EFFECTOR UNIT FOR A ROBOT, WORK IMPLEMENT COMPRISING A ROBOT, AND METHOD FOR REPLACING AN EFFECTOR IN ROBOTS

Abstract

This invention concerns an effector unit (1) for a robot, which can be locked and unlocked via a relative movement of the robot, so that several effectors (3) can be used in the effector unit (1). In addition, the invention concerns a corresponding method for automatically changing effectors.

Claims

1. Effector unit for a robot having at least one supporting element arranged at an end member of the robot, having an effector which can be fastened to the supporting element by means of coupling elements engaging into one another in a form-fit and/or force-fit manner, and having a locking mechanism which connects a coupling element of the effector to a coupling element of the supporting element in a detachable and loss-proof manner, wherein the supporting element is movably arranged relative to the end member, and in that the coupling elements can be connected in a common axial alignment which is arranged parallel to the direction of movement of the supporting element.

2. Effector unit according to claim 1, in which the coupling elements are designed to be connected or decoupled by a rotational and/or translational displacement movement of the robot.

3. Effector unit according to claim 1, in which the locking mechanism is arranged on the supporting element in such a free accessible way that it can be actuated actively or passively by an external actuating element.

4. Effector unit according to claim 3, in which the locking mechanism is designed such that it can be actuated under contact with an abutment by a displacement movement of the robot.

5. Effector unit according to claim 4, in which the locking mechanism is designed such that it can be actuated by a displacement movement of the robot under a releasable engagement with an abutment.

6. Effector unit according to claim 1, in which the coupling element of the supporting element is formed as an opening for receiving the coupling element of the effector with an opening width to be varied by the locking mechanism.

7. Effector unit according to claim 6, in which the opening is at least partially enclosed by two legs of the supporting element, which are moveable relative to each other.

8. Effector unit according to claim 7, in which the legs are designed to exert a mutual spring action, the legs being movable against the spring action by means of the locking mechanism.

9. Effector unit according to claim 8, in which the spring effect can be produced by recesses in the supporting element.

10. Effector unit according to claim 1, in which the coupling elements have a complementary cylinder, wedge or cone shape at least in sections.

11. Effector unit according to claim 1, in which at least one detent mechanism is provided between the coupling elements.

12. Effector unit according to claim 11, in which the coupling elements are formed as a bayonet locking mechanism.

13. Effector unit according to claim 1, in which the coupling elements are formed as a screw connection.

14. Effector unit according to claim 3, in which the locking mechanism is formed as a lever pivotably mounted on the supporting element.

15. Effector unit according to claim 14, in which the lever has a contour which can be moved continuously along an abutment.

16. Effector unit according to claim 14, in which the lever has an engagement opening for the actuating element.

17. Effector unit according to claim 1, in which at least one means is provided between the supporting element and the effector for precisely positioning the effector during the coupling process.

18. Robot comprising an effector unit according to any claim 1.

19. Working device with a robot, at least one effector and an effector unit, wherein the effector unit is designed according to claim 1.

20. Working device according to claim 19, in which a holding device for the effector is provided, on which the effector can be movably deposited.

21. Working device according to claim 20, in which a linear guide is formed between the holding device and the effector.

22. Working device according to claim 19, in which an abutment is provided which interacts with the effector unit during a displacement movement of the robot.

23. Working device according to claim 22, in which the abutment is formed at least partially complementary in shape to the locking mechanism of the effector unit.

24. Working device according to claim 23, in which the abutment is constructed as at least one rolling element.

25. Method for changing an effector on an end member of a robot, wherein a supporting element is provided on the end member of the robot, with which the effector can be fastened by means coupling elements in a form-fit and/or force-fit manner, which are releasably and captively connectable by means of a locking mechanism, wherein the supporting element is movable relative to the end member, and wherein the coupling elements are connectable in a common axial alignment which is arranged parallel to the direction of movement of the supporting element, comprising the steps of: picking up the effector from a holding device by connecting the coupling element of the supporting element to the coupling element of the effector by means of a first sequence of robot movements to form an effector unit; transferring the effector unit to an abutment by means of a second sequence of robot movements; and moving the locking mechanism with respect to the abutment while locking the supporting element and the effector of the effector unit by means of a third sequence of robot movements.

26. Method according to claim 25, after completion of the activity intended for the effector, further comprising the steps: transferring the effector unit to the or a further abutment by means of a fourth sequence of robot movements; moving the locking mechanism with respect to the abutment by unlocking the supporting member and the effector of the effector unit by means of a fifth sequence of robot movements; and placing the effector on the holding device by decoupling the coupling element of the supporting element from the coupling element of the effector by means of a sixth movement of robot movements.

27. Method according to claim 25, in which the steps of the individual sequences of the robot movements are sequentially repeatable using a plurality of different effectors.

Description

[0063] Further advantages and features of the invention result from the embodiment explained below with reference to the enclosed illustrations.

[0064] FIG. 1 is a perspective view of a first embodiment of an effector unit according to the invention, in which the supporting element is separated from the effector;

[0065] FIG. 2 is a view from the rear of the supporting element of this effector unit;

[0066] FIG. 3 is a perspective view of a working device according to the invention with two effector units of the first embodiment;

[0067] FIG. 4 shows an abutment according to the invention with rolling elements;

[0068] FIG. 5 is a perspective view of a second effector unit according to the invention, in which the supporting element is separated from the effector;

[0069] FIG. 6 is a view from the rear of the supporting element of this effector unit;

[0070] FIG. 7 is a perspective view of a working device according to the invention with two effector units of the second embodiment; and

[0071] FIG. 8 is a schematic representation in which effector units are arranged at one end member of a robot.

[0072] FIGS. 1 to 4 show a first embodiment of an effector unit according to the invention.

[0073] FIG. 1 shows an effector unit 1 in a non-assembled state, which is formed by a supporting or retaining element 2 and an effector 3, in this case a gripper jaw.

[0074] Supporting element 2 is used to be fastened to an end link or member 17 of a robot, as can be seen in FIG. 8.

[0075] As this FIG. 8 shows, two opposite effector units 1 form a gripping mechanism. For that, two supporting elements 2 can be moved relative to each other via a corresponding actuating mechanism 18 and thus relative to the end link 17 of the robot, which is symbolized by the arrows.

[0076] The supporting element 2 and the gripper jaw 3 can be connected via coupling elements. For this purpose, supporting element 2 has a coupling element in the form of a substantially circular opening 4, as can be seen in FIG. 2, whereby a coupling element of the gripper jaw 3 with a correspondingly complementary shape, a cylindrical pin 5, can engage into opening 4.

[0077] The coupling elements 4 and 5 are aligned in a common axis AK, which runs transversely to the orientation AT of the longitudinal extension of the supporting element 2, as shown schematically in FIG. 1 and FIG. 8. The common axial alignment AK of the coupling elements 4.5 is oriented parallel to the linear direction of movement of the supporting elements 2 (see arrows in FIG. 8).

[0078] Several, possibly functionally different effectors have identical coupling elements 5, so that a universal coupling mechanism is made available in conjunction with supporting element 2, which allows an easy effector change. The pin 5 and the effector 3 can preferably be made in one piece.

[0079] As can be seen from FIG. 2, opening 4 is enclosed by two legs 6, which are formed by cut-outs or recesses 7 in the body of the supporting element 2. The recesses 7 are designed and dimensioned in such a way that the opening width of opening 4 is variable and the legs 6 can exert a spring effect relative to each other.

[0080] A locking mechanism in the form of a pivotally mounted lever 8 is arranged on the side of supporting element 2, which realises a quick-release lock in the area of the free ends of supporting element 2.

[0081] By actuating lever 8, the legs 6 are moved towards each other, contrary to the spring effect and thus clamp the pin 5 of the effector 3 in the opening 4.

[0082] Effectors 3 are placed and stored on a holding device 9 of a working station according to the invention, as FIG. 3 illustrates.

[0083] The holding device 9 has vertical pins 10, the position of which can be individually adjusted via various holes 11. The pins 10 engage in corresponding (not shown) holes on the underside of the effectors 3 with a sliding fit to allow a linear, vertical guidance of the effectors 3.

[0084] In a special embodiment according to the invention, the effector units 1 are to be used by a robot which has an integrated compliance control and which motion sequences can be programmed individually, e.g. under consideration of the impedance control.

[0085] Changing an effector 3 can therefore be done as follows. The robot moves the supporting element 2 or two opposing supporting elements 2 to the holding device 9, whereby it then moves laterally to the effector 3 in such a way that the pin 5 is received by the opening 4 of the supporting element 2, which together form a universal coupling. This creates the effector unit 1, since the tolerances between the opening 4 and the pin 5 allow easy pick-up on the one hand and at the same time sufficient hold of the effector 3 on the supporting element 2 for transport purposes on the other.

[0086] The effector unit 1 is then lifted vertically by simply pulling it off the pins 10 of the holding device 9.

[0087] In order to ensure an exact positioning between the two elements during the connection of supporting element 2 and effector 3, positioning means are provided on both elements, here in the form of adjacent steps 12, so that an incorrect adjustment of the gripper jaw 3 is excluded.

[0088] After lifting the effector unit 1, the robot moves it to a stationary abutment 13, as can be seen in FIG. 4.

[0089] The abutment 13 has rollers or rolling elements 14. The rolling elements 14 form a passive actuation which closes the intended quick release mechanism by inserting the levers 8 linearly between the rolling elements 14. Lever 8 has such a contour that during the insertion movement of the effector unit 1, the rolling elements 14 simply roll along lever 8, thus significantly increasing the closing force on lever 8 and thus via the quick clamping mechanism on opening 4 compared to the force applied in the direction of the linear insertion movement. Therefore, the robot does not have to move sideways and generate a corresponding force. The programming effort is kept simple, since only a linear movement has to be carried out by the robot.

[0090] Alternatively, however, it is also possible for the robot to close the lever 8 in a simple manner by engaging any surface by means of a corresponding movement, force control and/or force pre-control.

[0091] If this means that the pin 5 of the effector 3 is tensed in the opening 4 of the supporting element 2 without becoming loose, the effector unit 1 can be used for its functional determination.

[0092] The lever 8 is also designed in such a way that it can be closed manually by a user if necessary. Active actuators are also conceivable, such as pneumatically or hydraulically activated plungers, which engage the lever 8 and deflect it into the closed position.

[0093] When the locking mechanism is released, the above steps are basically performed in reverse order. However, the robot can move to another (not shown) abutment and attach it with the free end of lever 8, for example at one edge, and pull up lever 8 in a simple way by a corresponding movement directed away from the abutment.

[0094] FIGS. 5 to 7 show a second embodiment of the effector unit 1 according to the invention, which in principle is functionally identical, with the difference that a lever 15 is provided, which has a different contour profile.

[0095] Lever 15 can also be used to lock the locking mechanism on an abutment 13.

[0096] For opening the lever 15 has a continuous engagement opening 16 at its free end. For this purpose, the robot can go through a programmed movement sequence in which it pushes the effector unit 1 laterally onto a (not shown) stationary pin or rod aligned in a preferably horizontal direction with engagement in the engagement opening 16, and moves the effector unit 1 away from this pin, whereby the lever 15 is opened.

[0097] FIG. 8 schematically shows the arrangement of two effector units 1 at one end link 17 of the robot, which form a gripping mechanism.

[0098] In order to carry out the tool change in the above-mentioned embodiment, it is intended that the coupling elements of supporting element 2 and the coupling elements of the effector 3, irrespective of their design, lie in a common axial alignment AK, which is shown schematically in FIG. 8. According to the invention this alignment AK of the coupling elements is arranged transversely to the orientation AT of the supporting element 2, which is also shown schematically in FIG. 8, and corresponds to the direction of movement of the supporting elements 2 (see arrows), thus also to the direction of the gripping and holding force to be applied by the gripper jaws 3 for the objects to be gripped.