EP2208259B1 - Stecker und steckverbindung für roboter - Google Patents

Stecker und steckverbindung für roboter Download PDF

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Publication number
EP2208259B1
EP2208259B1 EP08800480.9A EP08800480A EP2208259B1 EP 2208259 B1 EP2208259 B1 EP 2208259B1 EP 08800480 A EP08800480 A EP 08800480A EP 2208259 B1 EP2208259 B1 EP 2208259B1
Authority
EP
European Patent Office
Prior art keywords
plug
connection
electrically conductive
module
elements
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08800480.9A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2208259A1 (de
Inventor
Rico Jehmlich
Manfred Müller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Staeubli Electrical Connectors AG
Original Assignee
Staeubli Electrical Connectors AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Staeubli Electrical Connectors AG filed Critical Staeubli Electrical Connectors AG
Publication of EP2208259A1 publication Critical patent/EP2208259A1/de
Application granted granted Critical
Publication of EP2208259B1 publication Critical patent/EP2208259B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/46—Bases; Cases
    • H01R13/516—Means for holding or embracing insulating body, e.g. casing, hoods
    • H01R13/518—Means for holding or embracing insulating body, e.g. casing, hoods for holding or embracing several coupling parts, e.g. frames
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/40—Securing contact members in or to a base or case; Insulating of contact members
    • H01R13/42—Securing in a demountable manner
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
    • H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
    • H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/648—Protective earth or shield arrangements on coupling devices, e.g. anti-static shielding  
    • H01R13/658—High frequency shielding arrangements, e.g. against EMI [Electro-Magnetic Interference] or EMP [Electro-Magnetic Pulse]
    • H01R13/6598—Shield material
    • H01R13/6599—Dielectric material made conductive, e.g. plastic material coated with metal
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R31/00—Coupling parts supported only by co-operation with counterpart
    • H01R31/06—Intermediate parts for linking two coupling parts, e.g. adapter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S439/00—Electrical connectors
    • Y10S439/928—Modular electrically interengaging parts, e.g. stove with replaceable heating elements formed on coupling parts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49117—Conductor or circuit manufacturing
    • Y10T29/49204—Contact or terminal manufacturing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49117—Conductor or circuit manufacturing
    • Y10T29/49204—Contact or terminal manufacturing
    • Y10T29/49208—Contact or terminal manufacturing by assembling plural parts

Definitions

  • 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 claim 1 or 15.
  • Plug connections 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.
  • Such robots include a robotic arm whose front end remote from the base is referred to as a robotic hand.
  • the robot hand serves to receive a tool change system.
  • 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 includes mechanical coupling means or modules for mechanically receiving the tool and powering coupling means for energizing the tool.
  • the energy-supplying coupling agent can, for example, a plug connection be, which is connected via an automatic mating process. Through this connector, the tool is powered by peripheral devices with control signals and electrical power.
  • the mechanical and electrical requirements of the connectors are extremely high and complex.
  • the invention has for its object to provide a plug connection, which overcomes the disadvantages of the prior art.
  • it is an object to reduce the enveloping circle around the coupling point.
  • individual connection channels of the entire connector in the simplest possible way to be replaced.
  • the connector should be designed such that it is robust to mechanical influences and loads.
  • 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.
  • a connection module with electrically conductive elements for connection to at least one first peripheral device, in particular a cable can be arranged.
  • a reconnectssmodul 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.
  • the electrically conductive elements in the wear module of the plug are preferably electrically conductive socket elements.
  • the electrically conductive elements in the wear module of the plug are preferably electrically conductive pin elements.
  • the two Verschleissmodule can connect to each other.
  • the socket element is connected to the connection element assigned to it 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 or the at least one receiving chamber is arranged according to the invention in a separate from the connector housing ausgestaltetem frame member.
  • the frame member is connectable to the connector housing.
  • 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.
  • connection modules and the Verschleissmodule are preferably made of an elastic and / or electrically insulating material.
  • the connection modules and the wear modules can be inserted into the corresponding chambers without tools.
  • position errors or angular errors of the plug can be compensated when establishing a contact.
  • several electrical connections with different potentials can be guided through the corresponding module.
  • connection modules and the Verschleissmodule on through openings, which serve to receive the electrically conductive elements.
  • connection module 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.
  • 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.
  • the hole pattern of the openings in the connection module is identical to the hole pattern of the openings in the corresponding Verschleissmodul.
  • the contact chamber comprises guide elements for guiding the connection module and / or latching elements for latching the connection module.
  • the connection modules can be inserted and latched into the contact chamber in a particularly simple manner.
  • the receiving chamber comprises locking elements for locking the Verschleissmoduls.
  • 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 frame element.
  • connection module and contact chamber and / or wear module and receiving chamber there is lateral play between connection module and contact chamber and / or wear module and receiving chamber, the lateral clearance preferably being between 0.25 mm and 0.5 mm per side.
  • lateral clearance preferably being between 0.25 mm and 0.5 mm per side.
  • the first peripheral device is a cable which can be led out of the plug via an opening and / or a channel.
  • a plug connection is to be created, which allows the simultaneous transmission of control signals and electrical power to drive electric actuators.
  • 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.
  • 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.
  • the shielding of a cable from the female side is connectable to an electrically conductive element
  • 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.
  • connection modules are equipped with electrically conductive elements, which are connected to a first peripheral device, in particular a cable, and the Verschleissmodule be equipped with electrically conductive elements, and that subsequently the connection modules are arranged in the contact chambers and the Verschleissmodule in the receiving chambers.
  • the method comprises the arrangement of the Verschleissmodule in the receiving chambers in the frame member and subsequently the connection of the frame members with the corresponding connector housing.
  • the connectors according to the invention can be connected to one another in a particularly efficient manner.
  • 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 according to the aforementioned invention.
  • FIG. 1a shows a perspective view of the pin side S of a connector according to the invention
  • the FIG. 1b shows a perspective view of the female side B of a connector 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 into an electrically conductive composite with the plug of the socket side B via a mechanical connection.
  • 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.
  • the connector housing 1 of the female side B is formed substantially identical to the connector housing 1 of the pin side S.
  • 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.
  • the plug according to the invention comprises a plug-in module 3, which serves to produce 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.
  • the connection module 30 is made of a softer plastic than the Verschleissmodule 31, 32nd
  • 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 Verschleissmodule.
  • 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.
  • the data module may have 23 individual pins and transmit signals in the range of 250V / 16A. Greater 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.
  • a ProfiNet module with shielding e.g. Called Cat5e, which serves for the transmission of bus signals.
  • 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.
  • 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.
  • 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 an exploded perspective view of the pin side S, wherein 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 ' serve to receive the connection modules 30, 30' of the plug module 3.
  • a channel 15 arranged below the contact chambers 10, 10 ' is used to lead out a cable connected to the connection module 30, 30'. Due to the arrangement of the contact chamber, the enveloping circle of the plug can be reduced.
  • the contact chambers can be flexibly equipped with different plug-in modules for different applications.
  • 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.
  • 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.
  • the contact chambers 10 comprise latching elements 101, which serve for latching the connection module 30 in the contact chamber 10.
  • the connection modules 30 recesses 301 in which the locking element 101 can engage with a latching projectionseinrastend 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.
  • 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.
  • 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 with 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 manufacturing plant in the event of a cable failure can be minimized, there is no valuable time for the connection of a new cable to the connection module 30 is lost.
  • 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 Crimpthetic can be used.
  • 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, for example, by a soldering process in the production line is eliminated.
  • 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.
  • 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.
  • 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 ' also includes 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.
  • 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.
  • all the connecting elements 30 and 30 ' are designed substantially identical.
  • 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.
  • the FIG. 2 shows the frame member 5 of the pin side S.
  • the frame member 5 of the pin side S can also be exchanged with the frame member 6 of the socket side B, since the connector housing 1 with the connection modules 30 is designed substantially analog for the pin side S and for the socket side B.
  • the frame element 5 comprises a carrier element 51 and a plurality of receiving chambers 50, which penetrate the carrier element 51.
  • the support member 51 is used essentially for fastening the frame member 5 on the connector housing 1.
  • the receiving chambers 50 are used to hold the Verschleissmodule 31, which are inserted along the insertion direction F in the contact chamber 50.
  • the receiving chambers 50 are essentially bounded by a side wall 52a, b.
  • 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 receiving chambers 50 further comprise locking elements 53, which are designed as in the receiving chamber 50 preferably as circumferential ribs.
  • the Verschleissmodule 31 preferably include circumferential recesses 310, which may also be referred to as grooves. Like in the FIG. 2 can be detected, the Verschleissmodule 31 are inserted from above into the receiving chambers 50 and then latched by means of the locking elements 53 and circumferential recesses 310 severrastend. Due to the elasticity of the Verschleissmodule 31, these can be introduced and locked with little effort in the receiving chamber 50.
  • the Verschleissmodule be provided with the electrically conductive elements 7 prior to insertion into the receiving chamber 50.
  • 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 inventive plug from above, and serves to illustrate the position of the cuts in the FIGS. 4a, 4b . 4c and 4d shown sectional views.
  • FIG. 4a shows a sectional view of the plug along the section line 4a-4a of FIG. 3 ,
  • 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, this is on the FIG. 4b directed.
  • 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.
  • connection modules 30 and the Verschleissmodule 31 are formed in the present embodiment is substantially cuboid.
  • 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).
  • 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 projections (grooves, grooves), which are in engagement with the recesses.
  • 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.
  • the frame element 5 comprises the wear modules 31 for the pin side S.
  • the frame elements 5, 6 receive the wear modules 31, 32.
  • 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.
  • 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 connector housing 1 and at the same time ensures good centering.
  • the FIG. 4b serves essentially to explain the electrically conductive contact between the pin side S and the female side B.
  • the arranged in the Verschleisselement 31 of the pin side S electrically conductive element is referred to herein as an electrically conductive pin member 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 wear module 31, 32 side facing the connection element comprises 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 is arranged.
  • cylindrical parts of the pin element 70 and of the socket element 71 project into the blind hole 721.
  • the connection element 72 comprises a connection point 722, to which the strands of a cable can be connected as described above.
  • connection element 72 it is also conceivable not to form the connecting element 72 with a cylindrical opening 721, but with a cylindrical pin.
  • 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 member 70 has a length which is greater than the height of the Verschleissiatas 31, that is, in the locked state, the pin member 70 protrudes on both sides of the Verschleissmodul 31.
  • 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.
  • an electrical contact between the connection element 72 and the pin element 70 is provided.
  • the pin element 70 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 in the region which is engaged with the connecting member 72, substantially identical to the pin member 70.
  • 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.
  • the female member 71 configured such that it does not protrude from the wear module 31 against the pin side S out.
  • connection elements 72 are electrically conductively connected to the corresponding socket elements 71 or pin elements 70.
  • socket elements 71 of the socket side B are electrically conductively connected to the pin elements 70 of the pin side S.
  • 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.
  • the connection direction is substantially parallel to the insertion direction of the frame element 5, 6 in the connector housing 1.
  • the configuration of the pin elements 70, the socket elements 71, and the connecting elements 72 allows a particularly flexible and easy 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.
  • connection modules 30 are equipped with the connecting elements 72, which are then connected to a peripheral device.
  • the respective Verschleissmodule 31, 32 equipped with the pin elements 70 and the female elements 71.
  • the connection modules 30 are inserted into the corresponding contact chamber 10 along the direction of insertion E.
  • the Verschleissmodule 31, 32 are inserted into their corresponding receiving chamber 50, 60 in the frame member 5, 6 and locked.
  • the frame members 5, 6 along the connecting direction F with the connector housing 1, wherein at the same time an electrically conductive contact between the connection elements 72 and the pin elements 70 or between the connection elements 72 and the socket elements 71 is produced.
  • 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 inventive plug along the cutting lines 4c-4c and 4d-4d.
  • the Figure 4c shows the pen page and the FIG. 4d shows the female side B.
  • the electrically conductive connection elements are not shown in this illustration.
  • 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 of the assembled connector with the pin side S and the female side B.
  • both the connector of the pin side S and the connector of the female side B include an equal number of connector modules 3.
  • 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.
  • FIG. 6 shows a perspective view of the pin side S of a plug with only one connector module 3.
  • the structure of this plug is substantially analogous to the above-mentioned embodiments, which is why at this point only briefly to this embodiment will be received.
  • 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 is the combination of a plug housing with a plug module (pin side S) and a plug housing with four connector modules (socket side B), of which three is in a row and one outside this row, includes.
  • 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.
  • 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.
  • the surface of the contact chambers 10, 10 ', 20 is coated with a metallic coating.
  • the receiving chambers 50, 60 on the inside 501 and / or on the outside 502 may be coated with a metallic coating.
  • the metallic coating acts as a shield and can thus prevent crosstalk between the individual connector modules 3.
  • a first plug-in module for example, transmit control signals for a motor or another actuator, and a directly adjacent module can transmit electrical power to the actuator.
  • a metallic coating is preferably a coating made of aluminum oxide, copper, copper / chrome.
  • the shielding effect can be further improved. Furthermore, it is conceivable that these two surfaces contact each other electrically.
  • a plug-in module 3 can be screened successfully and efficiently by a further plug-in module 3.
  • the coating is arranged such that the coating of the contact chamber 10 with the coating of the receiving chamber 50, 60 is electrically connected.
  • parts of the opening 16 or the entire surface of the opening 16 may be provided with a coating.
  • the coatings of adjacent contact chambers are electrically connected.
  • it is also conceivable that the individual coatings of the contact chambers are galvanically isolated.
  • the shield can for example be connected to a connection element 72 and guided via the corresponding plug 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.
  • 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 shield of the cable by means of a screw or a solder joint with the surface coating by contact chamber 10.
  • each of the modules is slidable by 0.25 mm to 0.5 mm in each lateral axis.
  • the lateral axes are best in the FIG. 3 seen.
  • 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.
  • 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.
  • a contact chamber 10 which is not used for the production of an electrical contact, are also sealed with a closure body.

Landscapes

  • Connector Housings Or Holding Contact Members (AREA)
  • Details Of Connecting Devices For Male And Female Coupling (AREA)
EP08800480.9A 2007-11-07 2008-10-16 Stecker und steckverbindung für roboter Active EP2208259B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH17302007 2007-11-07
PCT/CH2008/000434 WO2009059440A1 (de) 2007-11-07 2008-10-16 Stecker und steckverbindung für roboter

Publications (2)

Publication Number Publication Date
EP2208259A1 EP2208259A1 (de) 2010-07-21
EP2208259B1 true EP2208259B1 (de) 2018-01-17

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EP08800480.9A Active EP2208259B1 (de) 2007-11-07 2008-10-16 Stecker und steckverbindung für roboter

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US (2) US8206185B2 (pt)
EP (1) EP2208259B1 (pt)
JP (2) JP5303567B2 (pt)
CN (2) CN103178389B (pt)
BR (1) BRPI0817365B1 (pt)
CA (1) CA2702725C (pt)
MX (1) MX2010004943A (pt)
WO (1) WO2009059440A1 (pt)

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Also Published As

Publication number Publication date
CA2702725C (en) 2015-08-11
BRPI0817365B1 (pt) 2019-10-22
CA2702725A1 (en) 2009-05-14
JP2013149633A (ja) 2013-08-01
CN103178389B (zh) 2017-09-22
CN101855789A (zh) 2010-10-06
MX2010004943A (es) 2010-06-01
CN101855789B (zh) 2013-08-21
JP5667657B2 (ja) 2015-02-12
US8449337B2 (en) 2013-05-28
US20100267270A1 (en) 2010-10-21
CN103178389A (zh) 2013-06-26
WO2009059440A1 (de) 2009-05-14
BRPI0817365A2 (pt) 2015-09-15
US20120231672A1 (en) 2012-09-13
JP5303567B2 (ja) 2013-10-02
JP2011503788A (ja) 2011-01-27
EP2208259A1 (de) 2010-07-21
US8206185B2 (en) 2012-06-26

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