End effector, handling device, method and computer program with inrush current limiting

Abstract

The invention relates to an end effector (20) comprising: a base housing (22), at least one electrically actuated drive element (24) arranged in the base housing (22) for moving an actuator element (26), at least one media interface (30) provided in or on the base housing (22) for supplying electrical power to the at least one drive element (24), and at least one protective device (32); as well as a handling device (10) comprising such an end effector.

Description

[0001] DREISS PATENT ATTORNEYS 17.03.2026

[0002] 40290645WO Ref. 673640.9

[0003] SCHUNK SE & Co. KG Clamping Technology Gripping Technology Automation Technology Bahnhofstraße 106-134

[0004] 74348 Lauffen am Neckar

[0005] End effector, handling device, method and computer program with inrush current limiting

[0006] The invention relates to an end effector and a handling device with an inrush current limiter.

[0007] When connecting an end effector to a power supply, the power supply may shut down because the inrush current during the end effector's power-on process briefly exceeds a current monitoring threshold of the power supply (overcurrent fault). This phenomenon can be observed particularly when connecting a gripper to a robot during operation, where the robot supplies power to the gripper.

[0008] The invention is based on the objective of providing an end effector which prevents an overcurrent fault during a fault-free switch-on process.

[0009] The problem underlying the invention is solved by an end effector with the features of claim 1. The invention relates to an end effector, in particular a gripping and / or a clamping device and / or a linear axis, comprising: a base housing, at least one electrically actuated drive element arranged in the base housing for moving an actuator element, and at least one media interface provided in or on the base housing for supplying electrical power to the at least one drive element. Furthermore, the end effector comprises at least one protective device, which is designed and / or configured to limit the inrush current and / or its rise during a switch-on process of the end effector (inrush current limiting).

[0010] Preferably, the protective device is integrated into the base housing (integrated

[0011] Inrush current limiting). This prevents the inrush current and / or its rise from exceeding a critical threshold during a switch-on process, which, while not necessarily critical for the end effector and / or the external power supply, could lead to a faulty triggering of an integrated current monitoring system of the external power supply.

[0012] Due to the integrated protective device in the end effector, it can be ensured that no overcurrent fault occurs in the power supply, regardless of the electrical protection mechanisms in the external power supply, particularly in a handling device such as a robot. Thus, the end effector provides a comprehensive solution that affects both the operation of the end effector itself and the power supply powering it, especially the handling device. Consequently, a false triggering of an integrated current monitoring device in a power supply, particularly a power adapter, is prevented. Furthermore, the protection of the power supply, especially the power adapter, against overcurrent events during capacitive charging processes is ensured.Furthermore, electrical contacts of the end effector and the power supply, in particular the handling device, are protected during a changeover process by preventing corrosion caused by arcing.

[0013] Preferably, the media interface of the end effector is part of a quick-change system connection for a quick-change system of a handling device, in particular a robot.

[0014] An advantageous aspect is that the protective device is designed and / or configured to provide a variable electrical resistance between the media interface and the drive element during the switch-on process. With a variable resistance, a limit for the inrush current and / or its rise time can be precisely set. This makes it particularly easy and precise to adjust the rise time of the input voltage and / or the inrush current. The input voltage preferably rises linearly from 0 V to 24 V (operating voltage). Setting the input voltage indirectly affects the inrush current. For example, a linear rise in the inrush current can be set. This prevents a sudden increase, which has a particularly positive effect on the operation and current monitoring of the external power supply.

[0015] An advantageous aspect is that the protective device comprises a field-effect transistor (FET), in particular an IGFET (Insulated-Gate FET) or MISFET (Metal-Insulator-Semiconductor FET), preferably a MOSFET, and more preferably a P-channel MOSFET, with a source terminal, a gate terminal, and a drain terminal. Field-effect transistors have the advantage over mechanical switches of operating without wear, as they have no moving parts. They enable faster switching operations and can switch large loads with low control current. Furthermore, they offer very low on-resistance, thereby minimizing energy losses.

[0016] In the steady-state or fully charged state of the end effector, the protective device, in particular the first transistor, is preferably designed to be conductive and does not impair the operation of the end effector.

[0017] One advantageous aspect is that the media interface connects to the source terminal. Therefore, a voltage VIN ZB of 12V, 24V, or 48V is applied to the source terminal. The transistor is initially off because the gate terminal is undefined. Since the transistor is off, a voltage VOUT of OV is applied to the drain terminal.

[0018] One advantageous feature is that the protection device has an adjustment element for providing a voltage with a constant rise time at the first gate terminal. This makes adjusting the inrush current limit particularly easy and precise.

[0019] An advantageous aspect is that the adjustment element is designed as a variable or constant resistor, in particular where the resistance is between 1 MΩ and 20 MΩ, or is adjustable. This allows for simple and precise adjustment of the inrush current limit. The resistor can, for example, be designed as a mechanical or digital potentiometer.

[0020] One advantageous aspect is that a pull-up resistor is connected to the gate terminal of the adjustment element. This quickly pulls the gate terminal high to VIN. Since a PMOS only conducts when the voltage difference between the gate and source terminals is negative, the transistor remains off. Therefore, a voltage of 0V is still present at the drain terminal.

[0021] An advantageous aspect is that the protective device includes a switching element which can be switched between a first position and a second position for connecting and disconnecting the gate terminal from ground. The switching element is preferably designed as a MOSFET or NMOS (N-channel MOSFET).

[0022] When the switching element is still off, it blocks, so the PMOS gate terminal remains held at VIN by the pull-up resistor. Therefore, the PMOS remains off and no current flows to VOUT. The voltage VOUT remains 0V. When the switching element is turned on (e.g., by a high signal at the NMOS gate terminal), the switching element slowly pulls the PMOS gate terminal to ground (OV).

[0023] This causes the gate-source voltage of the PMOS to slowly become negative, allowing the current to gradually increase linearly. The rise time is determined by the resistors of the setting element. The PMOS eventually switches, causing the voltage VOUT at the drain terminal to rise to VIN.

[0024] One advantageous aspect is that the switching element, in particular the gate terminal of the NMOS, is connected to the media interface. Accordingly, the switching element is automatically activated upon power-up (a voltage of VIN, reduced by a voltage divider, is applied to the gate of the NMOS). This ensures fast and simple switching of the switching element and inrush current limiting. The voltage applied to the gate terminal is preferably a maximum of 20 V.

[0025] An advantageous aspect is that the protection device is designed to allow current to be fed back into the circuit, particularly via the protection device, preferably via the first transistor. This allows excess energy to be dissipated from the end effector. This is achieved, for example, by keeping the circuit switched on in steady state.

[0026] One advantageous aspect is that the switching-on process lasts in a range between 1 ms and 20 ms, in particular between 2 ms and 10 ms, after switching on.

[0027] An advantageous aspect is that a control device is provided which is designed to control the drive element depending on a quantity that characterizes the inrush current limit.

[0028] The parameter characterizing the inrush current limiting can be one, several, or all of the following: duration of a switch-on process, threshold for the inrush current and / or its rise time, rise time at a gate terminal of the protection device, instantaneous voltage at a gate terminal of the protection device, particularly at the PMOS and / or NMOS, resistance of an adjustment element of the protection device, resistance of a pull-up resistor of the protection device, or the position of a switching element (NMOS) of the protection device. Consequently, it can be ensured that the control device activates the end effector after the critical switch-on process has elapsed. Furthermore, it is conceivable that the control device detects, stores, and / or transmits the switch-on process with respect to the inrush current and / or its rise time to a higher-level control system. Thus, information about the switch-on process can be collected.The information gathered during the power-on process can be used to determine the status of the power supply, the end effector, and / or the handling device. For example, a significant deviation in one or more of these parameters could indicate a fault or damage to one of the components.

[0029] The end effector is preferably designed as a gripping and / or clamping device. The end effector preferably has at least one, and in particular two or three, linearly movable base jaws. Gripping fingers and / or clamping elements are preferably arranged on the base jaws. The end effector has an electric drive element, in particular an electric motor, for moving the base jaws. Preferably, the end effector has a gearbox, in particular a spindle-rack combination.

[0030] An end effector designed as a linear axis preferably has low power, e.g.

[0031] 48 V and 8 A, and / or integrated electronics.

[0032] The problem underlying the invention is also solved by a handling device with the features of claim 14. The invention relates to a handling device, in particular a robot, with an end effector according to one of the preceding claims.

[0033] An advantageous aspect is that the handling device further comprises a support section, in particular a robot arm, and a quick-change system arranged on the support section. Preferably, the end effector is arranged on the support section by means of the quick-change system. With a quick-change system, the inrush current limiting of the end effector is particularly advantageous, since the end effector is regularly connected to the robot during operation.

[0034] An advantageous aspect is that the handling device is connected to an internal or external power supply. Preferably, the handling device supplies the end effector via the internal and / or external power supply. For this purpose, it is advantageous if the handling device includes a supply line that connects on one side to the internal and / or external power supply and on the other side to the media interface of the end effector. The supply line is preferably located inside the handling device and / or is routed through the quick-change system.

[0035] The problem underlying the invention is also solved by a method for switching on a previously described end effector with the features of claim 16. The method comprises the following steps, in particular in the order mentioned:

[0036] - Providing a first transistor with a first source terminal, a first drain terminal, and a first gate terminal, and providing a switching element with a second source terminal, a second drain terminal, and a second gate terminal, wherein a voltage, in particular of OV, is applied to the first source terminal, the first drain terminal, and the first gate terminal, and wherein the first transistor and the switching element are non-conducting, - Providing a supply voltage at the first source terminal and at the first gate terminal,

[0037] - Switching the switching element to electrically connect the first gate terminal to ground, so that the switching element conducts and the first gate terminal is discharged, - Switching the first transistor depending on a voltage difference between the first gate terminal and the first source terminal, and

[0038] - Providing a current flow from the first source terminal to the first drain terminal that increases with the magnitude of the voltage difference between the first gate terminal and the first source terminal.

[0039] Preferably, the control device of the end effector is configured to control the end effector according to the steps of the procedure.

[0040] The problem underlying the invention is also solved by a computer program with the features of claim 17. The computer program comprises instructions which, when executed by a computer, cause the computer to perform the method described above. Further advantages, features, and details will become apparent from the following description, in which various embodiments of the invention are illustrated with reference to the drawing. The features mentioned in the claims and the description can each be essential to the invention individually or in any combination.

[0041] They show:

[0042] Fig. 1 shows a schematic view of a handling device with a quick-change system and an end effector;

[0043] Fig. 2 shows a schematic block diagram of an end effector connected to a power supply with an inrush current limiter;

[0044] Fig. 3 shows a first circuit diagram of an inrush current limiter for an end effector; Fig. 4 shows a second circuit diagram of an inrush current limiter for an end effector;

[0045] Fig. 5 shows a longitudinal section of an end effector; and

[0046] Fig. 6 shows a flowchart for inrush current limiting.

[0047] The handling device 10 shown in Fig. 1 has a support section 12, on which a quick-change system 14 is arranged with a first adapter 16 on the handling side and a second adapter 18 on the end effector side. An end effector 20 can be attached to and detached from the handling device 10 quickly, easily, and automatically by means of the quick-change system 14. According to Fig. 1, the handling device 10 is designed as a robot and the support section 12 as a robot arm.

[0048] The end effector 20 has a base housing 22 in which an electrically actuated drive element 24 is arranged for moving two actuator elements 26. According to Fig. 1, the actuator elements 26 are designed as gripping fingers, each of which is arranged on a base jaw (not shown) that is linearly movable within the base housing 22.

[0049] The end effector 20, in particular the drive element 24, is supplied with electrical energy by means of a power supply (not shown), wherein the power supply is connected to a media interface 30 of the end effector 20 by means of a supply line 28 arranged in the support section 12. The supply line 28 is routed through the quick-change system 14. The media interface 30 is electrically connected to the drive element 24.

[0050] A protective device 32 for inrush current limiting is interposed between the media interface 30 and the drive element 24, as shown in Fig. 1. The protective device 32 is designed and configured to limit the inrush current flowing from the electrical supply to the drive element 24 and / or its rise during a switch-on process of the end effector 20.

[0051] Figures 3 and 4 each show a circuit diagram of such a protection device 32. The protection device 32 comprises a first transistor 34, in particular a MOSFET, preferably a P-channel MOSFET. The first transistor 34 has a first source terminal 36, a first drain terminal 38, and a first gate terminal 40.

[0052] The first source terminal 36 is electrically connected to the media interface 30 via a first conductor section 42, so that a voltage VIN of 12V, 24V, or 48V is present at the first source terminal 36, depending on the power supply. An adjusting element 44 in the form of a constant or variable resistor is connected upstream of the first gate terminal 40. The resistance of the adjusting element 44 is between 5 MΩ and 20 MΩ, and is preferably 16 MΩ.

[0053] The first gate terminal 40 is connected to the first line section 42, and thus to the media interface 30, by means of a second line section 46. The adjustment element 44 is located between the first line section 42 and the first gate terminal 40.

[0054] Furthermore, a pull-up resistor 48 is connected upstream of the adjustment element 44, which is provided on the second line section 46. The pull-up resistor 48 is therefore arranged between the first line section 42 or the media interface 30 and the adjustment element 44.

[0055] The first gate terminal 40 can be connected to ground 52 by means of a switching element 50. The switching element 50 is configured as a second transistor, in particular a MOSFET, preferably an N-channel MOSFET. The switching element 50 has a second source terminal 54, a second gate terminal 56, and a second drain terminal 58. The switching element 50 is preferably switchable between a first position and a second position, wherein in the first position the first gate terminal 40 and ground are electrically isolated, and in the second position they are electrically connected.

[0056] The second drain terminal 58 connects to the second conductor section 46 between the adjusting element 44 and the pull-up resistor 48. Consequently, when the switching element 50 is open, the supply voltage VIN is also present at the second drain terminal 58. The second source terminal 58 is always connected to ground 52. As shown in Fig. 4, the second gate terminal 56 is preferably connected to the first conductor section 42 or the media interface 30. A voltage divider (not shown) can be connected between the second gate terminal 56 and the first conductor section 42. Alternatively, the switching element can be controlled by another means.

[0057] The switching-on process of the end effector 20, which lasts in a range between 2 ms and 10 ms after switching on or connecting the end effector to the power supply, in particular the robot arm, is described in detail below:

[0058] A supply voltage VIN is applied to the media interface 30 and the first source terminal 36 of the first transistor 34. The first gate terminal 40 is pulled high to the supply voltage VIN and held by the pull-up resistor 48, the first conductor section 42, and the second conductor section 46. Since the voltage difference between the first source terminal 36 and the first gate terminal 40 is positive or equal, the first transistor 34 is off. Consequently, the first drain terminal 38 is initially not supplied with a voltage. As soon as the switching element 50 receives a switching signal, it begins to conduct and pulls the first gate terminal 40 to ground 52 (GND). This makes the voltage difference between the first source terminal 36 and the first gate terminal 40 negative. This causes the first transistor 34 to switch on, allowing current to flow from the first gate terminal 40 to the first drain terminal 38.

[0059] The drive element 24, acting as a load, is arranged on a third conductor section 60 between the first drain terminal 38 and a ground 52. Due to the adjusting element 44, particularly its resistance on the order of a few megaohms, the first gate terminal 40 is charged slowly, so that the voltage difference also increases linearly with a controlled rise time and therefore not abruptly. Consequently, the first transistor 34 also switches on slowly and in a controlled manner. This gradually reduces the contact resistance from the first source terminal 36 to the first drain terminal 38, thus controlling the current. This results in the inrush current building up slowly and in a controlled manner. After the switch-on process and the rise time, the protection device 32 is in a stable state in which the first transistor 34 is fully conducting and the switching element 50 remains switched on.Accordingly, the drive element 24 is continuously supplied with the supply voltage VIN.

[0060] Due to the protective device 32 integrated in the end effector 20, it can be ensured that no overcurrent fault occurs in the power supply, regardless of the electrical protection mechanisms in the external power supply, particularly in a handling device 10, such as a robot. Thus, the end effector 20 provides a comprehensive solution that affects both the operation of the end effector 20 itself and the power supply supplying the end effector 20, in particular the handling device 10. Consequently, a false triggering of an integrated current monitoring device in a power supply, especially a power supply unit, is prevented. Furthermore, the protection of the power supply, especially the power supply unit, against overcurrent events during capacitive charging processes is ensured.

[0061] When using a quick-change system 14, as shown in Fig. 1, the inrush current limiting of the end effector 20 is particularly advantageous, since the end effector 20 is regularly connected to the support section 12, especially the robot arm, during operation. This protects the electrical contacts of the end effector 20 and the quick-change system 14 during a changeover by preventing corrosion caused by arcing. In Fig. 1, the electrical contacts are shown on the first adapter 16 and the second adapter 18.

[0062] When the circuit is switched off, the second gate terminal 56 of the switching element 50 is set to a low level, thus switching it off. Consequently, the first gate terminal 40 is pulled back to the supply voltage VIN by the pull-up resistor 48, so that the first transistor 34 switches off again and 380V is applied to the first drain terminal.

[0063] As shown in Fig. 2, the electronics 61 of the end effector 20 can have an EMC protection circuit 62 and a reverse polarity protection circuit 64 connected upstream of the protective device 32. The drive element 24 is connected downstream of the protective device 32. The intermediate circuit 63 is arranged on the electronics 61 and serves as an energy storage device for the drive element 24. The energy storage device ensures smooth operation of the drive element 24, as it is generally controlled by pulse width modulation, and the resulting voltage fluctuations are smoothed out. The drive element 24 is connected to a power supply unit 65 via the supply line 28.

[0064] As shown in Fig. 1, the end effector 20 has a control device 66 provided in the base housing 22. The control device 66 is designed and / or configured to control the drive element 24 depending on a parameter characterizing the inrush current limit. This parameter can be one, several, or all of the following: the duration of a switch-on process, the threshold value for the inrush current and / or its rise time, the rise time at the first gate terminal 40, the instantaneous voltage at the first gate terminal 40, the resistance of an adjusting element 44, the resistance of a pull-up resistor 48, or the position of the switching element 50. Preferably, the control device 66 has at least one measuring device 52 for measuring one, several, or all of the aforementioned parameters.

[0065] Figure 5 shows an end effector 20 with inrush current limiting, the inrush current limiting being integrated into the electronics 61 of the end effector 20. The end effector 20 comprises a layered circuit board stack 68 with a terminal board 70, a microcontroller board 72, and a power amplifier board 74. The electrical components of the inrush current limiting, or the protection device 32, are preferably arranged on the terminal board 70 of the circuit board stack 68. The control device 66 is preferably arranged on the microcontroller board 72. Consequently, a space-saving arrangement of the electronic elements is provided, requiring minimal cooling. Therefore, the inrush current limiting can also be integrated into very compact end effectors 20. Thus, the electrically driven end effectors 20 can also replace compact pneumatic end effectors 20.Furthermore, the compact design of the electronics 61 allows for the integration of inrush current limiting, reverse voltage protection, and / or parameterization via Bluetooth. The end effector 20, as shown in Fig. 5, is designed as a gripper and comprises two base jaws guided linearly in the base housing 22 as actuator elements 26. The base housing 22 is further divided into a guide housing 76 and a drive housing 78. The actuator elements 26 are guided in the guide housing 76. The drive housing 78 houses the electronics 61 and the drive element 24, e.g., the electric motor. Additionally, a brake 80 and / or a gearbox can be arranged in the drive housing 78.

[0066] Figure 6 schematically illustrates the steps of the method for limiting the inrush current of the end effector 20. The control unit 66 is preferably configured to control the end effector 20 according to the following steps. Figure S10 shows the initial state of the end effector 20 before it is switched on. Accordingly, a voltage of 0V is present at the first source terminal 36, the first drain terminal 38, and the first gate terminal 40. Furthermore, the first transistor 34 and the switching element 50 (second transistor) are closed (non-conducting).

[0067] According to step S20, the end effector 20 is electrically connected to a power supply, in particular to a quick-change system 14 of a robot. Accordingly, a supply voltage UIN, in particular of 24V, is present at the media interface 30 and at the first source terminal 36. Due to the pull-up resistor 48 and / or the adjustment element 44, the first gate terminal 40 is pulled up to the supply voltage VIN.

[0068] According to step S30, the voltage at the second gate terminal 56 rises above a second threshold voltage. Consequently, the switching element 50 switches on (conducts), so that the adjusting element 44 is connected to ground 52. This discharges the first gate terminal 40, although this occurs slowly depending on the adjusting element 44, in particular its resistance. This causes the magnitude of the voltage difference between the first source terminal 36 and the first gate terminal 40 to increase correspondingly slowly.

[0069] According to step S40, the voltage difference between the first source terminal 36 and the first gate terminal 40 increases until a first threshold voltage is exceeded. As the voltage difference between the first source terminal 36 and the first gate terminal 40 increases, the resistance between the first source terminal 36 and the first drain terminal 38 decreases. The current begins to flow from the first source terminal 36 to the first drain terminal 38, but is limited by the resistance caused by the first transistor 34.

[0070] Consequently, the end effector 20, in particular its capacity in the intermediate circuit, is charged in a controlled manner according to step S50.

[0071] Step S60 checks whether the voltage across the capacitor of the intermediate circuit or the end effector 20 corresponds to the supply voltage VIN. As long as the capacitor voltage is below the supply voltage VIN, the end effector continues to charge. In a simple embodiment, the system can operate without active monitoring or control of the process. In this case, step S60 is achieved through natural regulation. The voltage difference decreases, which also reduces the theoretically possible charging current. Simultaneously, the drain-source resistance of the first transistor 34 is varied. Therefore, the check according to step S60 can be performed actively or passively.

[0072] As soon as the capacitor voltage reaches the supply voltage VIN, the switch-on process is complete according to S70 and the end effector 20 is in normal operation according to S80. The first transistor 34 remains fully conducting and, apart from the remaining resistance between the first source terminal 36 and the first drain terminal 38, has no interference with the current flow. Reference numerals

[0073] 10 Handling device

[0074] 12 Support section

[0075] 14 Quick-change system

[0076] 16 first adapter

[0077] 18 second adapter

[0078] 20 End effector

[0079] 22 Basic housings

[0080] 24 Drive element

[0081] 26 Actuator element

[0082] 28 Supply line

[0083] 30 Media interface

[0084] 32 Protective device

[0085] 34 first transistor

[0086] 36 first source connection

[0087] 38 first drain connection

[0088] 40 first gate connection

[0089] 42 first line section

[0090] 44 Adjustment element

[0091] 46 second line section

[0092] 48 Pullup resistor

[0093] 50 Switching element (second transistor) 52 Ground

[0094] 54 second source connection

[0095] 56 second gate connector

[0096] 58 second drain connection

[0097] 60 third line section

[0098] 61 Electronics

[0099] 62 EMC protection circuit

[0100] 63 Intermediate circle

[0101] 64 Reverse polarity protection

[0102] 65 Power supply

[0103] 66 Control unit

[0104] 68 PCB stack 70 Connection board

[0105] 72 Microcontroller board 74 Power amplifier board

[0106] 76 Guide housing 78 Drive housing

[0107] 80 brake

Claims

Patent claims 1. End effector (20) comprising: - a basic housing (22), at least one electrically actuated drive element (24) arranged in the base housing (22) for moving an actuator element (26), at least one media interface (30) provided in or on the base housing (22) for the electrical supply of the at least one drive element (24), and at least one protective device (32) which is designed and / or configured to limit the inrush current and / or its rise during a switch-on process of the end effector (20).

2. End effector (20) according to claim 1, wherein the protective device (32) is designed and / or configured such that it provides a variable electrical resistance between the media interface (30) and the drive element (24) during the switch-on process.

3. End effector (20) according to claim 1 or 2, wherein the protection device (32) comprises a field-effect transistor, in particular a MOSFET, IGFET or MISFET, with a first source terminal (36), a first gate terminal (40) and a first drain terminal (38).

4. End effector (20) according to claim 3, wherein the media interface (30) connects to the first source port (36).

5. End effector (20) according to claim 3 or 4, wherein the protection device (32) has an adjusting element (44) for providing a voltage with a constant rise time at the first gate terminal (40).

6. End effector (20) according to claim 5, wherein the adjusting element (44) is designed as a variable or constant resistance, in particular wherein the resistance is between 1 MQ and 20 MQ, in particular 5 MQ and 20 MQ, or is adjustable.

7. End effector (20) according to any one of claims 3 to 6, wherein a pull-up resistor (48) is connected upstream of the first gate terminal (40).

8. End effector (20) according to any one of the preceding claims, wherein the protection device (32) has a switching element (50) which can be switched between a first position and a second position for connecting the first gate terminal (40) to and disconnecting the first gate terminal (40) from a ground (52).

9. End effector (20) according to claim 8, wherein the switching element (50) connects directly or indirectly to the media interface (30).

10. End effector (20) according to one of the preceding claims, wherein the protective device (32) is designed in such a way as to allow a current to be fed back into the system.

11. End effector (20) according to one of the preceding claims, wherein the switch-on process lasts in a range between 2 ms and 10 ms after switch-on.

12. End effector (20) according to one of the preceding claims, wherein a control device (66) is provided which is configured to control the drive element (24) depending on a quantity characterizing the inrush current limiting, in particular a duration of a switch-on process, a threshold value for the inrush current and / or its rise, a rise time at a first gate terminal (40) of the protection device (32), an instantaneous voltage at a first gate terminal (40) of the protection device (32), a resistance of an adjusting element (44) of the protection device (32), a resistance of a pull-up resistor (48) of the protection device (32), a position of a switching element (50) of the protection device (32).

13. Handling device (10), in particular robot, with an end effector (20) according to one of the preceding claims.

14. Handling device (10) according to claim 13, further comprising a support section (12), in particular a robot arm, and a quick-change system (14) arranged on the support section (12), wherein the end effector (20) is arranged on the support section (12) by means of the quick-change system (14).

15. Handling device (10) according to claim 13 or 14, wherein the handling device (10) comprises an internal power supply and / or is connected or connectable to an external power supply, and wherein the handling device (10) comprises a supply line (28) which electrically connects the internal and / or external power supply to the end effector (20).

16. Method for switching on an end effector (20) according to any one of claims 1 to 12, comprising the following steps: Providing a first transistor (34) with a first source terminal (36), with a first drain terminal (38) and with a first gate terminal (40), and providing a switching element (50) with a second source terminal (54), with a second drain terminal (58) and a second gate terminal (56), wherein a voltage, in particular 0V, is applied to the first source terminal (36), the first drain terminal (38) and the first gate terminal (40), and wherein the first transistor (34) and the switching element (50) are non-conducting, providing a supply voltage at the first source terminal (36) and at the first gate terminal (40), Switching the switching element (50) to electrically connect the first gate terminal (40) to ground (52), so that the switching element (50) conducts and the first gate terminal (40) is discharged, Switching the first transistor (34) depending on a voltage difference between the first gate terminal (40) and the first source terminal (36), and Providing a current flow from the first source terminal (36) to the first drain terminal (38) that increases with the magnitude of the voltage difference between the first gate terminal (40) and the first source terminal (36).

17. Computer program comprising instructions which, when the program is executed by a computer, cause it to execute the method according to claim 16.

Images