91; 111) is also circumferentially engaged with a respective guide element (121; 131). During pivoting, the operating element (91; 111) is guided along this guide element (121; 131). To release the lock, a pressing force is applied to one or more buttons. The force transmission to the individual locking elements (91; 111) is, for example, as described above.

[0069] Actuation may be effected, for example, via a disk segment with an outwardly projecting protrusion that is pivotable about the longitudinal axis (45). This disk segment may be part of the spring-loaded locking member (91, 111) or may actuate the locking member (91, 111). Actuation of two locking members (91, 111) via a single disk segment is also conceivable.

[0070] In all embodiments, the interposition of an electric drive and / or transmission is also conceivable.

[0071] FIG. 21 shows the mounting element 230. The mounting element 230 can be attached directly to the robot arm or via an adapter. The mounting element 230 has a mounting element input 244, which in this embodiment includes a mounting flange 231 with a mounting hole 232 and a centering element 233. A radial centering element 234 fixes the position of the mounting element 230 relative to the robot arm. A media supply 235 is provided, for example, in the center of the mounting element 230. Electrical lines and pneumatic lines, for example, are routed from the robot arm into the interior space of the mounting element 230 via the media supply 235. The mounting element output 236 is configured, for example, complementary to the input 52 of the layer module 30. A computing unit, an evaluation unit, and / or a memory unit may also be arranged within the mounting element 230.

[0072] 22 shows an adapter system 20 consisting of two layer modules 30. The individual layer modules 30 may be connected to one another in any order. In the illustrated embodiment, one of the layer modules 30 is a camera module 31. A force-measuring module 32 is removably attached to the output side 81 of the camera module 31.

[0073] The illustrated layer modules 30 can be joined together manually or with a gripping device. For example, the camera module 31 is already attached to a robot arm or seated on a layer module support, engaging, for example, with a gripping or guide notch 67. The force-measuring module 32 is positioned in front of the camera module 31, with the input side 52 of the force-measuring module 32 facing the output side 81 of the camera module 31. The longitudinal axes 45 of the two layer modules 30 are aligned with each other. The two locking members 91, 111 of the camera module 31 are pressed together. As the force-measuring module 32 is moved closer to the camera module 31 in the assembly direction 21, which is oriented in the longitudinal direction 35, the guide elements 121, 131 of the camera module 31 slide into the guide element receptacles 55, 56 of the force-measuring module 32. Due to the different geometric configurations of the two guide studs 121, 131 and the associated guide stud receptacles 56, 55, the force-measuring module 32 can only be moved toward the camera module 31 in one position. Other structural configurations are also possible for ensuring the relative radial orientation of the layer modules 30. As soon as the guide studs 121, 131 slide into the guide stud receptacles 55, 56 and the two layer modules 31, 32 come into contact with each other, further movement of the force-measuring module 32 relative to the camera module 31 in the assembly direction 21 is no longer possible. The guide studs (121, 131) inserted into the guide stud receptacles (55, 56) center the layer module (30) relative to the fixing element (230) in a form-fitting manner.

[0074] As soon as the input side 52 of the force-measuring module 32 abuts against the output side 81 of the camera module 31, the locking elements 91, 111 are released or relieved. The locking elements 91, 111 are biased outward by the spring elements 112, 118. In this case, each hook 96 moves along the circumferential engagement edge 72. The hook 96, with its lower hook surface 98, slides along the lower surface 74 of the circumferential engagement edge 72. Two wedges further bring the force-measuring module 32 and the camera module 31 together in the assembly direction 21. The hooks 96 engage with the respective circumferential engagement edges 72 from their backs. The two layer modules 30 are then fixed in position relative to each other in a force-locking and form-locking manner.

[0075] By connecting the adapter system 20, the two layer modules 30, 30 can be connected to each other, for example, pneumatically. For this purpose, for example, elastically deformable sealing inserts 57 are used, which are compressed when the adapter system 20 is connected. This seals the dividing interface. It is also conceivable that the pneumatic connection means are guided through guide studs 121, 131. When connecting the adapter system 20, the electrical lines 37 of the layer modules 30, 30 are also connected to each other. Upon connection, the spring-loaded contacts 59 on the input side 52 are pressed into contact with the contact plate 83 on the output side 81. Thus, the electrical connection between the layer modules 30, 30 is spring-loaded and guaranteed after connection. A hydraulic connection between the layer modules 30, 30 is also conceivable. This allows, for example, the transmission of load currents, signals, data, pneumatic or hydraulic media, etc. The stitching of the other layer modules (30) is done as described above.

[0076] The separation of the layer modules 30, 30 can also be performed manually or automatically. In both cases, for example, one layer module 30 can be held, for example, in the gripping or guide notches 67. This can be done, for example, in a support device or via a gripper. Optionally, the support device can be configured as an unlocking device. This unlocking device, for example, operates the locking members 91, 111. Via a button 114 or the gripping area 92, the two locking members 91, 111 are pushed inward against the force of the spring members 112, 118. The locking members 91, 111 then disengage from the peripheral engagement edges 72. The layer module 30 to be removed can now be removed from the other layer module 30 in the direction opposite the assembly direction 21. For example, the removed layer module 30 can be stored in a magazine. For example, the other layer module (30) can then be placed on the first layer module (30).

[0077] FIG. 23 shows a fixture 230 with one fixture input 244 and two fixture outputs 236. In this embodiment, the fixture 230 has a Y-shaped fixture 237. The robot interface 238 of the fixture 230 includes a radial centering portion 234, e.g., in the form of a centering ring, a plurality of centering pins 241, a mounting opening 242, and a media flow portion 235. The robot interface 238 allows the Y-shaped fixture 237 to be attached directly to a robot arm or via an adapter. The fixture 230 may have a T-shape, for example. It is also conceivable to configure the fixture 230 with more than two fixture outputs 236.

[0078] The Y-shaped fixture 237 shown in the figure has two fixture output sections 236 whose centerlines form a right angle with each other in this embodiment. The two fixture output sections 236 are formed identically to each other. For example, the fixture output sections 236 are formed complementary to the input side 52 of the layer module 30.

[0079] In the Y-shaped fixture (237), the electrical and pneumatic lines coming from the robot are rearranged and / or reconfigured so that they correspond at the fixture output (236) to the pneumatic passages (36) and electrical lines (37) of the layer module (30). Electrical adaptations, for example of signal levels or signal modulation, are also conceivable. Furthermore, the Y-shaped fixture (237) may be provided with a calculation unit, an evaluation unit and / or a memory unit.

[0080] Figure 24 shows a layer module system 10 including a fixture 230 and multiple layer modules 30. In this embodiment, the fixture 230 has the form of a Y-shaped fixture 237 as shown in Figure 23. Multiple layer modules 30, each equipped with a different set of electrical, electromechanical, or pneumatic functional components 41, are connected to two fixture output sections 236. Thus, this layer module system 10 includes at least one adapter system 20. The fixture 230 may have more than two fixture output sections 236.

[0081] In the fixed member output section (236) on the left side of FIG. 24, for example, a camera module (31), a force measuring module (32), a calculation module (33), a nozzle module (34), etc. are arranged in series.

[0082] The right-side fixing member output 236 is connected to a distribution module 44, for example, downstream of the calculation module 33. This distribution module 44, for example, integrates a calculation unit and a memory unit. In this embodiment, the two distribution output 46 of the distribution module 44 are smaller than the output 81 of the calculation module 33 connected upstream. The layer module 30 connected downstream of the distribution module 44 is also geometrically smaller than the other layer modules 30 in this layer module system 10. The structure and assembly of each layer module 30 are similar to those of the embodiments described in connection with other embodiments. The fixing member 230 of the layer module system 10 may be formed based on the embodiment described in connection with FIG. 21.

[0083] Combinations of the individual embodiments are also conceivable. [Explanation of symbols]

[0084] 10 Layer Module System 20 Adapter System 21 Assembly direction 30 Layer Modules 31 Camera Module 32 Force Measurement Module 33 Computational Module 34 Nozzle Module 35 Longitudinal 36 Pneumatic passage 37 Electrical Lines 38 Electrical Contacts 39 Contact Plate Group 41 Functional configuration group 42 (30) interior space 43 (30) perimeter 44 Distribution Module 45 (30) longitudinal axis 46 (44) distribution output section 51 Casing 52 Input side 53 Coverage Area 54 Edge 55 Guide member receiving portion, part of mechanical connecting member 56 Guide member receiving portion, part of mechanical connecting member 57 Seal Insert 58 input contacts 59 Contact pin, spring loaded 61 Base 62 Top surface 63 (54) flat surface 64 Lid 65 Guide groove 66 threaded hole 67 Grip notch or guide notch Basal surface of 68 (67) 69 Guide surface 71 Insert material 72 Circumferential engagement edge, part of mechanical coupling member Top of 73 (72) Underside of 74 (72) 81 Output side 82 Bottom Plate 83 Contact Plate 84 Pneumatic Connections 85 (84) abutment collar 86 Passage Entrance 87 Passage exit 91 Locking member, first locking member, part of mechanical coupling member 92 Grasping area 93 Guide slot 94 Guide strip 96 Hook, rear engagement hook 97 Hook top 98 Hook bottom 99 Introductory slope 101 Spring housing 103 Lock position 104 Entrance Pin 106 Support surface 111 Locking member, second locking member, part of mechanical coupling member 112 Spring members, compression springs 113 Entrance Pin 114 Buttons 115 Entrainment slot 116 Entrainment slot 118 Spring members, compression springs 121 Guide member, first guide member, guide stud, part of mechanical coupling member 122 external thread 123 Guide Color 124 Support Collar 125 Mounting part 127 key surface 128 Guide member head Aisle 129 131 Guide member, second guide member, guide stud, part of mechanical coupling member 132 male thread 133 Guide Color 134 Support Collar 135 Guide stud head 136 Hexagonal hole 137 Passage 141 Circuit Board 142 Control and Evaluation Module 143 computing units 144 Memory unit, data memory unit 145 Data Processing and Memory Unit 151 Camera System 152 Camera Casing 153 Optical Unit 154 Lighting Unit 155 Lens 156 Cameras 161 input side casing member 162 outer ring 163 Hub 164 Centering pin housing 165 Centering Pin 166 Threaded hole 167 Lid Closure Screw 168 holes 169 spokes 171 Output side casing member 172 Circuit board support part 173 Central Web 174 Centering pin housing 175 Guide tube 176 Guide tube 177 female thread 181 Layer module side part of pneumatic input interface 182 Layer module side of pneumatic output interface 183 Input Electrical Interface Bank 184 Output Electrical Interface Bank 185 (30) Input Mechanical Adapter Geometry 186 (30) Output Mechanical Adapter Geometry 191 Nozzle inlet 192 Nozzle inlet 193 Nozzle outlet 194 Longitudinal Passage 195 nozzles 196 nozzles 197 Nozzle Insert 198 Nozzle Insert 199 Closed version 201 Opening of (194) in (52) 202 Opening of (194) in (81) 203 Cover Plate 230 Fixing member 231 Mounting flange 232 Mounting hole 233 Centering section 234 Radial centering part, centering ring 235 Media supply section 236 Output side, fixed member output part 237 Y-shaped fixing member 238 Interface to Robots 241 Centering Pin 242 Mounting opening 244 Fixed member input section

Claims

1. 1. A layer module (30) for use in a robot, comprising an input side (52) with an input mechanical adapter geometry (185) and an output side (81) with an output mechanical adapter geometry (186), the input mechanical adapter geometry (185) and the output mechanical adapter geometry (186) being formed complementary to one another, the layer module (30) comprising at least one electrical, electromechanical, hydraulic and / or pneumatic functional group (41), the functional group (41) being electrically, hydraulically and / or pneumatically contactable at the input side (52) and / or the output side (81), The layer module (30) has at least two spring-loaded, slidably or pivotably supported locking members (111; 91) and at least two guide members (121, 131) oriented in the longitudinal direction (35) of the layer module (30) and having different geometric shapes, Each of the locking members (91; 111) is circumferentially engaged with one of the guide members (121; 131) via a guide slot (93) formed in the locking member (91; 111), This layer module (30) is characterized in that it can be connected in a force-locking and / or form-locking manner to a fixing element (230) having a fixing element output portion (236) complementary to the input side (52) or the output side (81) and / or to at least one other layer module (30).

2. 2. The layer module (30) according to claim 1, wherein all of the locking members (91, 111) and all of the guide members (121, 131) are arranged on the input side (52) or the output side (81) of the layer module (30).

3. 2. The layer module (30) of claim 1, wherein a data processing and memory unit (145) is arranged within the interior space (42).

4. 4. The layer module (30) of claim 3, wherein the data processing and memory unit (145) comprises a data memory (144) and an energy accumulator.

5. 2. The layer module (30) according to claim 1, wherein at least one hydraulic or pneumatic nozzle (195; 196) is arranged in the interior space (42).

6. 2. The layer module (30) according to claim 1, wherein complementary electrical contacts (58, 83) are arranged on the input side (52) and the output side (81), and at least one electrical contact (58) on the input side (52) or at least one electrical contact (83) on the output side (81) is formed as a contact pin (59) that is spring-loaded in the longitudinal direction (35) of the layer module (30).

7. 2. The layer module (30) according to claim 1, wherein complementary pneumatic connections (181, 182) connected by a pneumatic passage (36) are arranged on the input side (52) and the output side (81), and the pneumatic connection (181) on the input side (52) or the pneumatic connection (182) on the output side (81) has a sealing insert (57).

8. An adapter system (20) comprising at least two layer modules (30) according to claim 1, An adapter system (20), characterized in that the output side (81) of a first layer module (30) is coupled to the input side (52) of a second layer module (30) in a force- and / or form-fit manner.

9. 10. A layer module system (10) comprising an adapter system (20) according to claim 8 and a fastening element (230), wherein the fastening element (230) is coupled to an exposed input side (52) or an exposed output side (81) of the adapter system (20) in a force-locking manner and / or a form-locking manner. A layer module system (10) characterized in that the fixed member output portion (236) is formed complementarily to the input side (52) or output side (81) of the adapter system (20) to be coupled to the fixed member output portion (236).

10. The layer module system (10) of claim 9, wherein the fixture (230) has one fixture input (244) and at least two fixture outputs (236).

Images