Patent Application
20230415357
This claims priority from European Application No. 22180803.3, filed Jun. 23, 2022, the disclosure of which is hereby incorporated by reference in its entirety.
The invention relates to a tool interface and robot with such a tool interface.
A tool interface according to the invention is used to fit a robot tool to a robot arm in a releasable and changeable manner. In this case, a generic tool interface has an abutment face for abutting an abutment face of a corresponding interface at the side of the tool. Additionally, the tool interface has a coupling device, by means of which the tool interface on the robot arm can be mechanically fixed to each other at a corresponding interface of the tool and in particular locked to each other.
It is known to provide a discharge device at the interface. Such a discharge device generally has a nozzle opening, through which compressed air is discharged during the coupling or uncoupling operation of the tool interface in the form of an air blast in order to eliminate occurrences of contamination in the region of the abutment face because they make a reliable connection and precise operation of the robot more difficult.
It has been established that the cleaning which can be achieved with known discharge devices is sometimes not in a position to achieve the desired discharge action so that contamination remains. Although it is possible to increase the cleaning quality via discharge devices with a plurality of compressed air channels and nozzle openings, this is associated with a high complexity during the installation of the tool interface and increases the fitting times considerably.
The invention provides a tool interface of the type described in the introduction which achieves an improved discharge action.
To this end, a tool interface according to the invention is primarily proposed. The invention further also comprises the set of this tool interface and a corresponding interface on the tool and the robot, on the robot arm of which the tool interface is provided. An operating method with regard to operating the robot is further included.
A tool interface has an abutment face for abutting a corresponding abutment face of the tool. Although it is possible to configure these abutment faces so as to correspond to each other in a non-planar manner, a planar configuration of the abutment face is considered to be advantageous. Preferably, at least 80% of a contact face is located in a common abutment plane. The abutment face is preferably an at least mainly metal abutment face. In a peripheral region of the abutment face, a circumferential seal which is provided for abutment against the abutment face of the tool may be provided and the introduction of dirt during operation is made harder.
The seal particularly preferably also surrounds the electrical contact faces for transmitting data and/or electrical energy. In a coupled state of the tool interface, therefore, the contact faces are protected by the seal against contamination from the exterior.
The tool interface has a coupling device for mechanically coupling the tool to the tool interface. Preferably, this coupling device has at least one conical orientation pin, or an orientation pin which tapers in another manner, which engages in a corresponding receiving member which is provided thereon during connection to the tool. In a particularly preferable manner, two such orientation pins are provided. Alternatively, the orientation pins can also be provided on the tool so that the tool interface on the robot arm has corresponding receiving members instead. In particular in addition to this, the coupling device preferably has a locking mechanism for connecting the tool to the tool interface in a positive-locking manner. This locking mechanism can particularly have bar members which are displaced transversely relative to the insertion direction after the tool has been positioned at the tool interface and are thereby engaged in a corresponding receiving member in the tool. In a central locking extension piece, the bar members may particularly be balls which are pressed by a control pin radially outwards and therefore into at least one receiving member at the tool side.
The tool interface according to the invention has a discharge device for producing a discharge air flow in the region of the abutment face. The invention primarily relates to the particular configuration of this discharge device.
There is provision for the discharge device to have a plurality of nozzle openings for discharging the discharge air flow. The compressed air is discharged by means of the at least two and preferably at least four nozzle openings into different regions of the abutment face and thereby ensures that the entire abutment face is freed from contaminations. The different nozzle openings can discharge the compressed air flow vertically relative to the abutment face or, conversely, also at an angle. An angled and consequently orientated discharge is particularly advantageous when particular regions of the interface and in particular of the abutment face are in particularly great need of cleaning. This may be the case, for example, for electrical contact faces, by means of which control signals or electrical power is/are transmitted to the tool.
The plurality of nozzle openings are supplied with compressed air by a common compressed air connection. The complexity for producing the compressed air connection is therefore comparatively small. It is simply necessary to connect a supply hose to a location on the tool interface, in particular a base member of the tool interface, in order thereby to supply the plurality of nozzle openings.
There is preferably provision for the tool interface to have the already mentioned base member. This base member is preferably made from metal and forms at least a portion of the abutment face of the tool interface. In principle, it is possible to provide the nozzle openings directly by separate holes in this base member.
It is preferable, however, for the tool interface to have a nozzle member which is separate from the base member and through which preferably a plurality of nozzle openings extend, and consequently at least two nozzle openings. This nozzle member is fitted to the base member and is supplied with compressed air by at least one air channel in the base member. The nozzle member can also be made from metal. However, it is preferable to have a configuration in which the nozzle member is made from plastics material, particularly polyoxymethylene or polyurethane. The nozzle member is preferably in the form of a planar nozzle plate with a substantially uniform wall thickness. Particularly preferably, the thickness of the nozzle plate may be 15 mm or less, in particular 10 mm or less.
There is preferably provision for the base member to have at least one recess in the region of the abutment face. This abutment face is covered by the mentioned nozzle member. Compressed air which is supplied to the recess can consequently be introduced inside the recess to the plurality of nozzle openings and be discharged here.
The recess preferably performs a double function. In addition to distributing the compressed air via the recess, at least one screw hole is preferably provided therein. This screw hole extends through the base member so that the fixing screws which are introduced there are used for fixing to a flange of the robot arm at the side, opposite the abutment face, of the base member.
Preferably, there is provided a common recess, in which a plurality of screw holes are provided, in particular at least three screw holes. In this instance, the screw holes can be arranged in particular in a circular shape and can be arranged together in a circular or circle-segment-shaped recess.
The nozzle member can be fixed to the base member in different manners. In this case, it should be taken into account that the nozzle member is pressed away from the base member as a result of the compressed air and the fixing member must be in a position to prevent the separation.
A preferred method makes provision for the nozzle member to be connected to the base member via a screw connection. In this case, the screws are preferably screwed into the base member from the exterior through the nozzle member. Preferably, at least three screws are provided, particularly preferably at least four.
The nozzle member is preferably located at least partially in the described recess. It is particularly preferable for the nozzle member to be adapted to the recess in such a manner that an outer side of the nozzle member forms a uniform plane with face portions, which surround the recess, of the abutment face. The outer side of the nozzle member is a portion of the abutment face in such a configuration.
The arrangement of the nozzle member in the recess can also serve to secure the nozzle member to the base member. To this end, there may be provision for the nozzle member to be retained in the recess in a frictionally engaging manner by having at least partially an excess dimension with respect to the recess. Another possible method provides for the nozzle member to be retained in the recess in a positive-locking manner. This is particularly possible by the recess having a geometry, the cross section of which at least partially tapers in the direction of the abutment face, for example, in the manner of a dovetail. The nozzle member is inserted therein and secured so as to prevent separation by excess dimensions with respect to the narrowest location of the recess. The dovetail-like shape or a different formation, which tapers towards the abutment face, of the recess is further advantageous because it promotes an inclination of the nozzle member for the automatic sealing of the gaps between the nozzle member and the base member. If the nozzle member is pressed outwards by compressed air at the inner side thereof, this closes the gaps and the air is substantially completely discharged through the nozzle openings in a correct manner.
A configuration, in which the nozzle member is secured both in the manner described above in a positive-locking manner by the shape of the recess and additionally by means of screws is particularly preferable.
The recess preferably has at least one support face for supporting the nozzle member. In particular, the recess can be configured in such a manner that such support faces and the above-described screw holes are provided in alternation. Consequently, a support face is provided between two screw holes in each case.
So that the air can be introduced inside the recess to the different nozzle openings, there may be provision for an air guiding groove, through which the compressed air propagates, to be introduced into the mentioned support faces. Alternatively or additionally, there may be provision for the nozzle member to have at an inner side an air guiding groove, through which the air can flow to the nozzle openings.
As already mentioned in above, the invention also relates to a robot having a tool interface of the type described. This robot has a robot arm, at the distal end of which the tool interface is provided. The tool can consequently be guided to a work position by means of the robot arm and be moved at that location. Furthermore, the robot arm can be guided into the region of a change-over station, in which a tool is uncoupled and subsequently a new tool is coupled.
In particular, the use of the described tool interface is advantageous if the tool is provided as a tool for chip-removing processing, in particular a drilling tool. During the chip-removing processing and in particular during the drilling, there is produced a high loading by dust and chips which can be advantageously counteracted by the discharge device according to the invention.
The tool preferably has an interface which corresponds to the tool interface, wherein it preferably also has a base member which provides the abutment face for the tool interface.
In addition to the tool interface and the robot, the invention also relates to a corresponding method, in which during a coupling operation, in the context of which a tool is connected to the tool interface, or during an uncoupling operation, in the context of which a tool is disconnected from the tool interface, compressed air is introduced via the plurality of nozzle openings into an intermediate region between the tool interface and the tool. The compressed air supply is preferably carried out in this case in an intermediate state, in which the two-sided abutment faces are spaced apart from each other only by a small amount, preferably by less than 10 cm, particularly preferably by less than 2 cm. The air being discharged is thereby redirected and passes outwards through the gap between the abutment faces, wherein it draws dust and chips with it and consequently cleans the abutment faces.
Additional advantages and aspects of the invention will be appreciated from the claims and the following description of preferred embodiments of the invention which are explained below with reference to the Figures. In the drawings:
At the side of the tool interface 10 which is provided on the robot arm 110, a metal base member 16 is provided. The face 12, which is directed upwards in
In the region of the abutment face 12, two areas 23 with electrical contact faces 24 are provided. They are provided in order to transmit electrical energy and to transmit control signals to the tool 200 and, in a manner not illustrated in greater detail, are connected to the supply line 122 on the robot arm 110. In a manner not illustrated in greater detail, corresponding contacts are provided opposite on the interface 210 on the tool.
The abutment face 12 is provided at the periphery with a seal 13 which prevents, after the tool 200 has been connected to the tool interface 10, dirt or chips from being able to be introduced into an intermediate space between the abutment faces 12, 212 and into the region of the contact faces 24. In order to perform this function, however, it is necessary for chips or contamination not to be already present on the abutment faces 12, 212 during connection. In order to prevent this, a discharge device 30 is provided.
With reference to
A nozzle member 18, the outer contour of which substantially corresponds to the contour of the recess 20, is inserted in the recess 20 which is formed in this manner in the manner which can also be seen in
However, the main object of the nozzle member 18 is the provision of a total of six nozzle openings 32 which belong to the discharge device 30 and through which compressed air can be discharged out of the recess 20 into a gap between the abutment faces 12, 212. This compressed air is suitable for blowing away from this location all the chips and other pieces of contamination which are located in the region of the abutment faces 12, 212 and particularly in the region of the contact faces 24.
As can be seen with reference to the screws 40 and the corresponding screw holes 19 in the nozzle member 18, the nozzle member 18 is securely screwed correctly to the base member 16.
In order to be able to withstand the excess pressure which is produced during the supply of compressed air in the recess 20, the nozzle member 18 may additionally have a cross section which tapers upwards in the direction of the abutment face 12 in the manner which can be seen in
The supply of the compressed air is carried out via a single compressed air connection 34, which is provided at the outer side of the base member 16. This is shown in
So that the compressed air can also flow onwards in the region of the support faces 21 inside the recess 20 and can consequently reach all the nozzle openings 32, grooves can be provided in the support faces 21. Alternatively or additionally, an air guiding groove 18C can also be provided at an inner side of the nozzle member 18. This can be seen in
The nozzle openings 32 can all have a uniform geometry. In order to compensate for the different geometrically caused resistance in the air supply line to the air nozzles, however, it may also be advantageous to provide the nozzle openings with different clear cross sections or geometries in order to compensate for the increased resistance during the supply of air. In this manner, it is possible to obtain a substantially uniform air flow at all nozzle openings in spite of this non-uniform air resistance.
The nozzle openings can discharge the compressed air in a perpendicular manner with respect to the abutment face. However, it may also be advantageous to provide the nozzle openings with a geometry which is positioned obliquely in order to direct the air selectively in a specific direction. This is particularly advantageous in order to clean the electrical contact faces 24 for transmitting electrical power or electrical signals. If this is the case, some or all of the air nozzles are preferably orientated in such a manner that they discharge the compressed air in the direction of these contact faces.
| Number | Date | Country | Kind |
|---|---|---|---|
| 22180803.3 | Jun 2022 | EP | regional |
