TOOL CHANGER FOR COLLABORATIVE ROBOTS, A ROBOT TOOL CHANGER SYSTEM AND A METHOD FOR CONNECTING A TOOL TO A ROBOT ARM

Abstract

The present invention relates to a tool changer for automatically connecting a tool changer for collaborative robots, a robot tool changer system, and a method for connecting a tool to a robot arm. The tool changer comprises a first tool changer part intended to be mounted to an arm of the robot, the first tool changer part comprising first connecting means; a second tool changer part intended to be mounted to the operating device and comprising second connecting means. The first and second connecting means are arranged for mutual engagement, such that said first and second tool changer part may be connected and disconnected from each other.

Claims

1. A tool changer for automatically connecting an operating device, such as a working tool, to an autonomous or collaborative robot, said tool changer comprising: a first tool changer part intended to be mounted to an arm of said robot, said first tool changer part comprising first connecting means; a second tool changer part intended to be mounted to said operating device and comprising second connecting means, said first and second connecting means being arranged for mutual engagement, such that said first and second tool changer parts may be connected and disconnected from each other, said first tool changer part further comprising third connecting means for connection to said robot, and said second tool changer part further comprising fourth connecting means for connection to said operating device, said first tool changer part comprising a first connection surface for facing said second tool changer part and defining a first plane, and said second tool changer part comprising a second connection surface for facing said first connection surface and defining a second plane being parallel to said first plane, said first connecting means projecting from said first connection surface substantially perpendicular to said first plane, and said second connecting means being arranged for receiving said first connecting means, wherein said second tool changer part further comprising locking means, which comprises locking elements for locking and unlocking said first connecting means to and from said second connecting means.

2. The tool changer according to claim 1, wherein said first connecting means comprises elongated cylindrical projecting elements, projecting from said first connection surface, and said second connecting means comprises corresponding interacting openings, arranged through said second connection surface.

3. The tool changer according to claim 1, wherein said first connecting means comprises locking portions for engaging said locking elements, such that said first tool changer part and said second tool changer part are interlocked in a direction substantially perpendicular to said first and second planes.

4. The tool changer according to claim 3, wherein said locking portions comprise recesses arranged at an end of said first connecting means, said recesses extending in a direction substantially parallel to said first and second planes.

5. The tool changer according to claim 4, wherein said locking elements are displaceable in a direction parallel to said first and second planes and are arranged for a first unlocked position, where said locking elements are disengaged from said locking portions, and a second locked position, where said locking elements engage said locking portions, thereby preventing movement of said first connecting means in relation to said second connecting means.

6. The tool changer according to claim 5, wherein said recess comprises flanges defining inclined surfaces, which are inclined in relation to said first and second planes such that said locking elements interact with said inclined surfaces when said locking elements engage said locking portions.

7. The tool changer according to claim 6, wherein each of said flanges comprises a first recess flange and a second recess flange, said inclination of said first recess flange being larger than said inclination of said second recess flange.

8. The tool changer according to claim 5, wherein said locking elements comprise first locking elements and second locking elements being displaceable towards and away from each other, said locking means further comprising rotation elements 36 arranged for rotation around an axis substantially perpendicular to said first and second planes, and arranged to interact with said displaceable locking elements, such that said locking elements can move between said first unlocked position and said second locked position.

9. The tool changer according to claim 8, wherein said rotation elements comprise engagement parts being arranged for cooperation with a device holder arranged to suspend said second tool changer part, such that upon displacement of said device holder from a first engaged position to a second disengaged position, said engagement parts interact with said device holder, causing said rotating elements 36 to rotate and thereby causing said locking means to displace in relation to each other.

10. The tool changer according to claim 9, wherein said rotation elements comprise an eccentric locking groove which interacts with a locking pin arranged on said first and second locking elements, respectively.

11. The tool changer according to claim 9, wherein said second tool changer part comprises openings for cooperating with said device holder in a displaceable manner, said engagement parts being arranged within each of said openings for engaging said device holder.

12. The tool changer according to claim 11, wherein said openings comprise flanges defining inclined surfaces, which are inclined in relation to said first and second planes, such that said device holder interacts with said inclined surfaces upon engaging said device holder with said second tool changer part.

13. The tool changer according to claim 1, wherein said tool changer comprises an interchangeable and integrated pass-through module for connecting a flow, such as an electric current, a pneumatic or hydraulic flow, from said first tool changer part to said second tool changer part, said integrated pass-through module comprising a first pass-through module part connected to said first tool changer part, and a second pass-through module part connected to said second tool changer part, said module parts comprising mating terminals for arranging an electrical or a pneumatic or a hydraulic connection in a fluid-tight manner.

14. The tool changer according to claim 13, wherein said tool changer 10 comprises an external pass-through module housing comprising a number of external interchangeable pass-through modules arranged integrated in said housing for connecting a flow, such as an electric current, a pneumatic or hydraulic flow, from said first tool changer part to said second tool changer part, said housing comprising a first housing part arranged on said first tool changer part and a second housing part arranged on said second tool changer part, said integrated pass-through modules comprising a first pass-through module part connected to said first housing part, and a second pass-through module part connected to said second housing part, said module parts comprising mating terminals for arranging an electrical and/or a pneumatic and/or a hydraulic connection in a fluid-tight manner, said number of mating external pass-through modules being preferably two, or more preferably three.

15. A tool changer system comprising a tool changer according to claim 1, and a device holder comprising gripping means for engaging said second tool changer part.

16. A method for connecting an operating device, such as a working tool, to a robot arm, said method comprising the following steps: providing a robot arm having a first tool changer part according to claim 4, providing a device holder having a second tool changer part, said device holder comprising gripping means for engaging said rotation elements, said method further comprising the following steps: moving said robot arm, having said first tool changer part, to a position, thereby arranging said first connection surface so as to face said second connection surface, moving said first tool changer part towards said second tool changer part, thereby connecting said first and second connecting means, moving said robot arm, having said first tool changer part and said engaged second tool changer part, in a direction parallel to said first and second planes and in a direction away from said device holder, said gripping means hereby engaging said rotation elements, which hereby rotate and engage said displaceable locking elements into a position where said locking elements engage said recesses.

Description

[0056] FIG. 1A is a perspective view of a disconnected tool changer and a connected device holder.

[0057] FIG. 1B is a perspective view of a connector and a device holder.

[0058] FIG. 10 is a perspective view of a tool changer and a disconnected device holder.

[0059] FIG. 2A is a horizontal cross-sectional view of the tool changer and the device holder.

[0060] FIG. 2B is a horizontal cross-sectional view of the tool changer and the device holder.

[0061] FIG. 2C is a horizontal cross-sectional view of the tool changer and the device holder.

[0062] FIG. 3 is a horizontal side view of the first tool changer part.

[0063] FIG. 4 is a vertical cross-sectional view of the tool changer and device holder.

[0064] FIG. 5 is a perspective view of a robot and a tool changer system.

[0065] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like reference numerals refer to like elements throughout. Like elements will thus not be described in detail with respect to the description of each figure.

[0066] FIG. 1 is a perspective view of a disconnected tool changer 10 and a connected device holder 44. The tool changer 10 is illustrated with a first tool changer part 12 having a first connection surface 24, and a second tool changer part 14 having a second connection surface 26. The first tool changer part 12 comprises first connecting means 16 extending from the first connection surface 24, and the second tool changer part 14 comprises second connecting means 18 arranged as openings extending from the second connection surface 24 and into the second tool changer part 14. The first connecting means 16 are in the illustrated embodiment composed of four cylindrical (only three are shown) elements, and the second connecting means 18 are in the illustrated embodiment composed of four corresponding cylindrical openings having an opening diameter allowing a minimal tolerance between the first connecting means 16 and the second connecting means 18.

[0067] The first connecting means 16 may thus be tightly engaged within the second connecting means 18.

[0068] FIG. 1 further illustrates a device holder 44 which is connected to the second tool changer part 14. The device holder 44 is preferably mounted, via holes, to a supporting structure (not shown), such as a table or other suitable structures. The device holder 44 comprises a pair of gripping means 60 which engages the second tool changer part 14, such that when the second tool changer part 14 is disconnected from the first tool changer part and the robot arm (not shown), the second tool changer part 14 is securely connected to the device holder 44 via the gripping means 60 and internal flanges of the device holder 44. The gripping means 60 further engages locking means 28, 30 (not shown) arranged inside the second tool changer part 14. The locking means 28, 30 are arranged for engagement with the first connecting means 16, such that upon displacement of the device holder 44 in relation to the second tool changer part, the gripping means 60 activates the locking means via rotating elements 36 (not shown) for engagement with the first connecting means 16. In the shown embodiment, the device holder 44 engages the second tool changer part 14 such that the internal locking means (not shown) are in a disengaged position and the first connector part 12 is disengaged from the second tool changer part 14.

[0069] FIG. 1 further illustrates that the tool changer 10 comprises pass-through modules 52, 54, which are modules that establish a power source connection or “flow” through the tool changer 10, which connection may be electrical, pneumatic or hydraulic. The individual tools for the robot may require different power sources, such that some tools may be electrically operated, pneumatically or hydraulically operated. Some specific tools even require several power sources, such as several electrical sources, several pneumatic or hydraulic sources, or a combination of some of all of the mentioned sources. For that reason, the tool changer 10 comprises a first integrated pass-through module which comprises a first pass-through module part 52 and a second pass-through module part 54. Each of the module parts 52, 54 are interchangeable and may be changed to a different module type depending on the need.

[0070] In order to arrange the tool changer 10 suitably for tools that require a plurality of power sources, the tool changer 10 comprises a housing which is defined by an upper housing part 56 and a lower housing part 58. Each housing part 56, 58 comprises a plurality of interchangeable pass-through module parts 52,54 which, in the illustrated figure, are three pairs. The tool changer 10 shown in FIG. 1 may thus be supplied with several individual power sources. It is thus to be understood that the number of pairs within the housing may be less or more than three. As the housing in itself is disconnectable from the tool changer 10, any different housing may be applied according to need and desire.

[0071] FIG. 1B is a perspective view of a connector and a device holder 44. The tool changer 10 and device holder 44 of FIG. 1B correspond to the embodiment of FIG. 1A. In the shown embodiment, the first tool changer part 12 is brought into engagement with the second tool changer part 14 where the locking means are in an unlocked position due to the engagement of the device holder 44. The first connecting means 16 extends within the second connecting means 18, and the connection surfaces 24, 26 are preferably abutting each other or in a close relationship.

[0072] FIG. 10 is a perspective view of a tool changer 10 and a disconnected device holder 44. The tool changer 10 and device holder 44 of FIG. 10 correspond to the embodiments of FIG. 1A and FIG. 1B.

[0073] In the embodiment shown in FIG. 10, the first tool changer part 12 is interconnected to the second tool changer part 14 such that the locking means (not shown) engages the first connecting means 16. From the embodiment in FIG. 1B to the embodiment in FIG. 10, the first tool changer part 12, which is connected to the robot arm (not shown), is engaged with the second tool changer part 14 and moved by the robot arm in a direction illustrated by the arrow (FIG. 10), and out of engagement with the device holder 44. Hereby, the gripping means 60 of the device holder 44 activates the internal locking means into engagement with the first connecting means 16. The first tool changer part 12 and the second tool changer part 14 are hereby securely connected, and the robot arm (not shown) having the tool (not shown) may operate.

[0074] FIGS. 2A-2C are horizontal cross-sectional views of the tool changer 10 and the device holder 44. The illustrations are views through the device holder 44 and the second tool changer part 14 in a situation where the first connecting means 16 of the first tool changer part 12 engages the second connecting means 18. In FIGS. 2A-2C is shown that the locking means comprises a first locking element 28, a second locking element 30, and two rotating elements 36.

[0075] The locking elements 28, 30 are arranged for mutual displacement towards and away from each other, and are in FIG. 1 shown in a position where the locking elements 28, 30 are towards each other and disengaged from the first connecting means 16.

[0076] The first connecting means are illustrated with recesses 32, such that the first and second locking means 28, 30, when displaced away from each other as shown in FIGS. 2B and 2C, engage the recesses 32 and lock the first connecting means 16 within the second connecting means 18.

[0077] Each of the first and second locking elements 28, 30 comprises a locking pin 40 which engages a locking groove 46 arranged in the rotating elements 36.

[0078] The rotating elements 36 rotate around a rotation axis 38, such that upon rotation, the locking pins are guided within the locking grooves 46, which are arranged in an eccentric manner in the rotating element. This eccentric arrangement of the locking grooves 46 causes the locking pins 40—and hereby the first and second locking elements 28, 30—to displace in relation to each other.

[0079] The rotating elements 36 further comprise engagement parts 42 which are arranged to engage the gripping means 60 of the device holder 44. When the device holder 44 is brought in and out of engagement with the tool changer 10, as shown in FIGS. 2A-2C, the rotating elements 36 rotate when the gripping means 60 interact with the engagement parts 42.

[0080] Between the locking pins 40, there is preferably arranged a spring (not shown), such as a coil spring. The spring has the technical effect that the locking pins 40 are kept in the same position within the locking groove 46 when the tool changer 10 is disconnected from the device holder 44, which ensures that the first and second tool changer parts do not accidental disengage. The spring ensures that the first and second locking elements 28, 30 do not displace in relation to each other when being in a locked position according to FIG. 10. The spring is in a preferred embodiment arranged between the locking pins; however, it is possible for the skilled person to arrange the spring on e.g. the rotating elements, causing the same effect.

[0081] Referring to FIG. 2A, where the first and second locking elements 28, 30 are in an unlocked position, each locking groove 46 may have a locking groove recess (not shown). This recess engages the locking pins, and the recess extends towards the first and second locking elements 28, 30 at an end of the locking grooves (marked by reference numeral 62). Here the locking pins 40 will engage the locking groove recesses and be kept in this position due to the spring action. However, when the tool changer 10 is “pulled” out of engagement with the device holder 44, the spring force is overcome, and the rotating elements rotate.

[0082] FIG. 3 shows a horizontal side view of the first tool changer part.

[0083] FIG. 3 clearly illustrates the recesses 32 of the first connecting means 16. The recesses 32 comprise an inclined bottom flange, which in the illustrated embodiment comprises two bottom flange parts, a first recess flange 34, and a second recess flange 34′. The first and second recess flanges 34, 34′ define different inclinations in relation to the first connection surface 24. The first recess flange 34 preferably has an angle between 30-60 degrees, more preferable approximately 45 decrees.

[0084] The first recess flange 34 may thus have a different inclination, either below og above the specified angles, however, the inclination of the first recess flange 34 being larger than the inclination of the second recess flange 34′. One preferred embodiment of an angle of the second recess flange 34′ is approximately 3 degrees. This angle may thus be different from 3 degrees, such as higher or lower. The angle of the first recess flange 34 has the technical effect that the first and second locking elements 28, 30 are guided into engagement with the recesses 32. This has the advantage that in a situation where the first connecting means 16 is not fully inserted into the second connecting means 18, the locking elements 28, 30 in combination with the recess flanges 34 will draw the first and second tool changer parts 12, 14 together.

[0085] The second recess flange 34′ has the technical effect that when the first and second locking 28, 30 engage the recesses 32, the second recess flange 34′ having a lower inclination which will urge the first and second tool changer parts 28, 30 together with great force, hereby ensuring a tight contact. It is to be understood that the first and second locking elements likewise comprise corresponding lower flanges which interact with the first and second recess flanges 34, 34′.

[0086] FIG. 4 shows a vertical cross-sectional view of the tool changer 10 and device holder 44. The figure shows the first tool changer part 12 being engaged with the second tool changer part 14 in an unlocked position.

[0087] It is apparent from the figure, that the first and second locking elements 28, 30 comprise the above-mentioned corresponding flanges.

[0088] The first tool changer part 12 further comprises fastening means 64 which fastens the first connecting means 16 to the first tool changer part 12 in a displaceable manner, such that the extension of the first connecting means 16 in relation the first tool changer part 12 can be adjusted. Further, the fastening means 64 ensures that the first connecting means 16 may be exchanged with other means.

[0089] The second tool changer part 14 further comprises flanges 50 arranged at the opening 48, where the gripping means 60 of the device holder 44 engages the second tool changer part 14. These flanges 50 are arranged with an inclination in relation to the second connection surface 26, such that the device holder 44 is guided in correct alignment with the second tool changer part 14.

[0090] FIG. 5 shows a perspective view of a robot and a tool changer system, where the system comprises two device holders 44 mounted to a supporting construction. The tool changer may comprise any suitable tool (not shown) mounted to the second tool changer parts 14.

[0091] The figure illustrates a robot, having a robot arm 100 and a tool changer 10 connected to the robot arm 100. The figure further illustrates a second tool changer part 14 being mounted onto one of the two device holders 44.

[0092] The tool changer 10, which is mounted to the robot arm 100, is out of engagement with the respective device holder 44, whereby the first and second tool changer parts 12, 14 are interlocked. In order for the robot arm 10 to equip the “other” second tool changer part 14 arranged freely in the device holder, the robot arm 100 brings the mounted tool changer 10 into engagement with the devise holder 44, such that the gripping means 60 engages the second tool changer part 14 and disengages the first and second locking elements 28, 30 from the first connecting means 16. The first and second tool changer parts 12, 14 are hereby unlocked, and the robot arm 100 moves the first tool changer part 12 in a vertical direction and out of engagement with the second tool changer part 14. Thereafter, the robot arm 100 moves the first tool changer part 12 to a position directly above the “other” second tool changer part 14 having the desired tool (not shown), whereafter the robot arm 100 moves the first tool changer part 12 in a vertical direction and into engagement with the “other” second tool changer part 14. As a final step, the robot arm 100 moves the first tool changer part 12 and the “other” engaged second tool changer part 14 in a horizontal direction, out of engagement with the device holder 44, whereby the first and second tool changer parts interlock.

LIST OF REFERENCE NUMBERS

[0093] 10 Tool changer [0094] 12 First tool changer part [0095] 14 Second tool changer part [0096] 16 First connecting means [0097] 18 Second connecting means [0098] 20 Third connecting means [0099] 22 Fourth connecting means [0100] 24 First connection surface [0101] 26 Second connection surface [0102] 28 First locking element [0103] 30 Second locking element [0104] 32 Recess [0105] 34 First recess flange [0106] 34′ Second recess flange [0107] 36 Rotating elements [0108] 38 Rotation axis [0109] 40 Locking pin [0110] 42 Engagement part [0111] 44 Device holder [0112] 46 Locking groove [0113] 48 Opening [0114] 50 Opening flanges [0115] 52 First pass-through module part [0116] 54 Second pass-through module part [0117] 56 First housing part [0118] 58 Second housing part [0119] 60 Gripping means [0120] 62 Locking recess [0121] 64 First connecting means fastening [0122] 100 Robot arm