DE202004016591U1 - Alternate coupler for carrier guided tool in robots has bus-system to control coupler and tool whereby multibus module is arranged on coupler with activation unit standardized for different bus-systems with changeable insert module - Google Patents

Abstract

Alternate coupler has a bus-system to control the coupler and the tool (7,8). A multibus module (12) is arranged on the coupler with activation unit (13) standardized for different bus-systems with at least one changeable, bus-specified, insert module (14).

Description

The The invention relates to a removable coupling for carrier-guided tools with a bus system with the features in the preamble of the main claim.

In practice in robot installations and for controlling carrier-guided tools Fieldbus systems of different types used. In the industrial Practice exists e.g. Profibus, Interbus, CAN bus, but also meanwhile Ethernet systems in various forms. Which fieldbus to Deployment comes, is usually determined by the plant operator. This must be the manufacturers and suppliers of exchangeable couplings and tool changers to adjust. Here are the change coupling different and Bus-specific fieldbus node set, whereby also the to be controlled Components of the tool changer, e.g. the interlock, to this fieldbus node are connected. The fieldbus nodes are designed differently and have different sizes, in particular Housing dimensions, and require different mounting locations on the removable coupling. In addition, an increased Wiring effort to be driven. These individual interpretations have disadvantages with respect to varying interference contours and an increased design, Construction and circuit expenses.

In the DE 195 33 948 A1 an energy distributor is addressed as a connecting element between the robot and the tool, wherein the energy distributor has its own data processing, which distributes and controls the power lines leading to the robot.

The US 5,038,089 A shows a Multibus system for robot controllers in conventional design and with conventional interface technology.

It Object of the present invention, an improved changeover coupling show.

The Invention solves this task with the features in the main claim.

Of the Use of a Multibus module with a uniform connection unit has the advantage of simplifying and standardizing the interference contours as well as the construction and switching costs. In particular, the housing remains for all Fieldbus systems the same, with only the bus-specific insert module in the case exchanged for adaptation to the different fieldbus systems becomes. In this standardization, the cable routing remains on Tool changer same. Overall, this is the change coupling easier and cheaper. About the Insert module is also the bus-specific connection of the components of the removable coupling ensured in a simple manner.

At the connection unit can so-called multibus lines be connected, which are adapted to several fieldbus systems. Fieldbus selection takes place with respect the change coupling components via the insert module. Otherwise, the fieldbus on the multibus line to the tool be looped through, with a field bus module with any Design can be used. Alternatively, a multibus counter module for the required bus selection ensures. The field bus module or the multibus counter module can be integrated into the tool. It can also be an ingredient the change coupling. The multibus counter module can be similar to be formed the multibus module.

The Multibus module is both for electric multibus lines, as well as for Optical fiber can be used. about additional Converter can use the lightwave signal to control the insert module converted to a current signal and then back into a light wave signal to be reshaped. Furthermore a bypass can be set to the fiber optic cable. In both Variants can the OPC-SUPI-3 standards for the light signal transmission be respected.

The Multibus module also offers the possibility of simple tools, the e.g. only open and be closed, over Apply the insert module with appropriate bus signals. An additional Complex tool-side field bus module or multibus counter module can for such applications eliminated and saved.

In the dependent claims are further advantageous embodiments of the invention indicated.

The The invention is for example and schematically in the drawings shown. In detail show:

1 : a robot with an exchangeable coupling, a bus system and a multibus module and

2 and 3 Two schematically illustrated switching variants of a multibus module.

1 shows a carrier ( 5 ) with an exchangeable coupling ( 1 ) for releasably receiving tools ( 7 . 8th ) or the like. The movable support ( 5 ) may be formed in any suitable manner and have any number and training of axes or degrees of freedom. In the present case, it is a conventional industrial robot in the form of a six-axis articulated arm robot with rotary axes. The change coupling ( 1 ) is at the robot hand ( 6 ) flanged. The carrier ( 5 ) may alternatively be another manipulator with simpler kinematics. In a further, not shown variant of the carrier ( 5 ) be a movable clamping frame or the like. For the body shell.

The change coupling ( 1 ) consists of a tool-side coupling part ( 2 ) and a carrier-side coupling part ( 3 ) in the docking position ( 32 ) positively and accurately connected and by a controllable, driven locking ( 4 ) are held. The change coupling ( 1 ) may be designed constructively in any suitable manner. For example, it is according to the DE 297 18 725 U1 educated.

The change coupling ( 1 ) is designed in the embodiment shown as a tool changer. The so-called. Tool can be of any type and design. Under a tool in the sense of the invention in addition to classic tools and generally any other components understood that with the change coupling ( 1 ) can be connected and disconnected.

In the embodiments shown, two variants for the tools ( 7 . 8th ) indicated schematically and shown side by side for the sake of simplicity. In practice, only one tool is usually grown, but also multiple tools are possible. The one tool ( 7 ) is a more complex tool, for example, which has several controllable functions and drives. The other tool ( 8th ) is of a simpler design and has less controllable functions and drives. In the simplest case, it only performs an opening and closing movement. For this purpose, it can be designed, for example, as a handling gripper with a clamping function. In such a case, only three signals are needed, namely for opening and closing the tool ( 8th ) as well as for a status message, eg about the existence or position of a component, etc. Benefits of such a simplified signal circuit but also for a servo welding gun.

For the change coupling ( 1 ) and the tool ( 7 . 8th ) is a bus system ( 9 ) provided for their control. For this purpose, on the carrier ( 5 ) along or externally to the removable coupling ( 1 ) a bus line ( 10 . 11 ). For simplified adaptation to different fieldbus systems, this line is designed as a Kombibus or Multibus line ( 10 . 11 ) and is suitable for operation with several different fieldbus systems. The one multibus line ( 10 ) is, for example, an electrical power line, such as a copper cable, preferably with several individual lines for the transmission of electrical bus signals, power supplies and special signals. The other line ( 11 ) is equipped with one or more optical fibers or fibers for transmitting lightwave signals. Alternatively, a combined line is possible in which power lines and optical fibers are arranged together.

At the change coupling ( 1 ) is a multibus module ( 12 ), which is one for different fieldbus systems ( 9 ) uniform connection unit ( 13 ) having. The multibus module ( 12 ) is on the carrier-side coupling part ( 3 ) of the change coupling ( 1 ) and preferably fixedly mounted.

The connection unit ( 13 ) has a housing which is uniform for all bus systems ( 15 ) and contains at least one exchangeable insert module ( 14 ), which is formed in a bus-specific manner. For this purpose is in the housing ( 15 ) at least one standardized module receptacle ( 16 ), with which the insert module ( 14 ) can be releasably positioned and fastened. The housing ( 13 ) forms a uniform external form factor for all fieldbus systems. The insert module ( 14 ) forms a uniform internal form factor for all these fieldbus systems.

The connection unit ( 13 ) has one or more input-side connections ( 17 ) for the connection of a multibus line ( 10 . 11 ). Here, either power lines or fiber optic cables or both can be connected side by side. On the housing ( 15 ) at least one output-side connection ( 18 ) for the respectively selected multibus line, which is used for multibus connection with a docking-capable multibus signal transmitter ( 29 ), eg an electrical multiple plug, an optical fiber coupling or the like between the coupling parts ( 2 . 3 ) in docking position ( 32 ) serves.

On the tool-side coupling part ( 2 ), a further Multibus connection may be present, to which a tool-side fieldbus module can be connected. Alternatively, on the tool-side coupling part ( 2 ) or on the tool ( 7 ) a multibus counter module ( 31 ) arranged in a manner similar to the multibus module ( 12 ) with a uniform connection unit ( 13 ) and one or more insert modules ( 14 ) is configured.

Inside the connection unit ( 13 ) is a multibus line connection ( 19 ) available from the input side connection ( 17 ) to the insert module ( 14 ) and on to the output side connection ( 18 ) leads. For an electrical multibus line ( 10 ) is the line connection ( 19 ) as electrical power line ( 22 ) educated. In the case of a fiber optic cable ( 11 ) is on the input side of the multi bus line connection ( 19 ) a converter ( 20 ), which converts the lightwave signals into current signals and in the output side connected power line ( 22 ) feeds. The power line ( 22 ) is with the insert module ( 14 ) and is then connected to a second converter ( 21 ), which converts the current signals back into light wave signals and with the output side connection ( 18 ). Alternatively, the optical waveguide can be divided by a switch or the like, with a bypass ( 23 ) to bridge the transposers ( 20 . 21 ) and the power line ( 22 ) and for the direct transmission of light waves between the connections ( 17 . 18 ) is switched.

The insert module ( 14 ) is designed, for example, as a plug-in card with a uniform format and has a multibus interface ( 24 ) with inputs and outputs to which the multibus line connection ( 19 ) or the power line ( 22 ) connected. The multibus interface ( 24 ) is physically uniform for the various fieldbus systems. The multibus interface ( 24 ) is with a processor ( 25 ), which bus-specificly breaks down the fed-in bus signals and which connects the inputs and outputs ( 27 . 28 ) a bus output interface ( 26 ) bus-specific connected. The bus output interface ( 26 ) is also physically uniform. The physically uniform configuration of the interfaces ( 24 . 26 ) allows the use of uniform plugs. At the bus output interface ( 26 ) are used to control the components of the tool changer ( 1 ), eg the lock ( 4 ), required bus signals, such as input / output signals, led to the outside and made available. For this purpose, the connections ( 27 ) intended.

Furthermore, at the bus output interface ( 26 ) one or more bus connections ( 28 ) for the aforementioned simple tool ( 8th ) to be available. For this example, two inputs and two outputs for transmitting the opening and closing signal and the signal feedback are available. Furthermore, an input for signals via status messages, component control, etc. may be present. Alternatively, a different number of inputs and outputs may be present. The connections ( 28 ) are connected via a suitable line with eg a separate signal transmitter ( 30 ) between the coupling parts ( 2 . 3 ) connected. This can in turn be a docking-capable electrical multiple plug.

Modifications of the embodiment shown are possible in various ways. In particular, the structural and circuit configuration of the connection unit ( 13 ) and the deployment module ( 14 ) vary. The insert module ( 14 ) may possibly be multiple.

The signal transmitters ( 29 . 30 ) can be combined into one unit. The bus connection ( 28 ) for a simple tool can be omitted. Changeable are also the arrangement and wiring of the removable coupling ( 1 ).

1

Change coupling, tool changer

2

coupling part tool side

3

coupling part support side

4

lock

5

Carrier, manipulator, robot

6

robotic hand

7

Tool complex

8th

Tool easy

9

Bus system

10

Multibus cable, power line

11

Multibus cable, optical fiber

12

Multibus module

13

Connector unit

14

insert module bus-specific

15

casing

16

module mounting

17

connection for multibus line the input side

18

connection for multibus line output side

19

Multibus cable connection

20

converter Luminous flux

21

converter Current / light

22

power line

23

bypass

24

Multibus Interface

25

processor

26

Bus output interface

27

Bus connection, Inputs and outputs for tool changer

28

Bus connection, Inputs and outputs for tools

29

Exchanger, Multibus signal transmitter

30

Exchanger, A signal transmitter for tools

31

Multibus countermodule

32

docking position

Claims (9)

Interchangeable coupling for carrier-guided tools ( 7 . 8th ) and a bus system ( 9 ) for driving the change coupling ( 1 ) and preferably also the tool ( 7 . 8th ), characterized in that at the change coupling ( 1 ) a multibus module ( 12 ), which is one for different bus systems ( 9 ) uniform connection unit ( 13 ) with at least one replaceable bus-specific insert module ( 14 ) having. Interchangeable coupling according to claim 1, characterized in that the multibus module ( 12 ) on the carrier-side coupling part ( 3 ) the change coupling ( 1 ) is arranged. Interchangeable coupling according to claim 1 or 2, characterized in that the connection unit ( 13 ) a uniform housing ( 15 ) with a standardized module recording ( 16 ) having. Interchangeable coupling according to claim 1, 2 or 3, characterized in that the connection unit ( 13 ) at least one input-side connection ( 17 ) for a multibus line ( 10 . 11 ), a multibus line connection ( 19 ) to the insert module ( 14 ) and at least one output side connection ( 18 ) for multibus connection with a dockable multibus signal transmitter ( 29 ) between the coupling parts ( 2 . 3 ) having. Interchangeable coupling according to one of the preceding claims, characterized in that the insert module ( 14 ) a multibus interface ( 24 ) having an input and an output for the multibus line connection ( 19 ), a processor ( 25 ) and a bus output interface ( 26 ) having. Interchangeable coupling according to one of the preceding claims, characterized in that the multibus interface ( 24 ) and the bus output interface ( 26 ) are physically uniform, wherein the processor ( 25 ) the inputs and outputs ( 27 . 28 ) the bus output interface ( 26 ) bus-specific connected. Interchangeable coupling according to one of the preceding claims, characterized in that the bus output interface ( 26 ) one or more inputs and outputs ( 28 ) for a simple tool control with a docking signal transmitter ( 31 ) on the coupling parts ( 2 . 3 ) are connected. Interchangeable coupling according to one of the preceding claims, characterized in that the connection unit ( 13 ) Connections ( 17 . 18 ) for a multibus line ( 11 ) with optical fiber, wherein the multibus line connection ( 19 ) Translator ( 20 . 21 ) for converting the light signals into current signals and vice versa and an intermediate and with the insert module ( 14 ) connected power line ( 22 ) having. Interchangeable coupling according to one of the preceding claims, characterized in that on the tool-side coupling part ( 2 ) a multibus counter module ( 31 ) is arranged.