EP2665586A1

EP2665586A1 - Change-over coupling

Info

Publication number: EP2665586A1
Application number: EP12702995.7A
Authority: EP
Inventors: Harald Heinrich; Matthias BINSWANGER
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2011-01-21
Filing date: 2012-01-18
Publication date: 2013-11-27
Also published as: CN102985234A; CN102985234B; US20130294829A1; WO2012098152A1; DE202011000150U1; US9440360B2

Abstract

The invention relates to a change-over coupling (1) for robot-guided vehicles (3). The change-over coupling (1) has a plurality of media couplings (11, 12) and has coupling parts (4, 5) having basic supports (6, 7), media coupling supports (13, 14) and a coupling mechanism (8), and also peripherally arranged interfaces (16) having a fitting element for the media couplings (11, 12). The interfaces (16) have a plurality of fitting elements (19, 19', 20, 20'), which act in a plurality of different directions or axes and which are arranged preferably at the periphery, in particular on the circumference of a disc-like or annular basic support (6, 7).

Description

DESCRIPTION

change coupling

The invention relates to a change coupling with the

Features in the preamble of the main claims.

Such an automatic change coupling is from the

DE 43 21 691 AI known. It is intended for a robot for automatically picking up and changing tools and has two coupling parts with basic supports and a coupling mechanism for the controlled connection and disconnection of the coupling parts. The change coupling also has at least one media coupling, with the media

leading lines can be coupled.

It is an object of the present invention to improve the previously known change coupling.

The invention solves this problem with the features in the independent claims.

The improvement is possible in several ways. Any number of media couplings can be attached to the multiple interfaces of the exchangeable coupling and their basic supports and changed if necessary. In this case, a modular design of the media couplings with uniform media coupler carriers and adapted Kupplungselernenten is possible. The interfaces can be occupied as required, with the exception of media couplings and a coupling supply can be mounted at different locations. This can e.g. Energize the clutch mechanism and control its opening and closing function.

The uniform and freely assignable interfaces have the advantage that the media couplings or other attachments can be arranged as needed and adapted to the prevailing ambient conditions. in this connection For example, supply lines can be optimally laid and

be unbundled. In particular, a supply line can be introduced obliquely or tangentially to the change coupling. However, an axis-parallel feed is possible, e.g. for media in the form of a stream or of individual functional bodies.

For the line connection, a marginal mounting of the media couplings on the circumference of the base support is low, which may have a round or polygonal prismatic shape for this purpose. Preferably, there are five, six, seven, eight or more interfaces and mounting options. The number of interfaces may alternatively be smaller. Another and independent improvement lies in the

Formation of a mounting interface with fitting elements and fixation. As a result, the media coupling carrier can be mounted accurately to the j eweiligen basic carriers. After the basic carrier are also made accurately, the media coupling carrier and the media Kupplungselernente arranged thereon also have an exact position so that they can be exactly merged and disconnected during coupling and uncoupling. Thus, the claimed change clutch has despite high

Cultivation flexibility a very high clutch precision.

The change coupling is universally applicable and can accommodate any media couplings. This also has a positive effect on the extension of the detachable

Media spectrum. Such media and their

Supply lines may be on the one hand operating means, such as compressed air, coolant, lubricant or the like. Furthermore, electrical currents, in particular power currents and / or signal currents, e.g. For

Control signals, sensor signals or the like, are transmitted. The change coupling also allows an extension of the spectrum to completely different resources, eg Functional body for the operation of the attached tool can be. The latter can eg screws for a

Screwing tool, bolt for a stud welding tool, balls or other granulated body for a sandblasting or shot blasting tool, liquid or pasty media for a coating tool, e.g. a glue gun, one

Paint gun or the like.

The claimed change coupling allows a mounting of the media couplings in a tight ring around the

Terminals used to connect the coupling parts to the output element of the robot, e.g. one

Robot hand and if necessary whose output flange on the one hand and with the tool on the other hand are provided. This modularity and variability in the choice and mounting options of the media couplings can also

Effects on the cable routing on the robot and, if necessary, have on the tool. Feed lines for the mentioned

Media can be routed along one or more robot arms, preferably on the outside thereof. The change coupling itself has only a very small interference area due to its compact design. Enabling a tight and compact cable routing in the robot and / or tool area also reduces the interference area there. This benefits the application possibilities of robots and tools and also increases their use

Agility.

Further independent improvement possibilities with solution of the task lie in an optimization of the

Coupling supply by redundant and especially diverse redundant training. This increases the

Operation and failure safety of the change coupling. A similar improvement is the maintenance indicator, which at the change coupling itself

maintenance-specific situation. This can be one Reference to the operating time and possibly the operating state of the change coupling be an operator based on this information, a decision on the timing and scope of a maintenance or possibly. also makes a repair. The maintenance indicator may alternatively or additionally also itself emit a maintenance request, a warning signal or the like.

Another of the mentioned improvements relates to a mutual position detecting device

Coupling parts. This detection device can be an automatic and robot-made exact

Detect alignment of the coupling parts in the release state and their approach and report in a suitable manner, in particular to the robot controller

signal. This position determination can be used on the one hand when setting up the tool for the first time and when teaching its storage position in a magazine. The position detection can also be at every

Coupling process be made to the

Ensure coupling precision under all circumstances and at any time. Any external influences and a concomitant change in position of the coupling parts in the proposed coupling division can be detected and compensated.

In the subclaims are further advantageous

Embodiments of the invention indicated.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

Figure 1: a perspective view of two

Clutch parts of an automatic

Interchangeable coupling in release position with indicated robot and tool contours, Figure 2: a perspective plan view of the

Ankuppelseite a robot side

Coupling part,

FIG. 3 shows a perspective view of the coupling side of the tool-side coupling part,

Figure 4: a plan view of the inside of the

Coupling side of a robot side

Coupling part,

Figure 5: an exploded view of the parts of a

Tool-side coupling part and its

Interfaces, Figure 6: a perspective view of a

robot-side coupling part with

Interfaces, media couplings and

Coupling supply in release position and Figure 7: a perspective view of the outside and

Connection side of a robot side

Coupling parts.

The invention relates to an exchangeable coupling (1) for robot-guided tools (3). The invention also relates to one equipped with such a change coupling (1) Robot (2).

The change coupling (1) has two coupling parts (4,5), which in Figure 1 in a distanced

Kupplungsbereitschich position are shown, wherein they to a common central axis (28), in particular a rotating output shaft of the robot (2)

are aligned. The parallel coupling parts (4, 5) can be moved toward one another and coupled in the axial direction from this ready position. In Figure 1, the robot (2) and the tool (3) are shown schematically and indicated by dashed lines.

The change coupling (1) is preferably one

remote controllable or automatic change coupling and has a coupling mechanism (8) for controlled connection and for releasing the coupling parts (4,5). The

Clutch mechanism (8) may be formed in any suitable manner. It can e.g. in the shown

Version on the robot-side coupling part (4) has a protruding cylindrical body with drivable

Having locking elements in the body shell, wherein the body dips when coupling in a corresponding annular receptacle on the tool-side coupling part (5), as this example. is shown in Figures 3 and 5. This receiving ring may openings or other suitable receptacles for the locking elements to form a positive

Have connection between the parts of the Kupplungsmechani k (8). The actuation of the locking elements, e.g. as balls, bolts or the like. may be arbitrary, e.g. by a fluid, in particular compressed air.

To actuate the clutch mechanism (8), a

Coupling supply (15) be provided at the

Removable coupling (1) can be grown in the manner described below. The coupling parts (4,5) can also guide elements, such as cone pins and center holes, have, which engage in coupling when coupling.

The coupling parts (4, 5) may each have a base support (6, 7), e.g. plate-shaped or annular as in the embodiments shown. The disc-ring-shaped base support (6,7) surrounds the centrally arranged coupling mechanism (8). The

Coupling parts (4,5) each have a connection (9, 10) for connection to the robot (2) or the tool (3). The terminals (9, 10) may be arranged on the base supports (6, 7) and may be e.g. when

Anschraubt1ansche be formed.

The change coupling (1) has one or more

Media couplings (11, 12) for the same or different media. For the connection of these media couplings (11, 12), the coupling parts (4,5) and in particular their base support (6,7), a plurality of interfaces (16). The number of interfaces (16) and attachable here media couplings (11, 12) is selectable. Im shown

Embodiment, six or seven interfaces (16) are present. The interface number may alternatively be smaller or larger. Preferably, there are five, six, seven or eight interfaces (16). Alternatively, fewer, e.g. three or four or more, e.g. nine or ten interfaces (16) may be present.

The media couplings (11, 12) can, as stated, be the same or different. This depends, inter alia. from the training of the tool (3). The tool (3) can have any training. It can be e.g. to a joining tool, in particular a welding, adhesive or

Act forming tool. The tool (3) may also be used to apply fluidic media, e.g. Liquids, pasty masses, powdery masses or the like. serve .

Another variation is in assembly or handling tools, screwing tools or the like. The with the removable coupling (1) transmitted media can be arbitrarily designed and mutually the same or different. Media may be, for example, be applied by the tool (3) fluidic masses. It can also be rigid or flexible functional body, eg

Screws, rivets, bolts, sleeves, plugs or the like

act. The media may also be resources for the tool (3). This can e.g. Fluids, especially liquids or gases for cooling or lubricating or for actuating tool functions. Such media may e.g.

Compressed air or hydraulic fluid, but also water under high pressure for water jet cutting etc.

Electric currents or voltages can also be a medium. This can be power currents and / or

Signal streams are transmitted. These are e.g.

Welding currents and control or signaling signals or the like.

Also rays or waves, in particular light rays, may be a medium. This can e.g. Be light pulses for optical signal transmission. Also laser beams, plasma jets or the like. can be transferred to the coupling position.

The transmission direction of the media may be unidirectional or bi-directional. The media is supplied via one or more rigid or flexible conduits which are connected to the media couplings (11, 12) on the robot and tool sides.

The media couplings (11, 12) are adapted to the media to be transferred in each case and can have a modular design. You can in each case from one

Media coupling carrier (13, 14) and an attached Kupplungselernent (29). The preferred Media-specific coupling elements (29) each have on the outside a connection for said line and on the inside one or more media-specific transmission elements (30), such as plugs and sockets, tubular sockets or the like. when coupling

assembled and separated when uncoupling again. Here, the media couplings (11, 12) if necessary.

automatic closures for closing the lines, e.g. Valves, lids or the like. to have .

The media can be diverted to or within the change coupling (1). The transmission between the

Transmission elements (30) takes place in the insertion direction or. along the axis (28). The supply and Abführriehtung of the supply lines may deviate from this. For example, The media can be deflected by 90 °, with feed and / or

Abführriehtung is substantially parallel to the main plane of the coupling parts (4,5) and obliquely, in particular tangentially to the periphery of the coupling parts (4,5) can take place.

The media couplings (11, 12) are arranged in a ring around the axis (28), the coupling elements (29) being e.g. that shown in Figure 1, 2 and 3 oblique

Alignment to the line connection and the internal

Have media redirection.

The interfaces (16) are at the edge of the

Basic carriers (6,7) arranged. You are in the embodiments shown on the outer circumference or. of the

Lateral surface of the basic supports (6, 7), which are e.g. have a circular or prismatic shape. At a

prismatic form corresponds to the number of vertices of the number of interfaces (16). Alternatively, the

Interfaces (16) also in the edge region of the base body (6,7) and be arranged at the transversely or obliquely to the axis (28) aligned surface. The interfaces (16) are similar to each other and cooperate with correspondingly similar formed media coupling carriers (13, 14). This allows any placement of the

Media couplings (11, 12). In this case, all or only one of the interfaces (16) can be occupied. Such a uniform interface (16) can also serve for the cultivation of the clutch supply (15) for this purpose

adapted accordingly with their attachments.

Alternatively, for the coupling supply (15) there may be a special and adapted interface which differs from the other interfaces (16). To the uniform interfaces (16), in addition to the media clutches (11, 12) and any other and possibly. be attached to be coupled parts.

The formation of the preferably uniform interfaces (16) is e.g. shown in Figure 5 and 6. The

Interfaces (16) have fitting elements (19, 19 ', 20, 20') and a fixation. They also have flat or curved surfaces (17, 18) with such matching elements

(19, 19 ', 20, 20'). Preferably, the mating elements (19, 20, 19 ', 20') act in several different directions or axes.

In the exemplary embodiments of prismatic basic bodies (6, 7) shown, they are planar on the circumference

Mounting surfaces (17) carrying one or more fitting elements (19, 19 '), here e.g. as grooves in the

Attached surface (17) are formed. The grooves (19,19 ') may have different orientations, the groove number is arbitrary selectable. The grooves (19,19 ') may be aligned transversely or obliquely to each other. For example, they have an elongated, preferably rectangular shape with parallel longitudinal edges. In the embodiment shown there is a central groove (19), which is aligned parallel to the axis (28). Grooves (19 ') extending transversely to the axis (28) and along the mounting surface (17) are provided at the edges of the cultivated surfaces (17), which ends at the surface edge and can be open there.

Matching flat mounting surfaces (18) are provided on the media coupling supports (13, 14), bearing counter-mating elements (20, 20 '), e.g. as protruding wedges

are formed, which in cultivation position in the

associated grooves (19,19 ') engage positively. The cultivated areas (18) have e.g. a central and aligned along the axis (28) protruding fitting element (20) and two edge-side and along the mounting surface (18) extending, projecting fitting elements (20 ') on. The counter-fitting elements (20,20 ') also have a

rectangular oblong shape with parallel longitudinal edges. Due to the multiple number and different orientation of the fitting elements (19, 20, 19 ', 20') can be a precisely determined and predetermined by positive mutual position of the mounting surfaces (17, 18) and the base support (6,7) and the connected media coupling carrier ( 13, 14) can be achieved. This attachment position is secured by the fixation (21), e.g. can consist of screws. The

Screws may be e.g. through the edges

Passing elements (19 ', 20') extend. The media coupling carrier (13, 14) can in the

Embodiments have shown plate-like shape with flanges for the mounting surface (18) and openings for mounting and passage of Kupplungselernente (29). They can be similar to each other for the tool and robot side. The basic carrier (6,7) are in terms of their

Interfaces (16) formed similar and have in this respect an exact same shape. In

Coupling division flush the base support (6,7) in

Axial direction, whereby also via the interfaces (16) mounted media coupling carrier (13, 14) and the

Kupplungselernente (29) and transmission elements (30) aligned with each other in the axial direction and in

Clutch engagement come.

In a modification of the embodiment shown from the scope or. Mantle of the base support (6,7) have a different shape, with the mutually adapted

Attachment surfaces (17, 18) and also the shape of the fitting elements (19, 19 ', 20, 20') and the fixation (21) are adapted accordingly. The basic supports (6, 7) may be e.g. have a circular shape, the said

Interface parts (17, 18, 19, 19 ', 20, 20') a

have correspondingly curved shape.

Said SchnittStellenausbildung with mounting surfaces (17,18), fitting elements (19, 19 ', 20, 20') and fixing (21) has an independent inventive meaning and can also be used for other exchange couplings (1), e.g. for conventional clutch types. The

In particular, interface training can be used with

appropriate adaptation to be used in a cultivation situation in which an attachment to a transversely or obliquely to the central axis (28) extending

Surface of the base body (6,7) is made.

Figure 4 illustrates further features of

Exchangeable coupling (1) according to the invention, in particular a detection device (22) and a maintenance indicator (25), which in each case have independent inventive significance and which may optionally be present or may be omitted. You can also use other, conventional Interchangeable couplings (1) without uniform interfaces (16) and with any attachment of media couplings to any base support and when using other

Clutch mechanisms (8) are used. In such conventional couplings can on fitting elements

(19, 19 ', 20, 20') of the above-described and claimed type are dispensed with or other fitting elements, in particular in other numbers, orientation and / or

Training, to be present.

FIG. 4 shows a detection device (22) for the mutual position of the coupling parts (4, 5). The

Detector (22) is e.g. arranged on the mutually facing for coupling inner sides of the coupling parts (4,5) and may be formed in different ways. By means of the detection device (22), the mutual position of the coupling parts (4, 5) for coupling can be determined. This location can be

mutual position and if necessary also relate to the mutual orientation of the coupling parts (4,5).

Layer differences can exist in all three spatial axes and can exist in spatially shifted positions and also in different rotational or tilt positions. With the detection device (22) can be detected whether the coupling parts (4,5) exactly. fit the axis (28) in position to each other and with a linear movement along the axis (28) can be exactly engaged and coupled with each other. The

Detection device (22) can also be used here

Detect positional deviations, evaluate and

signal.

During the signaling, a warning signal can be emitted to the outside to an operator or in another way. Furthermore, an existing positional deviation according to type and

Size to be signaled. On the other hand, a message can be sent directly to the robot controller (not shown). take place, which performs a compensating robot movement at existing position deviations and thereby produces the correct Kupplungsläge. Here, the

detected position errors stored and for a

Quality assurance are evaluated. Furthermore, the corrected hitching pitch of the robot may also be stored and similar for later ones

Coupling operations are used. The detection of the mutual position of the coupling parts (4,5) can be performed once during setup. Hereby there is e.g. the tool (3) in a fixed predetermined receiving position on a tool holder, e.g. on a tool magazine (not shown). The robot (2) is in the intended and possibly. Previously in his orbit control stored Ankuppel- ready position against the held

Tool (3) driven. In this still distant

Ready position is detected with the detection device (22), the mutual position of the coupling parts (4,5) and corrected the position and orientation of the robot (2) in case of deviations accordingly and stored the corrected value. During the subsequent operation, the stored value for automatically starting the tool holder for dispensing and picking up the tool (3) without further

Examination measures are used. The

Detection device (22) but also in these

Replacement operations with coupling and uncoupling can be used again to detect the position of the coupling parts (4,5) before coupling. This may possibly. Foreign influences, e.g. Changes in the robot position and / or the

Tool position determined and corrected as needed. In the embodiment shown, the

Detection device (22) a sensor (23) on a coupling part, preferably the robot side

Coupling part (4) and an indicator (24) on the other coupling part (5).

The sensor (23) operates e.g. optically. He may for this purpose e.g. be designed as a laser scanner, which emits a laser beam and the beam reflection from

Indicator (24) recorded. The laser beam can be moved in one or more axes and on

different locations of the other coupling part (5) meet. The indicator (24) may e.g. be formed as a pattern shape. This can be a two-dimensional or three-dimensional shaping. A molding pattern may e.g. from strips with predetermined shapes and possibly.

Be formed distances that are optically detected by the sensor (23) and evaluated in their detected positional relationship. From the detected positional relationships of

Shape features can be deduced to a mutual three-dimensional position of the sensor (23) and the indicator (24) and the associated coupling parts (4,5). Figure 4 also illustrates the also inventive independent maintenance indicator (25) of the removable coupling (1). This can be arranged at any suitable location and can be located on one or both coupling parts (4,5). The maintenance indicator (25) is e.g. arranged on the coupling supply (15).

The maintenance indicator (25) has a display element (26) for signaling an operating situation and possibly. a need for maintenance. The operating situation is e.g.

characterized by the number of clutch cycles. at

Existence of several tools (3), the clutch number for the robot-side coupling part (4) greater than for the be on the tool side coupling parts (5), which is why the operating and maintenance situation can be detected separately. The display element (26) may be one or more

Emit information. This can be different information. The emission can be on different

Way done. For one thing, e.g. the number of cycles are counted, the number being signaled directly as a value or range, or at

Reaching a predetermined limit, a warning signal, e.g. optically signaled with a colored LED.

The capture can also incorporate time elements. A stored over a long time and unused

Tool (3) and its coupling part (4) may have a need for maintenance solely by the waiting time. These

Information can be determined alternatively or in addition to the number of cycles and be signaled in a suitable manner by the display element (26). The maintenance indicator (25) may comprise a determination device (27) for a maintenance requirement of the change coupling (1) or. of the associated coupling part (4,5) have. The

Detection device (27), which is indicated schematically in FIG. 4, may be e.g. a data storage and possibly. have its own computer or control hardware, in particular a processor, and a timer. Here, the arrangement of the coupling supply (15) is favorable, the switching cycles and thus the cycles are directly detectable cycles. The maintenance indicator (25) may also have its own power supply and a Energiespeieher, in particular a battery. With this self-sufficient maintenance indicator (25), the number of clutch cycles, possibly. Lying times and other factors are determined, the operating condition and the need for maintenance of

Interchangeable coupling (1) and its coupling parts (4,5)

influence . This determination can, as I said, be made separately for the coupling parts (4,5). she can also only for the robot-side coupling part (4)

be made, the maintenance of which can automatically cause maintenance of the tool-side coupling parts (5) by itself.

The coupling supply (15) serves in the beginning

mentioned manner for applying and controlling the

Clutch mechanism (8). This can e.g. pneumatic

done, with the coupling supply (15) is connected to a compressed air supply and the pneumatic

Actuation of the clutch mechanism (8) controls by means of valves. The coupling mechanism (8) may be redundant, e.g. two or more parallel valve assemblies are present, so that in case of failure of a valve assembly automatically another function. For this purpose, corresponding detection devices for the

Valve function be present.

The training is preferably diverse redundant. Here, different valve arrangements are used, which may come from the same or from different manufacturers. The differences can be in the

Construction and / or in the manufacturer. This reduces the risk and influence of a possibly. Serial error at a valve manufacturer. In a further modification, the power supply and control of the clutch mechanism (8) can be done in other ways, the

Coupling supply (15) is designed differently. Here, e.g. a hydraulic or

be provided electromagnetic loading of the coupling mechanism (8).

Modifications of the shown and described

Out of forms are possible in various ways. In the shown and preferred embodiment, the change-over coupling (1) contains all the components described with uniform interfaces (16) in the abovementioned Arrangement and training with fitting elements

(19, 19 ', 20, 20'), wherein the detection means (22) and the detection means (27) are provided and the media couplings (11, 12) have the described configuration. However, the aforementioned features and feature groups can also be used individually and independently of each other in a change coupling (1). Here, e.g. the detection and detection device

(22, 27) omitted or in each case only be used individually. Conversely, the detection device can be

(22) and / or the detection device (27) also in other change couplings (1) employ a

have any training and e.g. have firmly attached and non-variable media couplings, where appropriate. also on defined and mutually similar

Interfaces (16) is omitted. The

Detection device (22) and / or the

Determining device (27) can be. also retrofit to existing couplings. Furthermore, the features shown in the exemplary embodiments may be combined and interchanged as desired. In addition, constructive modifications of the change coupling (1) and its components are possible.

REFERENCE SIGN LIST

1 change coupling

2 robots

3 tool

4 coupling part, robot side

5 coupling part, tool side

6 basic carriers, robot side

7 basic supports, tool side

8 coupling mechanism

9 connection, robot side

10 connection, tool side

11 Media coupling

12 media coupling

13 media coupling carrier

14 media coupling carrier

15 Coupling supply

16 interface

17 Acreage of basic carrier

18 acreage of media coupling

19 fitting element, groove

19 'fitting element, groove

20 fitting element, wedge

20 'fitting element, wedge

21 Fixation, screw connection

22 detection device

23 sensor, laser scanner

24 indicator, stripe pattern

25 Maintenance indicator

26 indicator

27 Determination facility

28 axis, axis of rotation

29 coupling element

30 transmission element

Claims

Interchangeable coupling for robot-guided tools (3) with one or more media couplings (11,12), wherein the change coupling (1) coupling parts (4,5) with base supports (6,7), media coupler carriers

(13, 14) and a coupling mechanism (8) and at the edge has a plurality of interfaces (16) with a fitting element for media couplings (11, 12), characterized in that the interfaces (16) more passport elements

(19, 19 ', 20, 20'), which in several

different directions or axes act.

Interchangeable coupling according to claim 1, characterized

e, that the interfaces (16) are arranged on the edge, in particular on the circumference of a plate-shaped or annular base support (6, 7).

Interchangeable coupling according to claim 1 or 2, characterized in that the interfaces (16) are of identical design to one another.

Interchangeable coupling according to the preamble of claim 1 or according to one of claims 1, 2 or 3, characterized in that the interfaces (16) have a fixation (21).

Interchangeable coupling according to one of the preceding

Claims, characterized in that the interfaces (16) are planar or curved

Cultivation areas (17, 18) with fitting elements

(19, 19 ', 20, 20').

6.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the mounting surfaces (17,18) have a central fitting element (19,20) and an edge-side fitting element (19 ', 20').

7.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the mating elements (19, 19 ', 20, 20') have an elongated shape and in several different

Directions or axes are aligned.

8.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the mating elements (19, 19 ', 20, 20') are parallel

Have longitudinal edges.

9.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the mating elements (19, 19 ', 20, 20') as grooves and

Springs are formed.

10.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the basic carrier (6,7) have a prismatic outline.

11.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the change coupling (1) is five or more

Having interfaces (16).

12.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the change coupling (1) one to an interface

(16) attachable coupling supply (15).

13.) Interchangeable coupling according to one of the preceding

Claims, characterized in that a coupling supply (15) has a power supply and a control device for the clutch mechanism (8).

14.) Interchangeable coupling according to one of the preceding

Claims, characterized in that a coupling supply (15) is redundant,

in particular diverse redundant, is formed.

15.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the change coupling (1) comprises a detection device (22) for the mutual position of the coupling parts

(4,5).

16.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the detection device (22) has a sensor (23) on one coupling part (4) and an indicator (24) on the other coupling part (5).

17.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the detection device (22) has an optical

Sensor (23).

18.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the sensor (23) as a laser scanner and the indicator (24) is designed as a mold pattern.

19.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the change coupling (1) has a maintenance indicator (25).

20.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the maintenance indicator (25) a display element (26), in particular for signaling a

Operating state and / or a need for maintenance has.

21.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the maintenance display (25) has a determination device (27) for an operating state and / or a

Has maintenance of the change coupling (1). 22.) Interchangeable coupling according to one of the preceding

Claims, characterized in that the determination device (27) comprises a data memory and, if necessary, a data memory. a processor and a timer.