EP2208259A1

EP2208259A1 - Plug and plug connector for robots

Info

Publication number: EP2208259A1
Application number: EP08800480A
Authority: EP
Inventors: Rico Jehmlich; Manfred Müller
Original assignee: Multi Holding AG
Current assignee: Staeubli Electrical Connectors AG
Priority date: 2007-11-07
Filing date: 2008-10-16
Publication date: 2010-07-21
Anticipated expiration: 2028-10-16
Also published as: CN103178389A; CN101855789A; US20100267270A1; JP2013149633A; JP5303567B2; BRPI0817365A2; CA2702725A1; US20120231672A1; WO2009059440A1; CN103178389B; JP5667657B2; EP2208259B1; US8206185B2; JP2011503788A; CA2702725C; BRPI0817365B1; CN101855789B; US8449337B2; MX2010004943A

Abstract

The invention relates to a socket-sided plug (B) or a pin-sided plug (S), in particular for a tool changing system, for electrically connecting a tool to a robot hand. Said plug comprises a plug housing (1, 2) for securing to a robot arm or to a tool. The plug housing (1, 2) comprises at least one contact chamber (10, 20) and at least one receiving chamber (50, 60) that is arranged, essentially above the contact chamber (10, 20). A connection module (30) provided with electrically conductive elements (7, 70, 71, 72) for connecting to at least one peripheral device, in particular a cable, can be arranged in the at least one contact chamber (10, 20). A wear and tear module (31) provided with electrically conductive elements (7, 70, 71, 71) for connecting to a second peripheral device, in particular a complimentary plug, can be arranged in the at least one receiving chamber (50, 60). The electrically conductive elements (7, 70, 71, 72) of the connection module (30) can be connected to the electrically conductive elements (7, 70, 71, 72) of the wear and tear module (31).

Description

Plug and connector for robots

description

TECHNICAL FIELD OF THE INVENTION The present invention relates to a plug or a plug connection, in particular for a tool changing system for connecting a tool to a robot hand, according to the features of the preamble of claims 1 and 28, respectively.

PRIOR ART Plug connectors for connecting a tool to a robot or to a hand of a robot arm are known from the prior art. Such robots are used for example by the automotive industry in manufacturing plants. Typically, such robots include a robotic arm whose front end remote from the base is referred to as a robotic hand. The robot hand is used to record a tool change system. Usually, the tool changing system comprises at least two elements, namely a supply side, which is firmly connected to the robot hand and therefore can also be referred to as the robot side, and a pickup side, which is firmly connected to the tool side with the tool. The tool change element comprises mechanical coupling means or modules for mechanically receiving the tool and energy supplying coupling means for supplying the tool with energy.

The energy-supplying coupling agent can, for example, a plug connection be, which is connected via an automatic mating process. This connector provides the tool with control signals and electrical power from peripheral devices. The mechanical and electrical requirements of the connectors are extremely high and complex.

Since a robot on a conveyor belt typically performs several operations in a row, this may require one or more tool changes. The number of tool changes thus forms a default to the connector. Over the entire life of a tool resp. A robot is running a large number of mating cycles, which is typically in the region of one million.

Another problem is the crosstalk between individual electrical connections. In particular, the control signals are extremely sensitive to such crosstalk. In plug connections of the prior art, the plugs for power transmission are therefore always arranged spatially far apart from the plugs for signal transmission. As a result, the enveloping circle of the plug around the tool change element is extremely large. This problem is exacerbated when, for example, several different tools are to be coupled. The freedom of movement of the robot is thus restricted.

Presentation of the invention

Based on this prior art, the invention has for its object to provide a plug connection, which overcomes the disadvantages of the prior art. In particular, it is an object to reduce the enveloping circle around the coupling point. In addition, individual connection channels of the entire connector in the simplest possible way to be replaced. Furthermore, the connector should be designed such that it is robust to mechanical influences and loads.

This object is achieved by a plug according to the features of the preamble of claim 1 with the features of claim 1. Advantageous embodiments of the invention are specified in the dependent claims. Accordingly, a socket-side plug or a pin-side plug, in particular for a tool change system for electrically connecting a tool to a robot hand, comprises a plug housing for attachment to a robot arm or to a tool. The plug housing comprises at least one contact chamber and at least one receiving chamber, which is arranged substantially above the contact chamber. In the at least one contact chamber, a connection module with electrically conductive elements for connection to at least one first peripheral device, in particular a cable, can be arranged. In the at least one receiving chamber is a wear module with electrically conductive elements for connection to a second peripheral device, in particular a complementary plug, can be arranged. The electrically conductive elements of the connection module can be connected to the electrically conductive elements of the Verschleissmoduls.

The individual wear modules and connection modules can be replaced separately. As a result, defects can be corrected quickly and efficiently.

In the case of a socket-side plug, the electrically conductive elements in the wear module of the plug are preferably electrically conductive socket elements.

In the case of a plug-side plug, the electrically conductive elements in the wear module of the plug are preferably electrically conductive pin elements.

About the socket elements and the pin elements, the two Verschleissmodule can connect to each other. The socket element is connected to its associated connection element and the pin element is connected to the connection element assigned to it. This results in a sandwich-like construction, which in each case per connector, so per socket side and per connector side, the connection element and the Verschleisselement comprises.

The receiving chambers are preferably arranged in a separate from the connector housing ausgestaltetem frame element. The frame member is connectable to the connector housing. Due to the arrangement of the wear elements in the frame element all wear elements can be separated from the connector housing in one step. This, in turn, is very helpful for repairs as they can be done quickly.

The electrically conductive elements preferably have in the connection module a first side for connection to a peripheral device and a second side for connection to the electrically conductive elements of the wear module. The first peripheral device is, for example, a cable which is connected to a signal generator, a power unit, etc.

The connection modules and the Verschleissmodule are preferably made of an elastic and / or electrically insulating material. As a result, the connection modules and the wear modules can be inserted into the corresponding chambers without tools. In addition, position errors or angular errors of the plug can be compensated when establishing a contact. Furthermore, several electrical connections with different potentials can be guided through the corresponding module.

Preferably, the connection modules and the Verschleissmodule on through openings, which serve to receive the electrically conductive elements.

The electrically conductive elements in the connection module are preferably connectable to the electrically conductive elements in the wear module via a plug connection. This allows the Verschleissmodule be separated in a particularly simple manner from the connection modules.

Preferably, the connection modules for the socket side and the pin side of the plug are formed substantially identical. In other words, that only a single connection module must be provided, which is then used in the connector of the female side and in the connector of the pin side.

Preferably, the hole pattern of the openings in the connection module is identical to the hole pattern of the openings in the corresponding Verschleissmodul. Preferably, the contact chamber comprises guide elements for guiding the connection module and / or latching elements for latching the connection module. As a result, the connection modules can be inserted and latched into the contact chamber in a particularly simple manner. Preferably, the locking elements are selbstverrastend.

Preferably, the receiving chamber comprises latching elements for latching the wear module.

The insertion direction of the connection modules in the connector housing is preferably angled, in particular perpendicular, to the insertion direction of the Verschleissmodule in the connector housing or the frame member.

Preferably, there is lateral play between connection module and contact chamber and / or wear module and Aufhämenkkammer, wherein the lateral clearance is preferably between 0.25 mm and 0.5 mm per side. As a result, angle errors or position errors in the connection of the plug can be compensated with another plug.

Preferably, the first peripheral device is a cable which can be led out of the plug via an opening and / or a channel.

Furthermore, a plug connection is to be created, which enables the simultaneous transmission of control signals and of electrical power for driving electric actuators.

Preferably, the surfaces of the contact chambers are provided with an electrically conductive coating, wherein the coatings of the individual contact chambers are galvanically separated from each other and / or interconnected. Particularly preferably, the electrically conductive coating is a metallic coating. The electrically conductive coating serves to shield the contact chamber, wherein crosstalk between the arranged in the individual chambers modules can be prevented. Preferably, the shielding of a cable from the female side is connectable to an electrically conductive element, and the shielding of a cable from the male side is connectable to an electrically conductive element, so that the shield can be guided via the electrically conductive elements from the male side to the female side.

A method for assembling a plug according to the preceding claims, characterized in that previously the connection modules are equipped with electrically conductive elements, which are connected to a first peripheral device, in particular a cable, and the Verschleissmodule equipped with electrically conductive elements be followed, and that subsequently the connection modules in the contact chambers and the Verschleissmodule be arranged in the Aufhahmekammern.

Furthermore, the method preferably comprises the arrangement of the wear modules in the receiving chambers in the frame element and subsequently the connection of the frame elements with the corresponding connector housing.

With the method according to the invention, the connectors according to the invention can be connected to one another in a particularly efficient manner.

Furthermore, a connector according to the invention is specified, in particular for producing an electrical contact between a robot hand and a tool, which plug connection comprises a socket-side plug and a pin-side plug.

Further advantageous embodiments are characterized in the subclaims.

Short description of the drawing

The invention will be described in more detail below with reference to the drawing by way of example. Show it:

FIG. 1a is a perspective view of the pin side of a plug according to the invention; FIG. Fig. Ib is a perspective view of the socket side of an inventive plug;

Fig. 2 is an exploded perspective view of the pin side according to Fig. Ia;

Fig. 3 is a plan view of a pin side or socket side of a plug according to the present invention;

Fig. 4a is a sectional view taken along section line 4a-4a of Figure 3, wherein the

Pin side is engaged with the socket side;

4b is a sectional view along the section line 4b-4b of Figure 3, wherein the

Pin side is engaged with the socket side;

Fig. 4c is a sectional view taken along section line 4c-4c of Fig. 3 showing the pin side;

Fig. 4d is a sectional view taken along section line 4d-4d of Fig. 3, showing the female side;

Fig. 5 is a side view of the assembled connector according to the present invention; Fig. 66 is a perspective view of a connector with a connection module;

Fig. 7 is an exploded perspective view of Figure 6;

Fig. 8 is a perspective view of the combination of a plug with a

Connection module and a connector with four connection modules.

Description of exemplary embodiments

With reference to the drawings, possible exemplary embodiments are described. The drawings and the description illustrate preferred embodiments and should not be construed to limit the invention which is defined by the claims.

FIG. 1a shows a perspective view of the pin side S of a plug according to the invention, and FIG. 1b shows a perspective view of the socket side B of a plug according to the invention. The pin side S is understood to be the side of a plug in which electrically conductive contact pieces are designed as plugs which protrude beyond a plane. Colloquially, the pen page is also referred to as "male" or "male". The bushing side B is understood to be the side of a plug in which the electrically conductive contact elements are designed as a bush and are essentially completely surrounded by insulating material. Colloquially becomes the female side also called "female" or "female". The plug of the pin side S can enter with the plug of the female side B via a mechanical connection an electrically conductive composite. In other words, the plug according to the invention of the pin side S and of the plug according to the invention of the socket side B provide an electrically conductive plug connection.

Both the plug of the pin side S, as well as the plug of the female side B, each comprise a one-piece connector housing 1 and a frame member 5, 6. The connector housing 1 of the female side B is substantially identical to the connector housing 1 of the pin side S forms. The connector housing 1 comprises at least one contact chamber 10 and the frame member 5, 6 comprises at least one receiving chamber 50, 60. The frame member 5, 6 can be connected to the connector housing 1, wherein the at least one receiving chamber 50, 60 substantially above the at least one contact chamber 10, 20 lies. In other words, this superimposition can also be described as being aligned. The connector housing 1 and the frame element 5, 6 are preferably made of a plastic. For the production, an injection molding method is preferably used. Other methods are also conceivable.

Furthermore, the plug according to the invention comprises a plug-in module 3, which serves for the production of an electrically conductive contact between the pin side S and the socket side B. The plug-in modules are designed for different applications. The plug-in module 3 essentially comprises a connection module 30 and a wear module 31, 32. The connection module 30 is received by the plug housing 1 and the wear module 31, 32 is received by the frame element 5, 6. The connection module 30 of the pin side S is formed substantially identical to the connection module 30 of the female side B. The wear module 31 of the pin side S is preferably not identical to the wear module 32 of the socket side B formed. The connection module 30 and the Verschleissmodule 31, 32 are formed of an electrically non-conductive material, preferably of a rubber-like plastic, such as an elastomer. Preferably, the connection module 30 is made of a softer plastic than the Verschleissmodule 31, 32nd

The connection module 30 and the wear modules 31, 32 comprise openings 303, 313, 323 for receiving electrically conductive elements 7. The openings 303, 313, 323 are spaced apart from each other, which is why the electrically conductive elements 7, which are located in adjacent openings 303, 313, 323, are electrically isolated from each other. Furthermore, the openings 303, 313, 323 completely penetrate the corresponding module 30, 31, 32. Accordingly, an electrical signal (eg control signal) or a phase (electrical power) can be transmitted per opening 303, 313, 323. This means that a multiplicity of electrical signals or phases can be transmitted per plug module 3. The connection modules 30 and the Verschleissmodule 31, 32 have in the direction of the openings 303, 313, 323 has a substantially identical outer shape. In particular, the openings 303 of the connection modules 30 run collinearly to the openings 313, 323 of the wear modules.

The plug-in module 3 can be designed, for example, as a data module for transmitting control data or as a servo module for transmitting electrical power. For example, the data module may have 23 individual pins and transmit signals in the range of 250V / 16A. Larger or smaller voltages / currents are also conceivable. The servo module can, for example, 3 to 4 pins for the transmission of max. 690V / 32A plus 2 pins for shielding. As a third example here is still a ProfiNet module with shielding e.g. Called Cat5e, which serves for the transmission of bus signals.

To produce the electrically conductive contact, both the connection module 30 and the wear module 31, 32 each comprise one signal / phase via an electrically conductive element 7 each. The electrically conductive elements 7 of the two modules can be mechanically connected to one another via a plug connection, so that an electrically conductive contact between the electrically conductive elements 7 arranged in the connection module 30 and the electrically conductive elements 7 arranged in the wear module 31, 32 can be produced. The electrically conductive elements 7 arranged in the connection module 30 can be connected to at least one first peripheral device, for example a solder connection or crimp connection to the cable or cable harness. A first peripheral device is understood to mean, for example, a power regulator, a signal generator, a computer, a tool or a similar device, which is arranged on the robot side or on the tool side. The electrically conductive elements 7, which are arranged in the Verschleissmodul 31, 32, serve for connection to a second peripheral device. When second peripheral device is understood in this case the complementary plug. That is, in this case, when two connectors are connected to each other, that the wear module 31 of the connector side S is placed opposite to the wear module 32 of the female side B and face each other flat in the contacted state.

In the two exemplary embodiments according to FIGS. 1 a and b, the wear elements 31, 32 differ in that the wear elements 31 of the pin side S have a smaller height than the wear elements 32 of the socket side B.

FIG. 2 shows a perspective exploded view of the pin side S, in which the electrically conductive elements are designed as pins, according to FIG. 1a. All described with the aid of this drawing features can be applied analogously to the female side B, wherein the electrically conductive elements of the female side B are formed as a socket. The connector housing 1 shown in this embodiment comprises three contact chambers 10, which are adjacent to each other in a row. Furthermore, the plug housing comprises a further contact chamber 10 ', which is arranged behind this row. The contact chambers 10, 10 'are used to receive the connection modules 30, 30' of the plug module 3. A below the Kontaktkammem 10,10 'arranged channel 15 serves to lead out a connection module 30, 30' connected cable. Due to the arrangement of the contact chamber, the enveloping circle of the plug can be reduced. In addition, the contact chambers can be flexibly equipped with different plug-in modules for different applications.

The three connection modules 30 lying in a row can be pushed along the direction of the arrow E into the corresponding contact chamber 10 in the connector housing 1. The contact chambers 10 are bounded by side walls 103. The side walls 103, which define the contact chamber 10 on the left and the right side viewed from the insertion direction E, are equipped with guide elements 100, for example ribs. The connection modules 30 are guided via these guide elements 100 in the contact chamber 10. For this purpose, the connection module 30 comprises guide recesses 302, such as a groove or a shoulder, which are provided complementary to the guide elements 100 in the contact chamber 10, so that the guide elements 100 of the contact chamber 10 can engage or engage in the guide recesses 302. NEN.

Furthermore, the contact chambers 10 comprise latching elements 101, which serve for latching the connection module 30 in the contact chamber 10. For this purpose, the connection modules 30 have recesses 301 into which the latching element 101 can engage with a latching projection in a self-latching manner as soon as the connection module 30 is in the end position. Due to the design of the locking elements 101, these can be actuated by means of a tool (screwdriver) or by hand, so that the connection module 30 is released again and can be removed from the contact chamber 10. For this purpose, the frame element 5, 6 must be separated from the connector housing 1 in advance, so that access to the locking elements through the opening 16 is created. Thus, the individual elements, in particular the connection elements connected with cables, together with the cable can be exchanged in a simple manner.

The arrow K symbolizes the connection of a cable which connects the electrically conductive elements of the connection module 30 to a first peripheral device. That is, the cable can be prefabricated with the connection module 30 and then introduced in a simple manner through the opening 13 and with the aid of the guide elements 100 in the contact chamber 10. The cable is then in the channel 15 and is guided via the opening 13 of the connector housing. This prefabrication is an advantage because, for example, in case of a cable break or a fault in a cable, the connection module 30 can be replaced quickly with the cable. As a result, the downtime of a production plant can be minimized in the event of a cable defect, no valuable time is lost for connecting a new cable to the connection module 30. The plug can be repaired in an efficient manner, since the defective parts (for example connection module or wear module) are simply replaced and no costly soldering work has to be carried out on the plug. The cable K is connected to the electrically conductive elements which are arranged in the connection module 30 via an electrically conductive connection, which is known to the person skilled in the art. In particular, for example, a solder or a Crimpverbindung can be used.

The pre-assembly is a great advantage, as they are independent of the connector can. The connection module can for example be connected to the cable in a laboratory or in a workshop. Thus, only the connection module 30 must be inserted into the connector in the production line. The connection of the cable is omitted, for example, by a soldering process in the production line.

The opening 13 of the plug housing can be closed, for example, with a lid, wherein the cable can be guided through openings in the lid of the connector housing 1.

The connection module 30 'is inserted perpendicular to the insertion direction E, that is from above, into the contact chamber 10. The connection module 30 'can also be pre-assembled with a cable. The cable, which is connected to the connection module 30 ', can be guided out of the connector housing 1 via the opening 14. For this purpose, the cable at the end, which is not connected to the connection module 30 ', still no plug or the like. Alternatively, the connection module 30 'can also be inserted along the insertion direction E through the contact chamber 10 arranged in front of the contact chamber 10'. The cable is guided over the channel 15 from the connector housing 1. The contact chamber 10 'likewise comprises guide elements 100, in which case the side walls 103 of the contact chamber 10' can also be referred to as guide elements, and latching elements 101. As can be seen from FIG. 2, all the connection elements 30 and 30 'are essentially identical designed. Thus, the slot can be changed quickly and quickly. For example, it is conceivable to replace the connection module 30 ', which does not lie in said row, with a connection module 30 located in said row, and vice versa.

FIG. 2 shows the frame element 5 of the pin side S. The frame element 5 of the pin side S can also be exchanged with the frame element 6 of the socket side B, since the plug housing 1 is analogous to the connection modules 30 essentially for the pin side S and for the socket side B. is designed. The frame element 5 comprises a carrier element 51 and a plurality of receiving chambers 50, which penetrate the carrier element 51. The carrier element 51 essentially serves for fastening the frame element 5 on the plug housing 1. The receiving chambers 50 are used to hold the Wear modules 31, which are inserted along the insertion direction F in the contact chamber 50. In the present exemplary embodiment, analogous to the connector housing 1, three Aumahmekammern 50 in a row next to each other and a single receiving chamber 50 'is offset from this row behind it. The Aumahmekam- mers 50 are essentially limited by a side wall 52 a, b. In this case, the side wall 52a, b comprises an upper side wall portion 52a, which extends from the support member 51 upwards (if connected to the connector housing 1 away from the connector housing 1 away), and a lower side wall portion 52b which extends from the support member 51 downwards (toward connector housing 1) extends. The lower side wall portion 52b is in the mounted state with the opening 16 in the connector housing 1 in engagement.

The Aumahmekammern 50 further comprise locking elements 53, which are designed as in the receiving chamber 50 preferably as circumferential ribs. The wear modules 31 preferably comprise circumferential recesses 310, which may also be referred to as grooves. As can be seen in FIG. 2, the wear modules 31 are inserted from above into the receiving chambers 50 and then latched in self-locking manner with the aid of the latching elements 53 and circumferential recesses 310. Due to the elasticity of the Verschleissmodule 31, these can be introduced and locked with little effort in the receiving chamber 50. Preferably, the Verschleissmodule be provided with the electrically conductive elements 7 prior to imports into the receiving chamber 50.

In the assembled state, partial regions, in this case the lower side wall region 52b, of the receiving chambers 50 protrude into a complementary opening or staging in the plug housing 1. As a result, the centering of the frame member 5 is achieved relative to the connector housing 1.

The frame member 6 for receiving the Verschleissmodule 32 of the female side B is formed substantially identical, wherein the reference numerals begin with the numbers 6.

FIG. 3 shows the plug according to the invention from above and serves to illustrate the position of the sections of the sectional views shown in FIGS. 4a, 4b, 4c and 4d. FIG. 4a shows a sectional view of the plug along the section line 4a-4a of FIG. 3. In this case, the plug of the pin side S is connected to the plug of the socket side B.

The sectional view illustrates the arrangement of the plug-in modules 3 with the connection modules 30 and the Verschleissmodulen 31,32. The electrically conductive elements are not shown in this illustration, reference is made to Figure 4b. In FIG. 4 a, it can be seen that the connection modules 30 in the contact chamber 10 are guided by the guides 11. Further, a channel 15 is shown, through which the cable can leave the connector body 1 to be connected to a peripheral device. The connection modules 30 are accordingly received by the contact chamber 10 of the connector housing 1.

The connection modules 30 and the Verschleissmodule 31 are formed in the present embodiment is substantially cuboid. In this case, openings 303, 313, 323 extend through this parallelepiped-shaped body, wherein the openings 303, 313, 323 serve to receive the electrically conductive elements 7 (later referred to as pin elements 70, socket elements 71 and connection elements 72). Further, the openings 303, 313, 323 recesses (grooves, grooves) and the pin members 70, the female members 71 and the connecting elements 72 to the recesses complementary protrusions (grooves, grooves), which are in engagement with the recesses. Alternatively, the recesses may also be arranged on the pin elements 70, the socket elements 71 and the connection elements 72 and the elevations in the openings 303, 313, 323.

It is also shown in the sectional view that the frame element 5 comprises the wear modules 31 for the pin side S. In general terms, it can be said that the frame elements 5, 6 receive the wear modules 31, 32. Furthermore, reference is made here to the fact that the surface 311 of the wear modules 31 is located completely in the frame element 5.

The wear modules 32 for the female side B are arranged in the frame member 6. This sectional view shows well that the connector housing 1, with the contact chambers 10 and the connection modules 30 of the female side B and the connector side S are configured substantially identical. Accordingly, the configuration of the wear modules 31 for the pin side S and the wear modules 32 for the socket side 32, as well as the two frame elements 5 and 6, is essentially different between the plug side S and the socket side B.

In the present exemplary embodiment according to FIG. 4 a, parts of the frame elements 5, 6, namely the side walls 52 b, 62 b, which extend from the carrier element 51, 61 in the direction of the plug housing 1, protrude into the plug housing 1. It is also shown that the parts of the side edges 52a, 62a, which extend away from the connector housing 1, are designed such that the side wall 52a of the frame element 5 projects into the side wall 62a of the frame element 6. About this nested side walls 52a, 62a, the two plugs of the pin side and the socket side are guided mechanically relative to each other.

Optionally, the frame member 5, 6 in the region of the lower side wall 52 may comprise a circumferential groove 56 which may receive a seal 8 (e.g., an O-ring). The seal 8 seals the frame element 5.6 in this area relative to the plug housing 1 and at the same time ensures good centering.

FIG. 4b essentially serves to explain the electrically conductive contact between the pin side S and the socket side B. The electrically conductive element arranged in the wear element 31 of the pin side S is referred to herein as the electrically conductive pin element 70. The arranged in Verschleissmodul 31 electrically conductive element is referred to herein as an electrically conductive socket member 71. The electrically conductive elements arranged in the two connection modules 30 are referred to as electrically conductive connection elements 72.

The connecting element 72 is designed substantially cylindrical and has on the cylindrical surface latching elements 720, with which the connecting element 72 can engage in complementary elements in the corresponding opening in the connection module 30. On the side facing the wear module 31, 32, the attachment comprises Closing element 72 a cylindrical opening 721, also referred to as a blind hole, for receiving a pin or pin of the pin member 70 and the sleeve member 71, which is opposite to the connecting elements 73 in the Verschleissmodul 31, 32. In other words, cylindrical parts of the pin element 70 and of the socket element 71 project into the blind hole 721. On the side facing the channel 15, the connection element 72 comprises a connection point 722, to which the strands of a cable can be connected as described above.

In alternative embodiments, it is also conceivable not to form the connecting element 72 with a cylindrical opening 721, but with a cylindrical pin. In this case, the pin elements 70 and the socket elements 71 would then be configured in the corresponding section with a blind hole. This means that the structure of the connection between the connection element 72 and the pin element 70 or the connection element 72 and the socket element 71 can also be reversed.

The pin member 70 is also configured substantially cylindrical and also has locking elements 700, with which the pin member 70 can engage in complementary elements in the opening of the Verschleissmoduls 31. The pin element 70 has a length which is greater than the height of the wear element 31, that is to say the pin element 70 protrudes beyond the wear module 31 on both sides in the latched state. On the side facing the connection module 30, the pin element 70 is designed with a cylindrically configured contact section 701. The contact portion 701 projects into the cylindrical opening 721 of the connection element 72. As a result, an electrical contact between the connection element 72 and the pin element 70 is provided. On the side facing the bushing side B, the pin element 70 has a likewise cylindrical contact section 702. The contact portion 702 is for electrically conductive connection with the female member 71.

The female member 71 is formed substantially identically to the male member 70 in the area engaged with the terminal member 72. In the region which faces the wear element 31 of the pin side S, the socket element 71 comprises a cylindrical opening 710 (eg a blind hole) which serves to receive the contact section 702 of the pin element 70. Also, the female member 71 configured such that it does not protrude from the wear module 31 against the pin side S out.

When assembling the frame element 5, 6 with the plug housing, the connection elements 72 are electrically conductively connected to the corresponding socket elements 71 or pin elements 70. As soon as the two plugs of the pin side S and the socket side B are connected to one another, the socket elements 71 of the socket side B are electrically conductively connected to the pin elements 70 of the pin side S.

The connection direction of the plug of the female side B with the plug of the pin side S takes place along the direction F, which is preferably angled, in particular perpendicular, to the insertion direction E of the connection modules 30. In other words, it can also be said that the connection direction is substantially parallel to the insertion direction of the frame element 5, 6 in the connector housing 1. In the connected state, the surface 311 of the wear element 31 is arranged opposite the surface 321 of the wear element 32. The pin elements 70 of the pin side S protrude into the wear elements 31 of the socket B side.

The configuration of the pin elements 70, the socket elements 71, and the connecting elements 72 allows a particularly flexible and simple hand handling when replacing one of the elements. Due to the fact that the Verschleissmodule 31 with the frame members 5, 6 can be separated from the connector housing 1, can also be spoken of a sandwich-like construction here.

In this representation 4b, the assembly of erfϊndungsgemässen connector can be set forth. In preparation, the connection modules 30 are equipped with the connecting elements 72, which are then connected to a peripheral device. Also preparatory are the respective Verschleissmodule 31, 32 equipped with the pin elements 70 and the female elements 71. In a first step, the connection modules 30 are introduced into the corresponding contact chamber 10 along the insertion direction E. In a second step, the Verschleissmodule 31, 32 are inserted into their corresponding receiving chamber 50, 60 in the frame member 5, 6 and locked. As a last step, the frame elements 5, 6 along the connecting direction F with the Ste An electrically conductive contact between the connection elements 72 and the pin elements 70 and between the connection elements 72 and the socket elements 71 is produced at the same time. The frame members 5, 6 can be additionally connected to the connector housing 1 with fastening means. In particular with a screw connection. Alternatively, a snap connection can also be provided.

FIGS. 4c and 4d show a section through the plug according to the invention along the section lines 4c-4c and 4d-4d, respectively. FIG. 4c shows the pin side and FIG. 4d shows the socket side B. The electrically conductive connecting elements are not shown in this illustration.

In FIG. 4d, a gap Z is shown between the wear element 32 and the side wall 62a. This gap Z serves to receive the side wall 52a of the other frame element 5, as previously described.

Also shown in these two sectional views that the openings in the connection modules 30, the Verschleissmodulen 31, 32 different recesses 312, 322 for receiving the locking elements of the electrically conductive contact elements 7, 70, 71, 72 include. These recesses 312, 322 were previously described as complementary to the locking elements elements.

FIG. 5 shows in a view the assembled plug with the pin side S and the socket side B. In the present exemplary embodiment, both the plug of the pin side S and the plug of the socket side B comprise an equal number of plug modules 3. hi alternative embodiments, as for example are shown in Figures 6 - 9, a connector housing can also be formed only with a connector module. The structure of these connectors is substantially identical to the structures already set forth above.

6 shows a perspective view of the pin side S of a plug with only one plug module 3. The construction of this plug is substantially analogous to the embodiments already set out above, which is why at this point only briefly on this will be discussed.

In the figure 7, this is the socket side B of a connector with only one connector module 3 in an exploded view. The connector housing 2 comprises a contact chamber 20, which serves to receive the connection element 30. The contact chamber 20 is, as already described above, equipped with guide elements 200 and latching elements 201. The contact chamber 20 is bounded by side walls 202. The connection element 30 can likewise be inserted along an insertion direction E into the contact chamber 20. The frame element 9 is likewise identical to the frame elements 5, 6 already described above. It comprises here a receiving chamber 90, which serves to receive a Verschleissmodul 31, 32. The cable guide, and the other features are configured analogously to the embodiments described above. Furthermore, a coating described below may also be provided.

FIG. 8 shows the combination of a plug housing with a plug module (pin side S) and a plug casing with four plug modules (socket side B), three of which are located in one row and one outside this row. This demonstrates the versatile and modular application of the present invention, because the connectors can be variously combined with each other. Alternatively, a plug can be provided which comprises a plurality of, in particular three, in a row lying contact chambers. Other arrangements of the contact chambers are also conceivable. For example, a configuration is conceivable which comprises three contact chambers lying next to each other in a first row and two contact chambers lying in a second row, the second row being arranged behind the first row.

Preferably, the surface of the contact chambers 10, 10 ', 20 is coated with a metallic coating. In addition, the receiving chambers 50, 60 may be coated on the inside 501 and / or on the outside 502 with a metallic coating. The metallic coating acts as a shield and can thus prevent crosstalk between the individual connector modules 3. As a result, a first plug-in module can, for example, transmit control signals for a motor or another actuator, and a directly adjacent module can transmit electrical power for the actuator. As a metallic coating, a coating is preferably used. tion of aluminum oxide, copper, copper / chromium used.

By coating the surface of the side wall 52a facing the side wall 62a and coating the surface of the side wall 62a which faces the surface of the side wall 52a, the shielding effect can be further improved. Furthermore, it is conceivable that these two surfaces contact each other electrically.

For example, as shown in the sectional views of Figures 4a and b, the frame member with the projecting side walls 52a and 62a, respectively, provides for a comprehensive and continuous shielding through the coating of the relevant surface. As a result, a plug-in module 3 can be screened successfully and efficiently by a further plug-in module 3. Preferably, the coating is arranged such that the coating of the contact chamber 10 with the coating of the Aufhahmekammer 50, 60 is electrically connected. Furthermore, parts of the opening 16 or the entire surface of the opening 16 may be provided with a coating. Preferably, the coatings of adjacent contact chambers are electrically connected. In alternative embodiments, it is also conceivable that the individual coatings of the contact chambers are galvanically isolated.

If the cable which is connected to the corresponding connection module 30 has its own shielding, this shielding is to be guided into the contact chamber 10 as far as the shield does not tear off. Alternatively, the shield can be connected, for example, to a connection element 72 and guided via the corresponding plug-in module via the pin elements 70 and the socket elements 71 from the socket side B to the plug side S. The shielding of the cable on the socket side B has the same voltage potential as the shielding of the cable on the pin side S. Alternatively, the shield of the cable can also be connected to the galvanic coating of the contact chamber 10. For example, it is conceivable to connect the shielding of the cable by means of a screw or a soldering point to the surface coating via contact chamber 10.

Preferably, the parts of the plug-in module 3, so the connection module 30 and the Verschleissmodule 31, 32 dimensioned such that they have in the contact chamber 10 and in the receiving chamber 50, 60 lateral play. Preferably, each of the modules is slidable by 0.25 mm to 0.5 mm in each lateral axis. The lateral axes are best seen in FIG. The lateral axis is understood to mean the X-axis and the perpendicular Y-axis. This means in other words that each of the connection modules 30, and the Verschleissmodule 31, 32 can move by a maximum of 0.5 mm from one end position to another end position, so for example from -X to + X. Due to the game but also an angular rotation about the Y-axis or about the X-axis is possible. By providing such large intermediate spaces, angular errors can also be efficiently compensated for when the pin side is mated with the socket side. Also must be present between the frame members 5, 6 of the pin side S and the socket side B corresponding game. Due to the existing play and the elasticity, angular errors and lateral positioning errors can be compensated. Further, the pin members 70, bushing members, and terminal members 72 in the relevant areas may include angled chamfers or chamfers that facilitate assembly of the members.

Alternatively, a contact chamber 10, which is not used for the production of an electrical contact, are also sealed with a closure body.

List of Symbols S Plug Pin side B Plug socket side

E insertion direction

1 connector housing (multiple connector module)

2 connector housing (one connector module)

3 connector module

5 frame element pin side

6 frame element socket side

7 electrically conductive elements

8 sealing element

9 frame element (plug-in module)

10 contact chamber

100 guide elements 101 locking elements

102 side walls

103 side walls

13 opening 14 opening

15 channel

16 opening / grading

30 Connection module 30 'Connection module

31 Wear module for pens

32 Wear module for sockets 301 recesses

302 guiding recesses

303 openings for receiving electrically conductive elements

310 circumferential recess

311 Surface wear module for pens

312 recesses

313 openings for receiving electrically conductive elements 321 Surface wear module for bushings 322 recesses

323 openings for receiving electrically conductive elements

50 Aufhahmekammer

51 support member 52a side wall above

52b side wall below

53 locking elements

501 outside 502 inside

60 Aufhahmekammer

61 carrier element

62a side wall top 62b side wall bottom

63 locking elements

70 electrically conductive pin element

71 electrically conductive socket element 72 electrically conductive connection element

700 locking elements

701 contact section 702 contact section

710 cylindrical opening

721 cylindrical opening 722 connection point

Claims

claims

1. socket-side connector (B) or pin-side connector (S), in particular for a tool changing system for electrically connecting a tool with a robot hand, comprising a connector housing (1, 2) for attachment to a robot arm or on a tool, wherein the connector housing (1, 2) at least one contact chamber (10, 20) and at least one Aufhahmekammer (50, 60), which is arranged substantially above the contact chamber (10, 20), and wherein in the at least one contact chamber (10, 20) a connection module (30) with electrically conductive elements (7, 70, 71, 72) for connection to at least one first peripheral device, in particular a cable, and in the at least one receiving chamber (50, 60) a wear module (31) with electrically conductive Elements (7, 70, 71, 72) for connection to a second peripheral device, in particular a complementary plug, can be arranged, wherein the electrically conductive elements (7, 70, 71, 72) of the terminal Modules (30) with the electrically conductive elements (7, 70, 71, 72) of the Verschleissmoduls (31) are connectable.

2. socket-side connector (B) according to claim 1, characterized in that the electrically conductive elements (7, 70, 71, 72) in the Verschleissmodul (32) of the plug (B) are electrically conductive socket elements (71).

3. pin-side connector (S) according to claim 1, characterized in that the electrically conductive elements (7, 70, 71, 72) in the Verschleissmodul (31) of the plug (S) are electrically conductive pin elements (70).

4. Plug according to one of the preceding claims, characterized in that the receiving chambers (50, 60) are arranged in a separate from the connector housing (1) configured frame member (5, 6), wherein the frame member (5, 6) with the plug housing (5 1) is connectable.

5. Connector according to one of the preceding claims, characterized in that the electrically conductive elements (72) in the connection module (30) has a first side (722) for connection to a peripheral device and a second side (721) for connection to the electrically conductive Elements (70, 71) of the Verschleissmoduls (31, 32).

6. Plug according to one of the preceding claims, characterized in that the connection modules (30) and the Verschleissmodule (31, 32) made of an elastic and / or electrically insulating material.

7. Plug according to one of the preceding claims, characterized in that the connection modules (30) and the Verschleissmodule (31, 32) through openings (303, 313, 323) which, for receiving the electrically conductive elements (7, 70, 71 , 72).

8. Plug according to one of the preceding claims, characterized in that the electrically conductive elements (72) in the connection module with the electrically conductive elements (70, 71) in the Verschleissmodul (31, 32) are connectable via a plug connection.

9. Plug according to one of the preceding claims, characterized in that the connection modules (30) for the socket side (B) and the pin side (S) of the plug are formed substantially identical.

10. Plug according to one of the preceding claims, characterized in that the hole pattern of the openings (303) in the connection module (30) are identical to the hole pattern of the openings (313, 323) in the corresponding Verschleissmodul (31, 32).

11. Plug according to one of the preceding claims, characterized in that the number of electrically conductive connections per connection module (30) or wear module (31, 32) is greater than 3, in particular greater than 5, more preferably greater than 10.

12. Plug according to one of the preceding claims, characterized in that the contact chamber (10) comprises guide elements (100) for guiding the connection module (30) and / or latching elements (12) for latching the connection module (30).

13. Plug according to one of the preceding claims, characterized in that the receiving chamber (50, 60) latching elements (51, 61) for latching the Verschleissmo- module (31).

14. Plug according to one of the preceding claims, characterized in that the insertion direction (E) of the connection modules (30) in the plug housing (1) at an angle, in particular perpendicular, to the insertion direction (F) of the Verschleissmodule (31, 32) in the plug housing ( 1) or the frame element (5, 6).

15. Plug according to one of the preceding claims, characterized in that between the connection module (30) and contact chamber (10) and / or wear module (31) and Aufhahmenkammer (50, 60) lateral clearance is present, wherein the lateral clearance preferably between 0.25 mm and 0.5 mm per side.

16. Plug according to one of the preceding claims, characterized in that parts of the frame element (5, 6) protrude into the plug housing (1, 2) and that the

Frame element (5, 6) is fastened with fastening means on the connector housing.

17. Plug according to one of the preceding claims, characterized in that plug housing (1, 2) and frame element (5, 6) are configured in two pieces or in one piece.

18. Plug according to one of the preceding claims, characterized in that the plug more, in particular three, in a row juxtaposed contact chambers (10) and / or a single or multiple contact chamber (10 '), which arranged offset from this row to the rear is included.

19. Plug according to one of the preceding claims, characterized in that the plug comprises a single contact chamber (10, 10 ', 20).

20. Plug according to one of the preceding claims, characterized in that the first peripheral device is a cable which can be led out of the plug via an opening (13, 14) and / or a channel (15).

21. Plug according to one of the preceding claims, characterized in that the surfaces of the contact chambers (10) are provided with an electrically conductive coating, wherein the coatings of the individual contact chambers (10) are electrically isolated from each other and / or interconnected.

22. Plug according to one of the preceding claims, characterized in that the surfaces of the receiving chambers (50, 60) are provided with an electrically conductive coating, wherein the coatings of the individual Aufhahmekammern (50, 60) are in particular galvanically separated from each other and / or each other are connected.

23. Connector according to one of claims 21 or 22, characterized in that the coating of at least one contact chamber (10) with the coating of a contact chamber (10) lying Aufhahmekammer (50, 60) is connectable or contactable.

24. Plug according to one of claims 24 to 23, characterized in that a shield of a cable with the coating is connectable.

25. Plug according to one of the preceding claims, characterized in that the shielding of a cable from the socket side (B) with an electrically conductive

Element (7, 70, 71, 72) is connectable and that the shielding of a cable from the pin side (S) with an electrically conductive element (7, 70, 71, 72) is connectable, so that the shield on the electrically conductive elements (7, 70, 71, 72) from the pin side (S) to the socket side (B) can be guided.

26. A method for assembling a plug according to the preceding claims, characterized in that previously the connection modules (30) with electrically conductive elements (7, 70, 71, 72) are equipped, which with a first peri- pheren device, in particular a cable, are connected, and the Verschleissmodu- Ie (31, 32) with electrically conductive elements (7, 70, 71, 72) are equipped, and that subsequently the connection modules (30) in the contact chambers (10) and the Verschleiss- modules (31, 32) in the receiving chambers (50, 60) are arranged.

27. The method according to claim 25, characterized in that the Verschleiss- modules (31, 32) in the Aufhahmekammern (50, 60) are arranged in the frame member, and that subsequently the frame members (5, 6) with the corresponding connector housing (1) get connected.

28. Plug connection, in particular for producing an electrical contact between a robot hand and a tool, comprising a socket-side plug (B) and a pin-side plug (S).