EP4370289A1

EP4370289A1 - Changeover apparatus, changeover-apparatus system and method for changing over tools which are to be used one after the other on a robot arm

Info

Publication number: EP4370289A1
Application number: EP22734965.1A
Authority: EP
Inventors: Hasan Canti
Original assignee: Grip Handhabungstechnik GmbH
Current assignee: Grip Handhabungstechnik GmbH
Priority date: 2021-07-14
Filing date: 2022-06-23
Publication date: 2024-05-22
Also published as: WO2023285100A1; DE102021118208A1

Abstract

The invention describes and illustrates a changeover apparatus (2) for changing over tools (7) which are to be used one after the other on a robot arm (6), the apparatus comprising a base part (3) and a changeover part (4), which are connected to one another in a connecting position so that the base part (3) can be adjusted out of the connecting position in a withdrawing direction (13) relative to the changeover part (4) into a separating position, in which it is separated from the changeover part (4), and back into the connecting position in an inserting direction (12), and wherein the base part (3) has a locking mechanism (16), which can be adjusted from a locking position, which provides a blocking effect, into an unlocking position, which enables separation of the base part (3), and back and which interacts with the changeover part (4). In order for it to be possible for simple and inexpensive changeover-apparatus systems to be made available, provision is made for the locking mechanism (16) to have a receptacle (30) for receiving an actuating means (29) in the withdrawing direction (13) or an actuating means (29) for inserting into a receptacle (30) in the inserting direction (12), for the locking mechanism (16) to be designed for receiving the actuating means (29) in a form-fitting manner in a direction perpendicular to the withdrawing direction (13), and for the locking mechanism (16) to be designed so as to be adjustable by adjustment of the receptacle (30) or of the actuating means (29) in the unlocking direction (34) relative to the base part (3) and/or so as to be adjustable from the unlocking position into the locking position by adjustment of the receptacle (30) or of the actuating means (29) in the locking direction (33) relative to the base part (3).

Description

Changing device, changing device system and method for changing tools to be used one after the other on a robot arm

The invention relates to a changing device for changing tools to be used one after the other on a robot arm, having a base part and a changing part, the base part providing a mounting section for mounting the robot arm on the head side of the changing device and the changing part providing a mounting section for mounting a tool on the bottom side of the changing device , wherein the base part and the interchangeable part are connected to one another in a connected position in such a way that the base part is pulled out of the connected position in a direction at least essentially directed from the mounting section of the interchangeable part to the mounting section of the base part relative to the interchangeable part into a separated position separated from the interchangeable part and back into the Connection position is adjustable in an opposite insertion direction, and wherein the base part of a separating the base part from the interchangeable part from the connection position in the pull-out direction ng blocking locking position in a separating the base part from the interchangeable part from the connection position in the pull-out direction releasing unlocking position and back adjustable and interacting with the interchangeable part locking mechanism. The invention further relates to a changing device system for changing tools to be used one after the other on a robot arm, comprising a changing device and a method for changing a tool.

Changing devices for changing tools that are to be used one after the other on a robot arm are used to carry out tool changes that are repeatable and quick. Typically, a tool equipped with an interchangeable part can be attached and detached again quickly and with repeat accuracy on a robot arm equipped with a base part. In order to make manual intervention superfluous, the tool change is carried out in particular by means of the robotic arm and without the canine intervention of an operator. For this purpose, the tool to be held can be connected to the interchangeable part at a mounting section of the interchangeable part and can be held in a holder via the interchangeable part. The robot arm is then connected to the base part via a mounting section and can bring the base part into engagement with the interchangeable part in an insertion direction opposite to the pull-out direction. The changing device consisting of the base part and the changing part are then in a connected position, from which the base part can be lifted off again in the pull-out direction relative to the changing part in order to move the changing device back into a disconnected position.

When connecting the base part and interchangeable part or afterwards, a locking mechanism can be actuated manually or automatically and moved from an unlocking position releasing the adjustment of the base part into the disconnected position into a locking position preventing the adjustment of the base part into the disconnected position. The robot arm can now be removed from the holder together with the tool. At a later point in time, however, the robot arm can reinsert the interchangeable part into the holder and thereby or subsequently move the locking mechanism back from the locking position to the unlocking position. The robot arm can then be separated from the tool again in the pull-out direction.

The locking mechanism of the base part typically has at least one adjustable bolt which is designed to enter into a form fit with the interchangeable part. In the locking position, the bolt, which is arranged, for example, in a pin of the base part, can usually engage behind a projection in a recess of the interchangeable part in the pull-out direction. This positive locking is canceled when the locking mechanism is moved into the unlocked position.

In order to be able to successively equip a robot arm with a series of different tools, changing device systems usually comprise a series of tools and interchangeable parts. Therefore, changing device systems are usually complex and expensive.

The present invention is therefore based on the object of designing and developing the changing device, the changing device system and the methods of the type mentioned at the outset and previously explained in more detail in such a way that simpler and more cost-effective changing device systems can be provided.

With a changing device according to the preamble of claim 1, this object is achieved in that

- that the locking mechanism has a receptacle for receiving an actuating means at least essentially in the pull-out direction in the connection position or an actuating means for insertion into a receptacle at least essentially in the insertion direction in the connection position,

- That the locking mechanism for the form-fitting accommodation of the actuating means is formed in a locking direction at least substantially perpendicular to the extension direction and/or in an unlocking direction in the receptacle that is at least substantially opposite to the locking direction and

- that the locking mechanism is designed to be adjustable by adjusting the receptacle or the actuating means in the unlocking direction relative to the base part and/or by adjusting the receptacle or the actuating means in the locking direction relative to the base part from the unlocked position to the locked position.

The object is also achieved with a changing device system according to the preamble of claim 7 in that the changing device is designed according to one of claims 1 to 6. This object is also achieved according to claim 12 by a method with a changing device system according to one of claims 7 to 11,

- in which the base part is placed in the connection position with a receptacle or with an actuating means relative to a holder in the insertion direction on an actuating means fixed on the holder or inserted into a receptacle fixed on the holder,

- In which the base part is adjusted relative to the holder in the locking direction after being placed on the actuating means or after being inserted into the receptacle and

- In which the receptacle or the actuating means is adjusted relative to the base part in the unlocking direction by adjusting the base part in the locking direction and the actuating means interacts in a form-fitting manner with the locking mechanism and the locking mechanism is adjusted from the locking position to the unlocking position.

The stated object is also achieved according to claim 15, by a method with a changing device system according to one of claims 7 to 11,

- in which the base part is inserted in the insertion direction into an interchangeable part held by a holder,

- in which the base part is placed with a receptacle or with an actuating means in the insertion direction onto an actuating means fixed on the holder or is inserted into a receptacle fixed on the holder,

- In which the base part is adjusted relative to the holder in the unlocking direction after being placed on the actuating means or after being inserted into the receptacle and

- in which, by adjusting the base part in the unlocking direction, the receptacle or the actuating means is adjusted relative to the base part in the locking direction and the actuating means or the receptacle interacts in a form-fitting manner with the locking mechanism and the locking mechanism is shifted from the unlocking position to the locking position. Both the base part and the interchangeable part each have at least one assembly section. The assembly section can be flat at least in sections and can be firmly connected to a tool or a robot arm, for example by means of a screw connection. In particular, in the connection position of the changing device, the two assembly sections are arranged on top and bottom ends of the changing device that face away from one another. The robot arm and the tool can thus be connected by connecting the base part and interchangeable part and separated again from one another by separating the base part and interchangeable part.

The base part and the interchangeable part correspond to one another, in particular opposite each other from the respective assembly section, at least in sections, in particular with insertion sections. Sections of the insertion sections can be at least essentially planar, specifically in an insertion direction opposite the pull-out direction relative to the interchangeable part. In the connection position, the base part and the interchangeable part are inserted into one another. This means that the corresponding sections for insertion, in particular the insertion sections, rest against one another and/or are inserted into one another. It is less important whether the interchangeable part is inserted into the base part or vice versa. In contrast, the separation position is present when the base part and interchangeable part are separated from one another, ie are moved away from one another. The pull-out direction points at least essentially from the mounting section of the interchangeable part to the mounting section of the base part, wherein the pull-out direction can in particular be aligned at least essentially normal to at least one mounting section.

The changing device can be adjusted between a locking position and an unlocking position, in particular via the locking mechanism. In the locking position, the base part and the changing part are fixed to one another and can are not separated from one another in the pull-out direction by a relative movement of the base part with respect to the interchangeable part. Only when the locking mechanism is moved from the locking position to the unlocking position can the base part be lifted off from the interchangeable part.

When understanding the locking mechanism, the base part and the interchangeable part only have to be arranged at least essentially in the connection position, if required. Adjusting the locking mechanism into the locking position can, for example, cause the base part and the interchangeable part to move into the connection position, in particular forcibly, for example by sloping or conical locking surfaces of the locking mechanism and the interchangeable part sliding off one another.

Since the base part has the locking mechanism, the locking mechanism is associated with the robot arm. The robot arm can then be connected to a large number of tools one after the other via interchangeable parts, the interchangeable parts being able to be designed simply and inexpensively, since the interchangeable parts do not require a locking mechanism. The receptacle for the locking mechanism and/or the actuating means of the locking mechanism can be provided on the base part and be accessible from outside there. This enables a form fit between the base part and a holder for adjusting the locking mechanism of the base part. For this purpose, the receptacle and a corresponding, for example pin-shaped, actuating means engage in one another. It basically plays a subordinate role whether the receptacle is provided on the base part and the actuating means on the holder or vice versa. It can also be provided that the base part and the holder each have an actuating means and a receptacle, which are each designed to correspond to one another.

The receptacle is advantageously aligned in such a way that it is designed to receive the, in particular pin-shaped, actuating means when the base part is placed on a holder. A recording arranged on the base part is therefore at least in Substantially in the direction of insertion plugged onto the actuating means of a holder. Alternatively or additionally, an actuating means arranged on the base part can be inserted into a receptacle of a holder, at least essentially in the direction of insertion.

The receptacle and/or the actuating means can be accessible from the outside in the locked position and in the unlocked position on the base part in order to enter into the positive connection with the actuating means and/or with the receptacle. The form fit of the actuating means in the receptacle can therefore act at least in the unlocking direction and/or the locking direction and thus at least essentially perpendicular to the pull-out direction of the base part. Thus, the locking mechanism can be easily understood on the holder.

In a first particularly preferred embodiment of the changing device, the changing part has at least one holding surface for holding the changing part in the direction of gravity by a holder in the pull-out direction at least essentially opposite the insertion direction. The interchangeable part can thus be securely placed or held on the at least one holding surface, for which purpose a plurality of holding surfaces, for example at least two or at least four holding surfaces, can be used. If several holding surfaces are provided on opposite sides of the interchangeable part, the interchangeable part can be held stably in a holder.

The base part can have a securing element for engaging in the receptacle of the locking mechanism. For the sake of simplicity, the engagement takes place in a form-fitting manner in the unlocking direction in relation to the base part. In particular, not only can an actuating means engage in the receptacle, but also the securing element, which can be designed in the form of a pin, at least in sections. If the securing element engages in a form-fitting manner in the locking position in the unlocking direction in the receptacle, the receptacle and thus the Locking mechanism secured against unlocking, since the adjustment of the locking mechanism is blocked in this direction by the securing element.

The securing element can be adjustable out of the receptacle against a restoring force of a spring means of the base part. In the case of correct alignment with respect to the receptacle, the securing element thus forcibly engages in the receptacle as a result of the restoring force. In principle, the securing element can engage in the receptacle on a side of the receptacle opposite the actuating means. Stop surfaces can be assigned to the securing element, so that the securing element can be adjusted from a position that does not positively engage in the receptacle, if necessary, to a position that engages in the receptacle in a defined manner.

The securing element can thus be designed to be insertable into the receptacle at least essentially in the direction of insertion and to be removable from the receptacle at least essentially in the direction of extraction. In this way, when the base part and interchangeable part are inserted into one another in the direction of insertion, the securing element can be very easily pushed out of the receptacle by the actuating means. If the securing element no longer engages in the receptacle, the receptacle can be adjusted, as a result of which the locking mechanism, in particular the receptacle, is unlocked.

In order to be able to engage in the receptacle from essentially opposite directions, for example through the actuating means on the one hand and through the securing element on the other hand, the receptacle can be designed as a through opening. The actuating means can thus displace a securing element that engages in the receptacle from the other side from the receptacle when the base part is placed on the actuating means.

In addition, a display device can be provided which can display whether the locking mechanism is secured or unlocked. This is the display device adjustable from a position indicating the form-fitting securing of the locking mechanism by the securing element in the locking position to a position indicating the release of the locking mechanism, for example in the locking position. A display element of the display device can protrude outwards in an unlocking direction relative to the base part when the locking mechanism is released. In the case of positive locking, the base part can then no longer be provided protruding. The indicator element then indicates the position of the base part and/or the locking mechanism, it being less important in which position the indicator element projects outwards relative to the base part and in which position this is not the case. It is particularly simple and therefore expedient if the display element is formed by the securing element or if the display element is firmly connected directly to the securing element, in particular in the pull-out direction of the base part.

The receptacle or the actuating means can be provided on a latch element of the locking mechanism which can be adjusted with respect to the base part in order to easily adjust the locking mechanism between the unlocked position and the locked position. For this purpose, the receptacle and/or the actuating means of the base part are provided on the base part so that they are accessible from the outside. If the tab element is designed as a slider, the locking mechanism can be easily and reliably adjusted.

If the tab element is designed to actuate a toggle lever unit of the locking mechanism, a stable, self-locking locking of the base part on the interchangeable part can be achieved. For this purpose, the tab element is connected via at least one toggle lever to at least one adjustable latch of the locking mechanism, which can form a positive connection with the interchangeable part in the locking position. When the tab element is adjusted, the toggle lever unit passes a dead center. When the locking position is reached, the at least one latch is in a stable state achieved because the toggle lever unit must first be moved back past the dead center in order to move the locking mechanism into the unlocked position.

The changing device system according to the invention has a changing device, the base part being provided connected to the robot arm and/or the changing part being connected to the tool. The changing device is designed as described above. The locking mechanism is thus assigned to the robot. Only one locking mechanism is therefore required for each robot arm, it being possible for a locking mechanism to be dispensed with in the case of the interchangeable parts assigned to the tools. This reduces costs through less complex components, because typically a larger number of tools are to be connected to a robot arm.

If a holder is provided, the tools can be changed quickly and precisely. The holder can also be designed to securely hold interchangeable parts that are connected to the tool and separated from the base part. The holder supports the interchangeable part in the separation position in the direction of gravity. The holder can also hold the interchangeable part in the connection position. However, independently of this, the holder can also be used to move the locking mechanism from the locking position to the unlocking position and back.

To hold the interchangeable part, at least one supporting surface corresponding to the holding surface of the interchangeable part can be provided on the holder. For reliable holding, at least two or four supporting surfaces can be provided corresponding to the at least two or four holding surfaces of the interchangeable part.

The holder can have an actuating means and/or a receptacle, wherein the actuating means can be brought into engagement with a receptacle of the base part and/or an actuating means of the base part can be brought into engagement with the receptacle. It is particularly easy to form the actuating means essentially in the form of a pin. The holder can have a U-shaped recess. The U-shaped recess can then encompass the interchangeable part used and also cause the locking mechanism of the base part to be adjusted. For this purpose, the actuating means and/or the receptacle of the holder is/are preferably provided on the U-crosspiece of the holder. At least one supporting surface can also be provided on one of the two opposite U-legs. At least two supporting surfaces on the U-legs can also be at least essentially opposite one another in order to prevent the interchangeable part from tipping over. Two supporting surfaces are particularly preferably provided for each U-leg. The U-shape means that the holder can be designed in such a way that the holder in the area of the U-crosspiece either engages in the receptacle on the base part by means of the actuating element or forms a positive connection with the actuating element of the base part by means of the receptacle.

Alternatively or additionally, the holder can have at least one securing surface which, for the sake of simplicity, can be provided opposite at least one support surface and/or facing away from it. In the disconnected position and/or in the unlocked position, the securing surface can bring about a form fit of the interchangeable part to the holder in the pull-out direction in relation to the interchangeable part being pulled out of the holder in the pull-out direction. The interchangeable part cannot accidentally slip or fall off the holder. For this purpose, at least two or four securing surfaces can be provided for the sake of simplicity.

If at least one groove providing the holding surface and the securing surface is provided, the holder can engage in the groove with at least one corresponding engagement section when the changing device in the holder is adjusted in the unlocking direction relative to the holder. The interchangeable part then remains reliably held on the holder in the direction of gravity and in the pull-out direction, even after unlocking relative to the base part. Of course, the at least one engagement section could also be provided on the interchangeable part and the at least one groove on the holder. For the sake of simplicity, the groove extends at least substantially partially parallel to the locking direction and / or the unlocking direction. It is particularly reliable if several opposite grooves and engagement sections are provided, which are arranged correspondingly on two opposite sides of the interchangeable part and the holder, in particular U-legs. The at least one groove can alternatively or additionally have a pull-out stop which interacts with the associated engagement section if the interchangeable part is inadvertently adjusted in the locking direction relative to the base part.

In the method for separating the changing device, the base part in the connection position with a receptacle and/or with an actuating means is first placed relative to a holder in the insertion direction onto the actuating means fixed to the holder and/or inserted into a receptacle fixed to the holder. The actuating means then engages in the receptacle. The base part is then adjusted relative to the holder in the locking direction, in particular at least substantially perpendicular to the direction of insertion. By adjusting the base part in the locking direction - in which case the receptacle and/or the actuating means in the base part are adjusted relative to the base part in the unlocking direction - the actuating means and/or the receptacle interact in a form-fitting manner with the locking mechanism and the locking mechanism can be adjusted by causes the locked position into the unlocked position. The changing device is then at least essentially still in the connection position, but the base part and the changing part can now be separated from one another, for example by being pulled out. Separation is effected by a robot movement of the base part relative to the interchangeable part in the pull-out direction, with the base part being lifted off the interchangeable part as required. When the base part is placed on the holder, the at least one support surface and the at least one holding surface can be brought into contact with one another in order to reliably hold the interchangeable part after it has been unlocked from the base part. In a first, particularly preferred embodiment of the method, after the locking mechanism has been moved into the unlocking position, the base part is lifted out of the connection position relative to the interchangeable part in the pull-out direction. The interchangeable part held in the holder is then held in the direction of gravity after the base part has been lifted off the holder. The base part is then in the disconnected position and can be connected and locked to another interchangeable part, in particular one held on another holder.

When the base part with the receptacle is placed on the actuating means of the holder, a securing element can preferably be forced out of the receptacle. It is particularly simple if the actuating means pushes the securing element out of the receptacle when the base part is placed on the holder. The securing element located in the receptacle blocks or secures the adjustment of the receptacle and releases the adjustment of the receptacle again when the securing element no longer engages in the receptacle. The actuating means then engages in the receptacle and, if necessary, has pressed the securing element out of the receptacle. Due to the positive connection between the actuating means and the receptacle, a subsequent adjustment movement of the base part relative to the holder and/or to the actuating means can bring about an adjustment of the locking mechanism into the unlocked position and back into the locked position.

An indicator device can indicate a positive locking of the locking mechanism in the locking position and/or indicate a release of the locking mechanism for adjusting the locking mechanism. The display device can be easily adjusted when placing the base part with the receptacle on the actuating means of the holder and/or when lifting the base part with the receptacle from the actuating means of the holder in order to display the two different states. The display device can be operatively connected to the securing element in such a way that a display element of the display device protrudes relative to the base part when the locking mechanism is released and/or dips into the base part when the locking mechanism is secured. Immersing and protruding the display element can also be interchanged here based on the positions mentioned. It is particularly simple and expedient if the safety element and the display element are designed together in the form of a pin. Then, for example, the securing element can be pushed out of the receptacle and the display element can be adjusted at the same time.

In the second method according to the invention, which can be carried out in succession together with the first method according to the invention, the changing device is initially in the disconnected position and the base part is placed with a receptacle and/or an actuating means in the insertion direction onto a changing part held by a holder . The actuating means engages in the receptacle, it being less important whether the receptacle is provided on the base part or on the holder. The actuating means is then provided on the respective other component. After the actuating means has been inserted into the receptacle, the base part is adjusted relative to the holder in the unlocking direction. By adjusting the base part in the unlocking direction, the positive connection between the actuating means and the receptacle causes the locking mechanism to be adjusted from the unlocked position to the locking position, with the receptacle being adjusted in the locking direction in relation to the base part. The changing device, i.e. the base part and the changing part, is now in the connection position and locked. The changing device is also located in the immediate vicinity of the holder, for example at least essentially encompassed by the U-shape of the holder.

After the locking mechanism has been adjusted into the locking position, the entire changing device can be lifted off in the connecting position relative to the holder in the pull-out direction. If the tool on the changing part is too long and/or wide, the changing device can be moved to the side after lifting off the holder so that the tool does not collide with the holder.

By lifting the changing device from the actuating means and / or by pulling it out of the receptacle, a securing element for securing the Locking mechanism are moved into the locking position in the recording or in the tab element. This prevents further adjustment of the locking mechanism into the unlocked position. This can be brought about by the securing element being pressed by the restoring force of the spring means into the receptacle released by the actuating means. That

As an alternative or in addition, the securing element can be forced back into the receptacle by a spring force.

A display device can be used so that a user can quickly see whether the locking has taken place or whether the locking mechanism is secured. The display device can be designed as described above.

The invention is explained in more detail below with reference to a drawing that merely shows an exemplary embodiment

1A-B two changing device systems according to the invention, each with a changing device according to the invention and a holder in different positions in a perspective view, Fig. 2A-E method steps for separating the base part from the changing part of the changing device from Fig. 1 schematically in a side view,

3A-E Method steps for connecting the base part and the changing part of the changing device from FIG. 1 schematically in a side view,

Fig. 4A-C the base part of the changing device system in one

Locking position and a detail of the base part from Fig. 1A in a perspective view and in a sectional view, Fig. 5A-C the base part of the changing device system in one

Unlocked position and a detail of the base part from FIG. 1A in a perspective view and in a sectional view, and

6A-C shows the changing device system from FIG. 1A in different positions in a lateral sectional view. A changing device system 1 is shown in each of FIGS. 1A-B. Each changing device system 1 has a changing device 2 comprising a base part 3 , a changing part 4 and a holder 5 . A robot arm 6 is connected to the base part 3 and a tool 7 is connected to the interchangeable part 4 . The tools 7 shown in Figures 1A-B are different. However, the remaining elements correspond to each other. The base part 3 is connected to the robot arm 6 via a head-side mounting section 8 . The interchangeable part 4 is connected to the tool 7 via a mounting section 9 on the bottom. The base part 3 can be inserted into the interchangeable part 4 via an insertion section 10 of the base part 3 in an insertion direction 11 and is designed here to rest with the insertion section 10 of the base part 3 on the insertion section 11 of the interchangeable part 4 . The base part 3 and the interchangeable part 4 can thus be brought into a connection position. Contrary to the direction of insertion 12 , the base part 3 can be separated from the interchangeable part 4 in a pull-out direction 13 . The base part 3 and the interchangeable part 4 are then in a separation position. At least in the connection position, the insertion direction 12 points from the mounting section 8 of the base part 3 to the mounting section 9 of the interchangeable part 4, while the extension direction 13 in the connection position points from the mounting section 9 of the interchangeable part 4 to the mounting section 8 of the base part 3. In FIG. 1A, the tool 7 is shown in the disconnected position and held in the holder 5 by means of the interchangeable part 4, the base part 3 being arranged on the robot arm 6 at a distance from the interchangeable part 4. In FIG. The base part 3 of FIG. 1A can be inserted into the interchangeable part 4 along an insertion direction 12—in this case vertically downwards—in order to reach the connection position. When inserting a pin 14 of the base part 3 with two opposite bars of a locking mechanism 16 in a corresponding to the pin 14 recess 17 of the interchangeable part 4. The bolts 15 are here and in this respect preferably designed to engage behind a projection 18 in the recess 17 when the bolts 15 are correspondingly pushed out. In addition, when inserting, two opposite centering elements 19 of the base part 3 dip into a respective centering bore 20 of the interchangeable part 4 in the direction of insertion 12 in order to center the base part 3 in the interchangeable part 4 transversely to the direction of insertion 12 . In the connection position shown in FIG. 1B, the tool 7 is connected to the robot arm 6 indirectly via the changing device 2, the base part

3 and the interchangeable part 4 are plugged into each other. The base part 3 and the interchangeable part

4 are also locked together by means of a locking mechanism 16 of the base part 3, not shown in FIG. 1B. To separate the base part 3 and interchangeable part 4, the locking mechanism 16 must be moved from the locked position to the unlocked position.

The holder 5 has a U-shaped recess 21 and four, in this case pin-shaped, engaging sections 22 . Each of the two U-legs 28 of the holder 5 has two engaging sections 22 . The engagement sections 22 have support surfaces 23 which hold the interchangeable part 4 in the separated position and support it against the direction S of gravity. Four holding surfaces 25 are provided on the interchangeable part 4 corresponding to the four supporting surfaces 23 , one supporting surface 23 corresponding to one holding surface 25 . The support surfaces 23 are in contact with the holding surfaces 25 when the interchangeable part 4 is held by the holder 5 . Furthermore, four securing surfaces 24 are provided, which prevent the interchangeable part 4 from being accidentally lifted off in the pull-out direction 13 . In the illustrated and preferred changing device system 1, this is done by the engagement sections 22 resting against the securing surfaces 24, which in the present case are not necessarily arranged on the underside of the engagement sections 22. A total of four grooves 26 are provided on the changing part with the retaining surfaces 25, into which the engagement sections 22 can intervene. However, the grooves could also be dispensed with. A pin-shaped actuating means 29 is arranged on the U-crosspiece 27 for engaging from below, thus counter to the direction of gravity S and relative to being received in the extension direction 13, in a receptacle 30 of the locking mechanism 16 of the base part 3. 2A-E shows the course of a method using the changing device system 1 and the changing device 2, in which the base part 3 and the changing part 4 are separated from one another. The directions V1, V3, V5, V7, V9 with the arrows with dashed lines each point in directions in Fig. 2A-C with the changing device 2 and in Fig. 2D-E only with the base part 3 to achieve the respective shown position were tracked. The arrows V2, V4, V6, V8, V10 with the solid lines point in directions which, starting from the position shown in each case, can be followed accordingly with the changing device 2 or only with the base part 3 in order to reach the next position. First, the changing device 2, which is in the connection position and comprises the base part 3 and the changing part 4, approaches the holder 5 in the direction VI. The state shown in FIG. 2A is present.

The changing device 2 is then inserted at least essentially horizontally in the directions V2, V3 - following the unlocking direction 34 relative to the holder - into the present U-shaped recess 21 of the holder 5 and positioned in such a way that the base part 3 overlaps the actuating means 29, such as this is shown in Figure 2B.

Then the changing device 2 is placed on the holder 5 following the direction V4, V5 at least essentially in the insertion direction 12, in the present case vertically downwards. The actuating means 29 is received in the extraction direction 13 opposite the insertion direction 12 in the receptacle 30 of the locking mechanism 16 of the base part 3 . In doing so, a securing element 42 is pushed out of the receptacle 30 by the actuating means 29 in such a way that the display element 31 connected to the securing means 42 of the display device 32 relative to the base part 3 protrudes outwards. Furthermore, in the present embodiment, which is preferred in this regard, the pin-shaped engagement sections 22 of the holder 5 are inserted into the grooves 26 of the interchangeable part 4 . The support surfaces 23 of the engagement sections 22, which point upwards here, come into contact with the holding surfaces 25, which point downwards here, in the grooves 26 of the interchangeable part 4. It is basically possible and not shown if the engagement section 22 on the interchangeable part 4 and the holding surface 25 and / or the groove 26 on the holder 5 are provided. To securely hold the interchangeable part 4, there is a form fit between the interchangeable part 4 and the holder 5, which acts optionally, ie depending on the position, in one or more directions, at least essentially horizontally and/or vertically. The state shown in FIG. 2C is then present, in which the locking mechanism 16 in the base part 3 is unlocked and released for adjustment.

The changing device 2 is then adjusted in the direction V6, V7 relative to the holder 5 in a locking direction 33 which is oriented at least substantially perpendicular to the direction of insertion 12. However, the receptacle 30 is held in place by the actuating means 29 of the holder 5 . As a result, a tab element 35 of the locking mechanism 16 on which the receptacle 30 is provided is adjusted relative to the base part 3 and is therefore adjusted relative to the base part 3 in the unlocking direction 34 .

Furthermore, the engagement sections 22 are positioned in relation to the interchangeable part 4 in such a way that the interchangeable part 4 has a pull-out stop 36, here a pull-out stop 36 in the groove, when it is pulled out of the holder 5 in the unlocking direction 34 relative to the holder 5 in the direction V6, V7 26, on the engaging portion 22 can strike. In addition, the interchangeable part 4 can strike against a pull-out from the holder 5 relative to the holder 5 in the pull-out direction 13, i.e. in the direction V8, V9, with the pull-out stop 36 on a securing surface 24 of the holder 5 facing away from the support surface 23. The locking mechanism 16 is moved from the locked position shown in FIG. 2C to the unlocked position shown in FIG. 2D.

The base part 3 is now pulled out of the interchangeable part 4 in the direction of extraction 13 opposite the direction of insertion 12, i.e. in the direction V8, V9, and at the same time lifted off the holder 5, with the interchangeable part 4 remaining securely held in the holder 5. In the present case, the pin 14 with the bolts 15 is removed from the recess

17 pulled out. In addition, the present centering elements 19 are pulled out of the centering holes 20 . This is illustrated in Figure 2E. The base part 3 has been lifted off the changing part 4 and the changing device is in the disconnected position. The base part 3 is then moved in the direction V10 in relation to the holder 5 with the exchangeable part 4 held therein, with the specific orientation of the direction V10 not being decisive for the process and another direction being possible. 3A-E shows the sequence of a further method, in particular one that can be successively combined with the method described above, in which the changing device 2 is brought from the disconnected position back into the connected position. The base part 3 and the interchangeable part 4 are thereby connected. Here the arrows V11, V13, V15, V17, V19 with the arrows with dashed lines each point in directions that in Fig. 3A-B only with the base part 3 and in Fig. 3C-E with the changing device 2 to achieve the respective shown position were tracked. The arrows V12, V14, V16, V18, V20 with the solid lines point in directions which, starting from the position shown in each case, can be followed accordingly with the changing device 2 or only with the base part 3 in order to reach the next position. First, the base part 3 is approached from any direction, presently in the direction VI 1, the held interchangeable part 4, so that the base part 3 is arranged above the interchangeable part 4. This is illustrated in Figure 3A. Then the base part 3, whose locking mechanism 16 is arranged in the unlocking position, which results from the fact that the tab element 35 is pulled forwards out of the base part 3, is placed in the insertion direction 12, i.e. in the direction V12, V13, onto the holder 5 and the interchangeable part 4 sold. The base part 3 is partially inserted into the interchangeable part 4 and the receptacle 30 of the locking mechanism 16 is placed on the actuating means 29 of the holder 5, so that a form fit is created between the receptacle 30 and the actuating means 29, which in the horizontal direction, more precisely in the Locking direction 33 and also the unlocking direction 34 acts. In the illustrated and to this extent preferred exemplary embodiment, the pin 14 with the adjustable bolts 15 facing away from one another and having conical ramp surfaces 37 of the locking mechanism 16 is inserted into the recess 17 of the interchangeable part 4, with the two centering elements 19, of which one centering element 19 is shown, being used for centering is immersed in a non-illustrated centering hole 20 of the interchangeable part 4. In the present case, the receptacle 30 is mounted so that it can be adjusted relative to the base part 3 together with the tab element 35 in the locking direction 33 . The state shown in FIG. 3B occurs, in which the base part 3 and the interchangeable part 4 are arranged in the connection position.

The base part 3 is then adjusted together with the interchangeable part 4 relative to the holder 5 in the direction V14, VI5, i.e. in the unlocking direction 34, with the receptacle 30 and the tab element 35 being adjusted in relation to the base part 3 in the locking direction 33 will. By adjusting the receptacle 30 relative to the base part 3, the locking mechanism 16 moves from the unlocked position into the locked position. The interchangeable part 4 and the base part 3 are then fixed to one another and blocked from being pulled apart by adjusting the base part 3 in the extension direction 13 relative to the interchangeable part 4, as shown in FIG. 3C.

The locked changing device can now be lifted from the holder 5 in the extension direction 13 relative to the holder 5, and consequently in the direction V16, VI7. When taking off pulls the display element 31 of the display device 32 is forced back into the base part 3 . The actuating means 29 is pulled out of the receptacle 30 of the tab element 35 when it is lifted. At the same time, the restoring force of a spring means 38 presses the securing element 42 into the receptacle 30 from the other side. This adjustment has the effect that the display element 31 connected to the securing element 42 no longer protrudes upwards from the base part 3 after the changing device 2 has been lifted off the holder 5 . After that, the changing device 2 is adjusted in relation to the holder 5 in the direction V18, V19.

In the present case, no tool 7 is mounted on the interchangeable part 4 . In particular, if the tool 7 is large, the changing device 2 is laterally displaced after being lifted from the holder 5, ie in the present case in the direction V18, V19, so that the tool 7 and the holder 5 cannot collide. This is illustrated in Figure 3E. Thereafter, the changing device 2 can be moved further in any direction, as is shown here by way of example with the direction V20. 4A shows the base part 3 with the locking mechanism 16 in the locking position. From the pin 14 on the base part 3 protrude laterally facing away from each other and at least essentially linearly displaceable bolts 15, wherein the bolts 15 are designed for positive locking in the corresponding to the pin 14 recess 17 of the interchangeable part 4, not shown. In the present case, the bolts 15 are designed in such a way that they dip into the recess 17 of the interchangeable part 4 together with the pin 14 and can then engage behind a projection 18 of the interchangeable part 4 there. Other solutions, for example based on magnetism and/or frictional engagement actuated by the locking mechanism 16, are not shown, but are also possible.

In the exemplary embodiment shown, the bolts 15 taper in the direction of their free ends and have the conical ramp surfaces 37, which are intended to slide off the interchangeable part 4 and create a locking force between the base part 3 and the interchangeable part 4 in the direction of insertion 12 of the base part 3 in relation to the interchangeable part 4 can exercise, as shown in Fig. 4C. Furthermore, two centering elements 19 are arranged on the base part 3 , which are intended to engage in centering bores 20 of an interchangeable part 4 (not shown), so that the base part 3 and the interchangeable part 4 can be centered on one another transversely to the insertion direction 12 . The centering elements 19 on the base part 3 and the centering bores 20 on the interchangeable part 4 are shown and are preferred in this respect. A reverse arrangement of the centering bores 20 and centering elements 19 is alternatively or additionally possible. In the present case, the tab element 35 is also guided in a groove of the base part 3 , with the tab element 35 having both the receptacle 30 and a further receptacle 45 . In the present case, the receptacle 30 and the further receptacle 45 are designed as through openings.

As shown in FIG. 4B , the bolts 15 are operatively connected via a toggle lever unit 40 to the tab element 35 , which can be adjusted at least essentially in a straight line and is guided in the base part 3 and has the receptacle 30 . The bolts 15 are operatively connected to the bracket element 35 via toggle levers 41 of the toggle lever unit 40 which are connected in an articulated manner on both sides. The bars 15 can be adjusted at least essentially transversely to the tab element 35 , and the axes of rotation A1 , A2 , A3 of the toggle lever 41 are arranged at least essentially perpendicularly to the locking direction 33 and to the unlocking direction 34 of the locking mechanism 16 . In the present case, and to this extent preferred, the axes of rotation A1, A2, A3 are also arranged parallel to the direction of insertion 12 and the direction of extraction 13. An adjustment of the tab element 35 thus leads to an adjustment of the guided bolt 15 and to a maximum outward deflection of the bolt 15 when a dead center of the toggle lever unit 40 is reached. A further adjustment of the toggle lever unit 40 beyond the dead center is shown in FIG Sectional view, including the interchangeable part 4 and the holder 5, shown. In FIG. 5A, the base part 3 is shown with its locking mechanism 16 in the unlocked position, contrary to FIG. 4A. In the present case, but not necessarily, the bolts 15 are pulled completely into the pin 14 in the opposite directions V21 and V22. The base part 3 can thus be removed from the interchangeable part 4 be pulled out or placed on the interchangeable part 4. The tab element 35 of the locking mechanism 16 is partially pulled out of the base part 3 in the unlocking direction 34 . In Figure 5B, the latches 15 are similarly shown in an approximate position. In FIG. 5C, the bolts 15 are shown in the retracted position in the pin 14, in which the bolts 15 do not engage behind the projection 18 of the recess 17 of the interchangeable part 4, which in this case is circumferential.

6A-C shows how, in the locking position of the locking mechanism 16, the tab element 35 is releasably secured against adjustment by means of the receptacle 30 and by means of a securing element 42 engaging in the receptacle 30 and can be released again for adjustment.

6A shows the changing device 2 in the connection position and in a position from which the changing device 2 can be placed onto the actuating means 29 of the holder 5 in the insertion direction 12 . The actuating means 29 is therefore aligned at least substantially in the vertical direction in alignment with the receptacle of the tab element 35, so that when the changing device 2 is set down (or is a word missing here?) a form fit is formed between the actuating means 29 and the receptacle 30, which at least in Is substantially transverse to the direction of insertion 12, that is present at least substantially horizontally aligned. In the position shown in FIG. 6A, the securing element 42 engages in the receptacle 30 of the tab element 35 from above. The securing element 42 thus blocks and secures the locking mechanism 16 against displacement in the unlocking direction 34 relative to the base part 3.

In the present case, and in this respect preferably, the diameter D1 of the receptacle 30 is larger than the diameter of the actuating means D2 and the diameter of the securing element D3.

In the lowest position shown in FIG. 6A, the securing element 42 strikes a lower projection 47 of the base part 3 vertically in the direction of the receptacle 30 with the underside of a projection 46 of the securing element 42 . While that is Securing element 42 present and in this respect preferably loaded with a spring means 38 in the direction of the receptacle 30 with a restoring force, the spring means 38 resting on the upper side of the projection 36 of the securing element 42.

When the changing device 2 is placed on the actuating means 29, the securing element 42 is displaced from the receptacle 30, as is shown in FIG. 6B. The display element 31, which is operatively connected to the securing element 42, is thereby moved upwards by the actuating means 29 against the restoring force of the spring means 38 until the securing element 42 is displaced from the receptacle 30. The display element 31 then projects upwards in relation to the base part 3 . The display element 31 , which is in particular in the form of a pin, is presently but not necessarily connected in one piece to the present but not necessarily pin-shaped securing element 42 . The spring means 38 also ensures that the securing element 42 and the display element 31 are subjected to a restoring force in the direction of the receptacle 30 . In the state of the changing device system 1 shown in FIG. 6B, the locking mechanism 16 with the lug element 35 is unlocked against adjustment relative to the base part 3, since the securing element 42 is pushed completely out of the receptacle 30 of the lug element 35. The locking mechanism 16 can therefore be moved into the unlocked position. In FIG. 6C, the locking mechanism 16 is shown moved into the unlocked position. In this case, the indicator element 31 is also arranged in a position in which the indicator element 31 indicates the unlocked state of the locking mechanism 16 . In addition, the securing element 42 protrudes, at least in sections, into the further receptacle 45 of the locking mechanism 16, more precisely the tab element 35, so that the securing element 42 remains held on the further receptacle 45 by the restoring force of the spring means 38 when the base part 3 is removed from the interchangeable part 4 and is lifted from the holder 5. The locking mechanism 16 is then held securely in the unlocked position. reference list

Al axis of rotation

A2 axis of rotation

A3 axis of rotation

Dl diameter of the recording

D2 diameter of the actuator

D3 Diameter of fuse element

S direction of gravity

VI to V21 direction

1 changing device system

2 changing device

3 base part

4 interchangeable part

5 holders

6 robot arm

7 tool

8 Mounting section on the head side of the robot arm

9 Mounting section on the bottom of the tool

10 Insertion portion of the base part 11 Insertion portion of the interchangeable part 12 Insertion direction

13 pull-out direction

14 cones

15 bars

16 locking mechanism

17 Recess of the interchangeable part

18 Projection in the recess of the interchangeable part

19 centering element of the base part

20 Centering hole of the interchangeable part 21 Recess of the holder 22 Engaging section of the holder

23 Supporting surface of the engaging portion

24 locking surface of the engaging portion

25 Retaining surface of the interchangeable part

26 groove of the interchangeable part

27 U cross bar

28 U legs 29 means of actuating the holder

30 recording of the locking mechanism

31 display element of the display device

32 display device

33 locking direction

34 unlocking direction

35 tab member

36 Pull-out stop of the interchangeable part

37 Ramp surfaces of the locking mechanism

38 spring means

40 toggle unit

41 toggle lever

42 fuse element

45 further recording of the locking mechanism

46 protrusion of fuse element

47 protrusion

48 lead

Claims

P atentClaims

1. Changing device (2) for changing tools (7) to be used one after the other on a robot arm (6), with a base part (3) and a changing part

(4), the base part (3) providing a mounting section (8) for mounting the robot arm (6) on the head side of the changing device (2) and the changing part (4) providing a mounting section (9) on the bottom side of the changing device (2) for mounting of a tool (7), wherein the base part (3) and the interchangeable part (4) are connected to one another in a connecting position in such a way that the base part (3) can be moved from the connected position in an at least essentially separated from the mounting section (9) of the interchangeable part (4 ) toward the mounting section (8) of the base part (3) in the extraction direction (13) relative to the interchangeable part (4) into a disconnected position separated from the interchangeable part (4) and back into the connected position in an opposite direction of insertion (12), and wherein the Base part (3) from a locking position blocking a separation of the base part (3) from the interchangeable part (4) from the connection position in the pull-out direction (13) to a separation position of the base part (3) from the interchangeable part (4) from the connection position in the pull-out direction (13) and has a locking mechanism (16) that can be moved back and interacts with the interchangeable part (4), characterized in that the locking mechanism (16) has a receptacle (30 ) for receiving (30) an actuating means (29) at least essentially in the pull-out direction (13) in the connection position or an actuating means (29) for insertion into a receptacle (30) at least essentially in the insertion direction (12) in the connection position , that the locking mechanism (16) for positively receiving the actuating means (29) in a locking direction (33) at least substantially perpendicular to the pull-out direction (13) and/or in an unlocking direction (34) at least substantially opposite the locking direction (33) in the receptacle (30) and that the locking mechanism (16) is formed by adjusting the receptacle (30) or the actuating means (29) in the unlocking direction (34) relative to the base part (3) and/or by adjusting the receptacle (30) or the actuating means (29) is adjustable in the locking direction (33) relative to the base part (3) from the unlocked position to the locked position.

2. Changing device according to Claim 1, d a d u r c h g e k e n n z e i c h n e t , d a s s the changing part in the pull-out direction (13) at least essentially opposite to the insertion direction (12) has at least one holding surface (25), preferably at least two, in particular at least four, holding surfaces (25) for holding the Changing part (4) in the direction of gravity (S) from a holder.

3. Changing device according to Claim 1 or 2, characterized in that the base part (3) has a securing element (42) for positively engaging in the receptacle (30) of the locking mechanism (16) in the unlocking direction (34), that, preferably, the securing element (42) can be inserted into the receptacle (30) at least essentially in the insertion direction (12) and removed from the receptacle (30) at least essentially in the extraction direction (13), and that, more preferably, the receptacle (30) as Through hole is formed.

4. Changing device according to one of Claims 1 to 3, d a d u r c h g e k e n n z e i c h n e t , d a s s a display device (32) adjustable from a position indicating positive locking of the locking mechanism (16) in the locking position to a position indicating the release of the locking mechanism (16) in the locking position is.

5. Changing device according to one of claims 1 to 4, d a d u r c h g e k e n n z e i c h n e t, d a s s the receptacle (30) or the actuating means (29) is provided on a tab element (35) of the locking mechanism (16) and that the tab element (35) the locking mechanism (16) is provided adjustable from the unlocked position to the locked position and back.

6. Changing device according to one of claims 1 to 5, d a d u r c h g e k e n n z e i c h n e t, d a s s the tab element (35) for actuating a toggle lever unit (40) of the locking mechanism (16) is designed and that the toggle lever unit (40) the locking and unlocking of the base part (3) and changing part (4) is provided effecting.

7. Changing device system (1) with a changing device (2) for changing tools (7) to be used one after the other on a robot arm (6), comprising a robot arm connected to the base part (3) via the mounting section (8) of the base part (3). (6) and/or a tool (7) connected to the changing part (4) via the mounting section (9) of the changing part (4), characterized in that the changing device (2) is designed according to one of claims 1 to 6.

8. Changing device system according to claim 7, g e k e n n z e i c h n e t by a holder (5) supporting the changing part (4) in the separation position in the direction of gravity (S) for holding the changing part (4) separated from the base part (3).

9. Changing device system according to claim 7 or 8, d a d u r c h g e k e n n z e i c h n e t, d a s s the holder (5) has at least one supporting surface (23) provided corresponding to the holding surface (25) of the interchangeable part (4), in particular at least two or four with the at least two or four holding surfaces ( 25) of the interchangeable part (4) has correspondingly provided support surfaces (23), and/or that the holder (5) has at least one, in particular at least essentially pin-shaped, actuating means (29) or the receptacle (30).

10. Changing device system according to one of claims 7 to 9, d a d u r c h g e k e n n z e i c h n e t , d a s s the holder (5) has a recess (21), the recess (21) being U-shaped, and the actuating means (29) preferably being on the U - Transverse web (27) and/or the supporting surfaces (23) is/are provided at least essentially opposite and/or facing away from one another on the two U-legs (28).

11. Changing device system according to one of claims 7 to 10, characterized in that the holder (5) has at least one securing surface (24), in particular at least two or four securing surfaces (24), and that, preferably, a securing surface (24) in the Pull-out direction (13) opposite and/or facing away from a support surface (23) is/are provided and that, more preferably, at least in the pull-out direction (13) a form fit by means the at least one securing surface (24) between the holder (5) and the interchangeable part (4) can be produced.

12. Method for changing a tool (7), with a changing device system (1) according to one of claims 7 to 11, in which the base part (3) in the connection position with a receptacle (30) or with an actuating means (29) relative to a Holder (5) is placed in the insertion direction (12) on an actuating means (29) fixed on the holder (5) or is inserted into a receptacle (30) fixed on the holder (5), in which the base part (3) after being placed on the actuating means (29) or after being inserted into the receptacle (5) is adjusted relative to the holder (5) in the locking direction (33) and by adjusting the base part in the locking direction (33) the receptacle (30) or the Actuating means (29) is adjusted relative to the base part in the unlocking direction (34) and the actuating means (29) interacts in a form-fitting manner with the locking mechanism (16) and moves the locking mechanism (16) from the locked position to the unlocked position position is adjusted.

13. Method for changing a tool (7) according to claim 12, in which, after the locking mechanism (16) has been moved into the unlocking position, the base part is lifted out of the connection position relative to the interchangeable part in the extension direction (13), and in which the interchangeable part ( 4) is held in the direction of gravity (S) after the base part (3) has been lifted off the holder (5).

14. Method for changing a tool according to claim 12 or 13, in which when the receptacle (30) is placed on the actuating means (29) or when the actuating means (29) is inserted into the receptacle (30), in particular by the actuating means (29) , a securing element (42) is preferably forcibly moved out of the receptacle (30) and that Operating means (29) engages in the receptacle (30), in particular in the section of the receptacle (30) released by the securing element (42).

15. Method for changing a tool (7), with a changing device system (1) according to one of claims 7 to 11, in which the base part (3) in the insertion direction (12) in a holder (5) held by a holder (5) changing part (4) is used, in which the base part (3) is placed with a receptacle (30) or with an actuating means (29) in the direction of insertion (12) relative to the holder (5) on an actuating means (29) fixed on the holder (5), or is inserted into a receptacle (30) fixed to the holder (5), in which case the base part (3) after being placed on the actuating means (29) or after being inserted into the receptacle (30) relative to the holder (5) in the unlocking direction (34) is adjusted, and by adjusting the base part in the unlocking direction (34) the receptacle (30) or the actuating means (29) is adjusted relative to the base part (3) in the locking direction (33) and the actuating means (29 ) or the recording (30) positively m interacts with the locking mechanism (16) and the locking mechanism (16) is moved from the unlocked position to the locked position.

16. Method for changing a tool (7) according to claim 15, in which, after the locking mechanism (16) has been moved into the locking position, the changing device (2) is lifted off in the connecting position relative to the holder (5) in the extension direction (13).

17. Method for changing a tool (7) according to claim 15 or 16, in which by lifting the changing device (2) from the actuating means (29) or from the receptacle (30), a securing element (42) is preferably forced to secure the locking mechanism ( 16) engages positively in the receptacle (30) in the locking position.