WO2022000011A1

WO2022000011A1 - Tool holder for the detachable connection to a two-jaw gripper on a robot arm

Info

Publication number: WO2022000011A1
Application number: PCT/AT2021/060232
Authority: WO
Inventors: Marcus Alexander Nikolai OPHOVEN; Christina SCHMIDBAUER; Sebastian SCHLUND; Hans KÜFFNER-MCCAULEY; Christian Clemenz
Original assignee: Technische Universität Wien
Priority date: 2020-07-03
Filing date: 2021-07-02
Publication date: 2022-01-06
Also published as: AT523914B1; AT523914A4

Abstract

The invention relates to a tool holder (3) for the detachable connection to a two-jaw gripper (2) on a robot arm, in particular a collaboration-capable robot device (1) for the human-machine interaction, comprising: a base body (4), a recess (5) for receiving the two-jaw gripper (2) on the robot arm, a receiving opening (6) for receiving a tool (7), in particular a rod-shaped tool, for example a battery-driven screwdriver.

Description

Tool holder for detachable connection with a two-jaw

Gripper on a robotic arm

The invention relates to a tool holder for releasable connection Ver with a two-jaw gripper on a robot arm, in particular a collaborative robot device for human-machine interaction.

The invention also relates to a tool holder with a tool; a changing device with a tool holder and a depositing station for depositing the tool holder; and a robot device which has a robot arm with a two-jaw gripper and a tool holder.

Finally, the invention relates to a method for changing between a first operating state and a second operating state of a robot device with a robot arm and a two-jaw gripper.

In the state of the art, collaborative robots ("cobots") have been developed for human-machine interaction. The collaborative robot is an industrial robot that works with people and is not separated from them by protective devices in the production process .

DE 102017 111008 A1 describes a collaborative robot that has a gripping device with two fingers as a working tool in order to be able to grasp and let go of a workpiece.

However, it is disadvantageous that the work tool has to be changed in order to be able to carry out other work tasks.

The gripping device could be replaced by its own screwing tool, which is firmly connected to the robot flange. The tool change can be carried out at a tool change station developed for this purpose or manually. In both cases, however, there are high costs for the tool, the tool changing station. In addition, the personnel expenses for the manual tool change considerably. Another disadvantage is that when the tool is installed on the robot, the system specified by the robot manufacturer is expanded. This creates integration problems because, for example, the robot programming may not be designed to operate the tool and this then has to be expanded or bypassed.

Further prior art is described in US Pat. No. 3,620,095 A, EP 3098 031 A1, DE 102017 120 923 A1 and DE 202014 003 133 U1.

In contrast, the object of the present invention is to alleviate or remedy at least individual disadvantages of the prior art. The invention aims in particular to be able to switch between different work tasks, preferably in the context of a human-machine interaction, quickly and with little effort in a robot with a two-jaw gripper.

This object is achieved by a tool holder according to claim 1, a tool holder including tool according to claim 17, a changing device according to claim 18, a robot device according to claim 21 and a method according to claim 22. Preferred exemplary embodiments are specified in the dependent claims.

According to the invention, the tool holder for releasable connec tion with a two-jaw gripper on a robot arm, in particular a collaborative robot for human-machine interaction, has: a base body, a recess for receiving the two-jaw gripper on the Ro robot arm, a receiving opening for receiving a tool, in particular a cordless screwdriver.

Furthermore, the robot device according to the invention has: a robot arm with a two-jaw gripper, a tool holder according to the invention, which is attached to the two-jaw gripper Jaw gripper is releasably attached.

Furthermore, a method for changing between a first operating state and a second operating state of a robot device with a robot arm which has a two-jaw gripper can be carried out with the following steps:

Carrying out a first work task with the two-jaw gripper on the robot arm in the first operating state of the robot device,

Picking up a tool holder according to the invention by inserting the two-jaw gripper into the recess on the main body of the tool holder,

Arranging a tool, in particular a cordless screwdriver, in the receiving opening on the main body of the tool holder, and

Carrying out a second work task with the tool on the tool holder in the second operating state of the robotic device.

Thus, the two-jaw gripper of the robot can be inserted into the recess of the tool holder in order to carry out a work task with the tool in the receiving opening of the tool holder. Advantageously, it is not necessary for this Wech sel to dismantle the two-jaw gripper and replace it with a tool attachment on the robot arm. The two-jaw gripper can remain on the robot arm while the tool is operated on the tool holder. The change can thus be carried out quickly and with little effort, in particular without tools. Another advantage is that the programming for the different work assignments is simplified.

Depending on the design, the tool can be a stick tool with a handle and a switch, in particular for switching the stick tool on and off. This rod tool can be designed for a hand operation by humans. Thus, the robot device can be used with a conventional stick tool will. Different tools can be used for different work tasks. For example, a drilling tool, in particular a cordless screwdriver, or a stick tool for cutting cables, for example, a stick mixer, or a (compressed air) stick grinder can be provided.

In order to be able to carry out the work with the tool without human operation, a release device is preferably provided for actuating a switch on the tool by moving the two-jaw gripper on the robot arm. The triggering device is thus set up for mechanical actuation, in particular switching on, of the tool. It is particularly advantageous in this embodiment that the triggering device is set up to transmit the movement of the two-jaw gripper, in particular a merging of the two jaws of the two-jaw gripper, to the switch, in particular to press the switch o- of move.

To transfer the movement, in particular the closing movement, of the two-jaw gripper to the switch of the tool, it is advantageous if the release device has a release that moves from a rest position retracted into the base body into a release protruding into the receiving opening for the tool. position is movable. As a result of the movement, in particular the closing movement, of the two-jaw gripper, the trigger is guided into the receiving opening in such a way that the trigger actuates the switch. Preferably, the trigger is physically brought into contact with the switch in order to actuate the switch mechanically. Depending on the design of the tool, the trigger can press or move the switch on the tool. The switch can have two states, in particular an on and an off state. On the other hand, the switch can also have more than two states, for example to set a different rotational speed on the tool. In this case, the trigger can have a corresponding number of positions. In particular, the trigger can be pushed continuously far into the receiving opening in order to continuously operate the switch accordingly, for example to move it. In order to bring the switch into its starting position, the release device can have a spring which pushes the trigger in the direction of the rest position. If the two-jaw gripper is moved accordingly, in particular moved apart, the trigger returns to the rest position due to the force of the spring. In an alternative embodiment, the trigger is moved into the rest position due to its own weight and / or the restoring force of the switch on the tool when the two-jaw gripper is moved accordingly, in particular moved apart.

In order to be able to locally separate the gripping movement of the two-jaw gripper from the movement of the trigger for the switch of the tool, it is advantageous if the trigger device has an actuator which converts the movement of the two-jaw gripper into the displacement of the The release from the rest position to the release position.

In order to accommodate the closing movement of the two-jaw gripper, it is advantageous if the actuator has at least one sliding part, preferably two sliding parts, which are connected to one jaw of the two-jaw gripper, preferably with two jaws of the two-jaw gripper , are movable. Thus, each sliding part has a contact surface for one jaw of the two-jaw gripper. It is particularly favorable if two sliding parts are moved towards one another by a closing movement of the two-jaw gripper.

For a change of direction when transferring the movement of the two-jaw gripper to the trigger, the actuator in a preferred embodiment has a wedge element with which the sliding part can be shifted in a first direction by the two-jaw gripper in a shift of the trigger can be transmitted in a different second direction, which is preferably substantially perpendicular to the first direction. In this embodiment, the wedge element and the sliding part have corresponding wedge surfaces, which at the closing movement of the two-jaw gripper slide against one another in order to transfer the displacement of the sliding part into the displacement of the trigger, preferably essentially perpendicular thereto.

In a preferred embodiment, a locking element for locking the tool to the receiving opening is seen before. In this embodiment, the tool can be arranged loosely in the receiving opening. By moving the locking element into a locking position, the tool in the receiving opening is secured against slipping out. On the other hand, the locking element can be moved from the locking position into a removal position in which the tool can be removed from the receiving opening.

In a further preferred embodiment, a securing element is present which is movable between a securing position securing the two-jaw gripper in the recess and a release position releasing the two-jaw gripper. Thus, in the securing position of the securing element, the tool holder is secured against loosening from the two-jaw gripper. In the release position of the safety element, the tool holder can be separated from the two-jaw gripper.

With regard to a particularly secure design, a spring element is preferably provided which presses the securing element in the direction of the securing position.

A lock, in particular a locking block, can be provided as a securing element, which can be displaced between the securing and the release position.

In order to make the attachment and securing of the tool holder on the two-jaw gripper particularly simple and reliable, in a preferred embodiment the lock is displaceable on an insertion opening delimiting the recess for the two-jaw gripper. Thus, the two-jaw gripper can use the Insertion opening can be introduced into the recess. Then the lock is moved along the insertion opening into the securing position so that the two-jaw gripper cannot be pulled out of the recess. To switch to gripper mode, the lock is moved to the release position so that the tool holder can be removed from the two-jaw gripper.

In order not to impair the insertion opening for the two-jaw gripper, in the release position in a preferred embodiment the lock is at least partially, preferably essentially completely, withdrawn within the base body.

In a further preferred embodiment, an actuating element is accessible on an outside of the base body, preferably on its underside, with a transmission mechanism being provided with which a movement, in particular a displacement, of the actuating element in a movement, in particular a displacement, of the Securing element is transferable from the securing to the release position. The actuating element thus extends as far as the outside of the base body, so that the actuating element can be actuated with the aid of a release element and the securing element can thus be transferred from the securing to the release position. The actuating element can be a plate or a rod.

For particularly reliable securing and unlocking of the tool holder, it is advantageous if the transmission mechanism has at least one rack on the actuating element side, at least one further rack on the safety element side and at least one gear, preferably two intermeshing gears, between the rack and the Has another rack. The toothed rack is preferably firmly connected to the actuating element and the further toothed rack is firmly connected to the safety element. The movement of the rack is transmitted via the gear, in particular via the two meshing gears, to the further rack, which is the securing element takes along accordingly. This embodiment has the advantage that the movement of the actuating element can be transmitted essentially without slippage and therefore particularly reliably.

A displacement of the actuating element in a displacement direction preferably causes a displacement of the safety element in the same displacement direction, preferably also to the same extent. Thus, the actuating element and the securing element are preferably moved parallel to one another.

To switch between a first work task for the two-jaw gripper and a second work task for the tool, in a preferred embodiment, a Wechselvorrich device with a tool holder as described above and a depositing station for depositing the tool holder is provided.

In a preferred embodiment, the deposit station has an unlocking element for transferring the safety element of the tool holder into the release position when the tool holder is deposited. By placing the tool holder at the dropping station, the unlocking element acts directly or indirectly via the actuating element and the transmission mechanism on the securing element in order to be able to release the two-jaw gripper from the tool holder at the dropping station.

The picking up of the tool holder from the depositing station with the aid of the two-jaw gripper preferably results in the engagement of the unlocking element being released and the locking element being transferred into the locking position. For this purpose, a spring element is preferably provided which biases the hedging element in the direction of the securing position. In this embodiment, the locking element is pressed into the release position against the force of the spring element by the engagement of the unlocking element. If the tool holder is lifted from the depositing station and the engagement of the release element is released, the spring element pushes the safety element into the safety position. Advantageously, the tool holder is automatically attached to the two-jaw Grab secured. Thus, the connection between the two-jaw gripper and the tool holder can only be established or separated by picking up and putting down on the deposition station.

As the release element, a release projection is preferably provided, which protrudes from a base plate of the Ablegesta tion.

The invention is explained below with reference to a preferred Ausfüh approximately example, which is shown in the drawings.

1 shows a robot device with a two-jaw gripper which is moved towards a tool holder with a cordless screwdriver.

FIG. 2 shows the robot device according to FIG. 1, the two-jaw gripper being received in a recess in the tool holder.

FIG. 3 shows a section along the line III-III in FIG. 1.

FIG. 4 shows a section along the line IV-IV in FIG. 3.

FIG. 5 shows a section along the line V-V in FIG. 2.

FIG. 6 shows a section along the line VI-VI in FIG. 5.

7 shows the robot device in the actuated state of a release device for the switch of the tool.

Fig. 8 shows a section along the line VIII-VIII in Fig.

7th

FIG. 9 shows a section along the line IX-IX in FIG. 7. Fig. 10 shows the robot device in the unactuated state egg ner triggering device for the switch of the tool.

FIG. 11 shows a section along the line XI-XI in FIG. 10.

FIG. 12 shows a section along the line XII-XII in FIG.

10.

Fig. 13 shows the robot device before the tool holder is placed on a placement station.

FIG. 14 shows a section along the line XIV-XIV in FIG. 13.

FIG. 15 shows a section along the line XV-XV in FIG. 14.

FIG. 16 shows a section along the line XVI-XVI in FIG.

14th

17 shows the robot device in the deposited state of the tool holder on the depositing station.

FIG. 18 shows a section along the line XVIII-XVIII in FIG. 17.

FIG. 19 shows a section along the line XIX-XIX in FIG. 18.

FIG. 20 shows a section along the line XX-XX in FIG. 18.

The drawings show a collaborative robot device (“cobot”) 1, which is designed for human-machine interaction The two-jaw gripper 2 has, as usual, two jaws 2a, 2b, which can be moved towards one another in order to be able to grasp objects Task with the two-jaw gripper 2 used. In addition, however, a tool holder 3 is provided, which is fastened in a second operating state on the two-jaw gripper 2lös bar (see. Fig. 2).

The tool holder 3 has a base body 4, on wel chem a recess 5 for inserting the two-jaw gripper 2 is formed. In addition, the base body 4 has a receiving opening 6 for receiving a tool 7, in particular a hand tool, for example a rod tool.

In the embodiment shown, the tool provided is an Ak screwdriver with a screw head 7a, a handle 8 and a switch 9 normally operated by the user, here a power button. However, other tools, in particular a stick tool for cutting cables, for example, a stick mixer, or a (compressed air) stick slider can also be provided.

The tool holder 3 has a triggering device 10 for loading the switch 9 on the bar tool 6 by moving the two-jaw gripper 2 on the robot arm. 7 to 9, the robot device 1 is shown in the actuated state of the triggering device 10, in which, for example, a screwing task with the tool 7 is carried out. 10 to 12 show the unactuated state of the release device in which the tool 7 is not active.

As can be seen from FIGS. 7 to 12, the release device 10 has a release 11 which moves from a rest position retracted into the base body (cf. in particular FIG. 11) into a release position protruding into the receiving opening 5 for the rod tool 6 ( see in particular Fig. 8) is displaceable. In addition, the triggering device 10 has an actuator 12, which transfers the movement of the two-jaw gripper 1 into the displacement of the trigger 11 from the rest position to the release position. In the embodiment shown, the actuator 12 has two sliding parts 13 which interact with the two jaws 2a, 2b of the two-jaw gripper 2. In addition, the actuator 12 a wedge element 14 between the two sliding parts 13.

The wedge element 14 and the sliding parts 13 have corresponding wedge surfaces 15 with which the displacement of the two sliding parts 13 towards one another is converted into a displacement of the trigger 11 essentially perpendicular thereto.

As can be seen from FIGS. 3 and 5, a Verriege treatment element 16 for locking the rod tool 7 on the receiving opening 6 is also provided. The locking element 16 is pretensioned by a spring device 16a and is displaced by the cobot 1 in order to secure the rod tool in the receiving opening 6.

As can be seen from FIGS. 13 to 20, the tool holder 2 has a securing element 17 which is positioned between a securing position (cf. freely giving release position (see. Fig. 17 to 20) is movable.

To actuate the securing element 17, a deposit station 18 (cf. FIG. 13) is provided on which the tool holder 2 can be deposited. The depositing station 18 has a base plate 19, from which an unlocking element 20 is high. In the stored state of the tool holder 3, the unlocking element 20 presses an actuating element 21a upwards.

The displacement of the actuating element 21a is transmitted via a transmission mechanism 21 to the securing element 17, which is thereby displaced into a release position in order to release an insertion opening 22 leading into the recess 5 of the tool holder 3. In the release position, the two-jaw gripper 2 can be pulled out of the tool holder 3. A lock, here a lock block 23, is provided as the securing element 17, which can be displaced between the securing and the release position. A spring element 24 presses the securing element 17 in the direction of the securing stel development. In the stored state, the securing element 17 is therefore shifted into the release position against the force of the spring element 24. In the embodiment shown, the transmission mechanism 21 has a rack 25 on the actuating element 21a side, a further rack 26 on the securing element 17 and two intermeshing gears 27 between the rack 25 and the further rack 26. When placing the work tool holder 3 on the dropping station 18, a United shift of the actuating element 21a by the unlocking element 20 via the rack 25, the gears 27 and the white direct rack 26 is transferred to the securing element 17 to the securing element 17 in the release position to convict.

The following method for changing between a first operating state and a second operating state of a robot device 1 with a robot arm which has a two-jaw gripper 2 can thus be carried out:

Carrying out a first work task with the two-jaw gripper 2 on the robot arm in the first operating state of the robot device 1,

Picking up the tool holder 3 by inserting the two-jaw gripper 2 into the recess 5 on the base body 4 of the tool holder 3,

Arranging the tool 7, in particular a cordless screwdriver, in the receiving opening 6 on the base body 4 of the tool holder 3, and

Carrying out a second work task with the tool 7 on the tool holder 3 in the second operating state of the robot device 1.

The tool 7 can be arranged in the receiving opening 6 before or after the tool holder 3 is picked up by the two-jaw gripper 2.

Claims

Patent claims:

1. Tool holder (3) for releasable connection to a two-jaw gripper (2) on a robot arm, in particular a robot device (1) capable of col laboration for human-machine interaction, comprising: a base body (4), a Recess (5) for receiving the two-jaw gripper (2) on the robot arm, a receiving opening (6) for receiving a tool (7), in particular a bar tool, for example an Ak screwdriver.

2. Tool holder (3) according to claim 1, characterized by a release device (10) for actuating a switch (9) on the tool (7) by moving the two-jaw gripper (2) on the robot arm.

3. Tool holder (3) according to claim 2, characterized in that the triggering device (10) has a trigger (11) which is retracted from a rest in the base body (4) into a receiving opening (6) for the Tool (7) protruding release position is displaceable.

4. Tool holder according to claim 2 or 3, characterized in that the triggering device (10) has a spring which presses the trigger (11) in the direction of the rest position.

5. Tool holder according to claim 3 or 4, characterized in that the triggering device (10) has an actuator (12) which converts the movement of the two-jaw gripper (2) into the displacement of the trigger (11) from the rest converts to the release position.

6. Tool holder according to claim 5, characterized in that the actuator (12) has at least one sliding part (13), preferably in front of two sliding parts (13), which with a jaw (2a) of the two-jaw gripper (2), preferably with two Jaws (2a, 2b) of the two-jaw gripper (2) are displaceable.

7. Tool holder (3) according to claim 6, characterized in that the actuator (12) has a wedge element (14) with which a displacement of the sliding part (13) in a first direction by the two-jaw gripper (2) can be transmitted into a displacement of the trigger (11) in a second direction which deviates therefrom and which is preferably essentially perpendicular to the first direction.

8. Tool holder (3) according to one of claims 1 to 7, characterized by a locking element (16) for locking the tool (7) on the receiving opening (6).

9. Tool holder (3) according to one of claims 1 to 8, characterized by a securing element (17) which between one of the two-jaw gripper (2) in the recess (5) securing securing position and one of the two-jaws -Gripper (2) releasing release position is movable.

10. Tool holder (3) according to claim 9, characterized by a spring element (24) which presses the securing element (17) in the direction of the securing position.

11. Tool holder (3) according to claim 9 or 10, characterized in that a lock, in particular a locking block (23), is provided as the securing element (17), which is displaceable between the securing and the release position.

12. Tool holder (3) according to claim 11, characterized in that the lock is displaceable on one of the recess (5) for the two-jaw gripper (2) delimiting the insertion opening (22).

13. Tool holder (3) according to claim 11 or 12, characterized in that the lock in the release position is at least partially, preferably substantially completely, withdrawn within the base body (4).

14. Tool holder (3) according to one of claims 1 to 13, characterized by an actuating element (21a) which is accessible on an outside of the base body, preferably on its underside, a transmission mechanism (21) with which a movement, in particular a displacement of the actuating element in a movement, in particular a displacement, of the securing element (17) can be transferred from the securing position to the release position.

15. Tool holder (3) according to claim 14, characterized in that the transmission mechanism (21) has at least one toothed rod (25) on the side of the actuating element (21a), at least one further toothed rack (26) on the side of the securing element (17) and has at least one toothed wheel (27), preferably two miteinan the meshing toothed wheels (27), between the toothed rack (25) and the further toothed rack (26).

16. Tool holder (3) according to claim 14 or 15, characterized in that a displacement of the actuating element (21a) in one direction of displacement causes a displacement of the hedging element (17) in the same direction of displacement, preferably also to the same extent.

17. Tool holder (3) according to one of claims 1 to 16 with a tool (7), in particular with a cordless screwdriver, wel Ches is arranged in the receiving opening.

18. Changing device comprising: a tool holder (3) according to one of claims 1 to 17, a depositing station (18) for depositing the tool holder

(3).

19. Changing device according to claim 18, characterized in that the depositing station (18) has an unlocking element (20) for transferring the securing element (17) of the tool holder (3) into the release position when the tool holder (3) is deposited.

20. Changing device according to claim 19, characterized in that an unlocking projection is provided as the unlocking element (20), which protrudes from a base plate (19) of the depositing station (18).

21. Robot device (1), in particular a collaborative robot, comprising: a robot arm with a two-jaw gripper (2), a tool holder (3) according to one of claims 1 to 17, which is attached to the two-jaw gripper (2) is releasably attached.

22. A method for changing between a first operating state and a second operating state of a robot device (1) with a robot arm, which has a two-jaw gripper (2), with the steps:

Carrying out a first work task with the two-jaw gripper (2) on the robot arm in the first operating state of the robot device (1),

Picking up a tool holder (3) according to one of claims 1 to 16 by inserting the two-jaw gripper (2) into the recess (5) on the base body (4) of the tool holder (3),

Arranging a tool (7), in particular a cordless screwdriver, in the receiving opening (6) on the base body (4) of the tool holder (3), and

Carrying out a second work task with the tool (7) on the tool holder (3) in the second operating state of the robot device (1).