Interface module for a gripping device and a robot equipped therewith

Patent metadata

Field	Value
Publication number	US-10639803-B2
Application number	US-201916365241-A
Country	US
Kind code	B2
Filing date	Mar 26, 2019
Priority date	Apr 13, 2018
Publication date	May 5, 2020
Grant date	May 5, 2020

Abstract

An interface module designed for installing a pneumatically actuated gripping device on a robot arm includes a first fastening interface for installation on the robot arm and a second fastening interface for installation of the gripping device. First pneumatic connections serve for the connection to a pressure source and a pressure sink, while second pneumatic connections serve for the fluidic connection to the gripping device. The interface module contains a control valve device, by way of which the gripping device is pneumatically actuatable and which is, in turn, controllable by means of valve control signals, which are provided by an internal electronic control unit, which communicates with an external electronic control device. A robot equipped with such an interface module is further proposed.

First claim

What is claimed is:

1. An interface module for installing a pneumatically actuated gripping device on the robot arm of a robot, wherein the interface module comprises:
(a) a first fastening interface, which is designed for mechanical fastening on a robot arm interface arranged on the robot arm;
(b) first pneumatic connections for fluidic connection to a pressurised air source and to a pressure sink;
(c) a second fastening interface, which is designed for the mechanical fastening of a pneumatically actuated gripping device;
(d) second pneumatic connections for fluidic connection to a pneumatically actuated gripping device fastened to the second fastening interface;
(e) an electrically actuatable control valve device fluidically connected via a first fluid channel system to the first pneumatic connections and via a second fluid channel system to the second pneumatic connections, said control valve device being designed to be able to control, on the basis of electric valve control signals supplied thereto, the output, return flow and blocking of pressurised air on the second pneumatic connections;
(f) an internal electronic control unit, which is electrically connected to the electrically actuatable control valve device and through which the electric valve control signals for the control valve device can be generated; and
(g) an internal electric control bus through which the internal electronic control unit is connected to an electric control connection device of the interface module to which an external electric control bus communicating with a superordinate external electronic control device is connectable.

2. The interface module according to claim 1 , wherein the first pneumatic connections are arranged on the first fastening interface.

3. The interface module according to claim 2 , wherein the first pneumatic connections are arranged on the first fastening interface such that they are automatically connectable to pneumatic robot arm connections arranged on the robot arm interface when installing the first fastening interface on the robot arm interface, said pneumatic robot arm connections being fluidically connected to a pressurised air source and to a pressure sink.

4. The interface module according to claim 1 , wherein the electric control connection device is arranged on the first fastening interface such that it is automatically connectable to an electric robot arm control connection device of the external electric control bus arranged on the robot arm interface when installing the first fastening interface on the robot arm interface.

5. The interface module according to claim 1 , further comprising an internal electric operating voltage distribution line, which is connected to the internal electronic control unit and to the electrically actuatable control valve device and which is also connected to an electric operating voltage connection device of the interface module, to which an external operating voltage line connected to an external operating voltage source is connectable or is connected.

6. The interface module according to claim 5 , wherein the electric operating voltage connection device is arranged on the first fastening interface such that it is automatically connectable to a robot arm operating voltage connection device of the external operating voltage line arranged on the robot arm interface when installing the first fastening interface on the robot arm interface.

7. The interface module according to claim 1 , wherein the second pneumatic connections are arranged away from the second fastening interface.

8. The interface module according to claim 7 , wherein the second pneumatic connections are provided with hose connection devices for connecting pressurised air hoses connected or connectable to the pneumatic gripping device.

9. The interface module according to claim 1 , further comprising a pressure detection device for detecting the fluid pressure prevailing in the second fluid channel system, which is electrically connected to the internal electronic control unit, wherein the internal electronic control unit contains a pressure regulator device for performing a pressure-regulated actuation of the control valve device on the basis of the pressure values detected by the pressure detection device.

10. The interface module according to claim 9 , wherein the pressure detection device is integrated into the internal electronic control unit.

11. The interface module according to claim 1 , wherein the internal electronic control unit is directly fastened to the control valve device.

12. The interface module according to claim 1 , further comprising one or a plurality of electric input connections electrically connected to the internal electronic control unit, which are in each case designed for connecting at least one sensor designed to detect operating parameters of the gripping device.

13. The interface module according to claim 12 , wherein the at least one sensor is a position sensor and/or a force sensor.

14. The interface module according to claim 1 , wherein the internal electronic control unit contains a gripping force regulator device for regulating the gripping force exertable by the pneumatically actuated gripping device on an object to be gripped.

15. The interface module according to claim 1 , further comprising one or a plurality of electric output connections electrically connected to the internal electronic control unit.

16. The interface module according to claim 15 , wherein the at least one electric output connection is designed to output status information.

17. The interface module according to claim 1 , further comprising at least one optical display device actuatable by the internal electronic control unit.

18. The interface module according to claim 17 , wherein the optical display device is designed to visualise operating statuses of the connected gripping device and/or of components of the interface module.

19. The interface module according to claim 1 , wherein the first fastening interface is arranged on a rigid coupling plate, supporting the control valve device, of a rigid force transfer structure comprising both fastening interfaces.

20. The interface module according to claim 19 , wherein the second fastening interface is arranged on a rigid coupling bridge of the rigid force transfer structure fastened on the coupling plate independently of the control valve device.

21. The interface module according to claim 1 , wherein the control valve device comprises a plurality of control valves individually actuatable by the internal electronic control unit.

22. The interface module according to claim 21 , wherein the control valves are proportional valves.

23. A robot, comprising a robot arm, which has a robot arm interface on a distal end region, and comprising a pneumatically actuated gripping device, which has a gripper interface, via which the gripping device is attached to the robot arm interface, wherein an interface module is incorporated between the robot arm interface and the gripper interface, said interface module comprising:
(a) a first fastening interface, by which is fastened on the robot arm interface of the robot arm;
(b) first pneumatic connections for fluidic connection to a pressurised air source and to a pressure sink;
(c) a second fastening interface, by which it is fastened on the gripper interface of the gripping device;
(d) second pneumatic connections for fluidic connection to a pneumatically actu

Assignees

• Festo Ag & Co Kg
• Festo Se & Co Kg

Inventors

• Zanker Michael
• Zimmermann Timo

Classifications

• H10P72/7602

  the wafers being placed on a robot blade or gripped by a gripper for conveyance · CPC title

• B25J15/0408

  Connections means · CPC title

• B25J9/08 Primary

  characterised by modular constructions · CPC title

• B25J15/04 Primary

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• B25J15/0253

  comprising parallel grippers · CPC title