阅读说明：本技术 机器人兼容的介质联接器 (Robotic compatible media coupler ) 是由 R.谢德格 于 2018-11-28 设计创作，主要内容包括：具有固定部分(1)和松动部分(2)的介质联接器。松动部分(2)可通过沿接合方向(z)朝固定部分(1)的运动从分开位置被带入到连接位置并且通过反向的运动再次被带入到分开位置中。在分开位置中松动部分(2)从固定部分(1)上分开,在连接位置中与固定部分(1)连接。固定部分(1)和松动部分(2)在它们的在连接位置中彼此面对的侧面上具有相互共同作用的主定位辅助(4、5),其使松动部分(2)在被转运到连接位置中时横向于接合方向(z)看相对于固定部分(1)定位。固定部分(1)和松动部分(2)分别具有刚好三个贴合面(6、7),它们分别形成三角形并且在固定部分(1)和松动部分(2)上至少沿接合方向(z)不可动地布置。在固定部分(1)和松动部分(2)的至少一对接合面(6、7)中,分别通入一用于引导气态介质的通道(12)。固定部分(1)和松动部分(2)在连接位置中在任何情况下彼此贴靠。这种情况可以是排他的。但如果固定部分(1)和松动部分(2)在连接位置中附加地也利用其它元件(8至11)彼此贴靠,则其它元件(8至11)在固定部分(1)上和/或在松动部分(2)上至少沿接合方向(z)可回弹地布置。(A media coupling having a fixed portion (1) and a loose portion (2). The loose part (2) can be brought from the disconnection position into the connection position by a movement in the engagement direction (z) towards the fixed part (1) and can be brought again into the disconnection position by a reverse movement. The loose part (2) is detached from the fixed part (1) in the detached position and is connected to the fixed part (1) in the connected position. The fastening part (1) and the loose part (2) have interacting primary positioning aids (4, 5) on their sides facing one another in the connecting position, which position the loose part (2) relative to the fastening part (1) when transferred into the connecting position, viewed transversely to the joining direction (z). The fastening part (1) and the loosening part (2) each have exactly three contact surfaces (6, 7) which each form a triangle and are arranged on the fastening part (1) and the loosening part (2) in a non-movable manner at least in the joining direction (z). A channel (12) for conducting a gaseous medium opens into each of at least one pair of contact surfaces (6, 7) of the fastening part (1) and the loosening part (2). The fastening part (1) and the loosening part (2) bear against one another in any case in the connected position. This case may be exclusive. However, if the fastening part (1) and the loose part (2) in the connecting position additionally also bear against one another with the other elements (8 to 11), the other elements (8 to 11) are arranged resiliently on the fastening part (1) and/or on the loose part (2) at least in the joining direction (z).)

1. A medium coupling is provided to connect the medium to the medium,

-wherein the media coupling has a fixed part (1) and a loose part (2),

-wherein the loose part (2) can be brought from a disconnected position into a connected position by a movement in an engagement direction (z) towards the fixed part (1) and can be brought from the connected position into the disconnected position by a movement away from the fixed part (1) opposite to the engagement direction (z),

-wherein the loose part (2) is separated from the fixed part (1) in the separated position and connected with the fixed part (1) in the connected position,

-wherein the fixed part (1) and the loose part (2) have mutually co-acting primary positioning aids (4, 5) on their sides facing each other in the connecting position, by means of which the loose part (2) is positioned relative to the fixed part (1) seen transversely to the engagement direction (z) with transfer from the disconnection position into the connecting position,

-wherein the fixed part (1) and the loose part (2) each have a number of abutment surfaces (6, 7),

-wherein abutment surfaces (6, 7) on the fixed part (1) and the loose part (2) are arranged immovably at least in the engagement direction (z) and preferably also transversely to the engagement direction,

-wherein a channel (12) for conducting a gaseous medium opens out in each of at least one abutment surface (6) of the fastening part (1) and the corresponding abutment surface (7) of the loosening part (2),

it is characterized in that the preparation method is characterized in that,

-the number of abutment surfaces (6, 7) of the fixed part (1) and of the loose part (2) is exactly three each,

-the abutment surfaces (6, 7) of the fixed part (1) and of the loose part (2) respectively form a triangle and

-either the fastening part (1) and the loose part (2) bear against each other only with their respective three bearing surfaces (6, 7) in the connecting position, or the fastening part (1) and the loose part (2) bear against each other with a number of further elements (8 to 11) in addition to their respective three bearing surfaces (6, 7) in the connecting position, but the further elements (8 to 11) are arranged resiliently at least in the joining direction (z) on the fastening part (1) and/or on the loose part (2).

2. The media coupling of claim 1,

it is characterized in that the preparation method is characterized in that,

the respective primary positioning aid (4, 5) is arranged, viewed transversely to the joining direction (z), within a triangle formed by exactly three contact surfaces (6, 7) of the fastening part (1) and the loosening part (2).

3. The media coupling of claim 1 or 2,

it is characterized in that the preparation method is characterized in that,

the main positioning aid (4, 5) is configured in such a way that: the further the loose part (2) is from the fixed part (1) seen in the engagement direction (z), the greater the amplitude of movement of the loose part (2) in a plane orthogonal to the engagement direction (z) is allowed by the primary positioning aid.

4. The media coupling of claim 3,

it is characterized in that the preparation method is characterized in that,

the fastening part (1) and the loosening part (2) each have exactly one primary positioning aid (4, 5) and one of the primary positioning aids (4, 5) is designed as a conical shaft and the other as a conical sleeve (5).

5. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

the main positioning aid (4, 5) is configured in such a way that: they act without self-locking.

6. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

the main positioning aids (4, 5) are rotationally symmetrical with respect to an engagement axis (13) extending in the engagement direction (z) and the fastening part (1) and the loosening part (2) furthermore have interacting additional positioning aids (14, 15) on their sides facing one another, by means of which the loosening part (2) is oriented in a predetermined rotational position, as seen about the engagement axis (13), when transferred from the disconnection position into the connection position.

7. The media coupling of claim 6,

it is characterized in that the preparation method is characterized in that,

one of the additional positioning aids (14) is designed as a ball (14) or as a cylinder, wherein in the case of a cylinder the cylinder axis extends orthogonally to the engagement axis (13), in particular radially to the engagement axis (13), and the other of the additional positioning aids (15) is designed as a tapered profile having a recess (16) at its narrow end for receiving the one additional positioning aid (14).

8. The media coupling of claim 6 or 7,

it is characterized in that the preparation method is characterized in that,

the main positioning aid (4, 5) and the additional positioning aid (14, 15) are coordinated with each other in such a way that: in the case of a transfer of the loose part (2) from the separating position into the connecting position, the loose part (2) is first positioned in a translational manner relative to the fixed part (1) partially or completely transversely to the engagement direction (z) by the interaction of the primary positioning aids (4, 5), and only then is the loose part (2) rotationally oriented in a predetermined rotational position by the interaction of the additional positioning aids (14, 15).

9. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

the three contact surfaces (6, 7) are polished and/or hardened and, in the connecting position, lie directly against one another without a sealing element between them.

10. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

the three contact surfaces (6, 7) are oriented orthogonally to the joining direction (z) in the connecting position.

11. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

-arranging a fixed retaining element (17) on the fixed part (2) and a movable retaining element (19) on the loose part (2),

the movable holding element (19) can be transferred from an open state into a closed state and from the closed state into the open state by means of an actuator (22),

-the transfer of the loose part (2) from the disconnection position into the connection position and vice versa can be performed in the open state of the movable part (19),

-the transfer of the loose part (2) from the disconnection position into the connection position and vice versa cannot be performed in the closed state of the movable part (19),

-the actuator (22) is configured such that: in the unpowered state of the actuator (22), the movable retaining element (19) can be transferred from the closed state into the open state by an external force effect onto the loose part (2).

12. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

the engagement direction (z) extends substantially horizontally and retaining elements (24, 25) extending in the engagement direction (z) are arranged on both sides of the primary positioning aid (4, 5) and prevent the loose part (2) from falling off the fixed part (1) in the non-powered state of the actuator (22).

13. The media coupling of any preceding claim,

it is characterized in that the preparation method is characterized in that,

a gaseous medium and/or an electrical signal are transmitted between the fixed part (1) and the loose part (2) via further elements (8 to 11) on the fixed part (1) and on the loose part (2) which bear against one another in the connection position.

Technical Field

The present invention is directed to a media coupling,

-wherein the media coupling has a fixed portion and a loose portion,

wherein the loose part can be brought from the connection position into the disconnection position by a movement in the engagement direction towards the fixed part and can be brought from the connection position into the disconnection position by a movement counter to the engagement direction away from the fixed part,

wherein the loose part is separated from the fixed part in the separated position and connected with the fixed part in the connected position,

wherein the fastening part and the loosening part have mutually co-acting primary positioning aids on their sides facing one another in the connecting position, by means of which the loosening part is positioned relative to the fastening part, viewed transversely to the engagement position, with the transfer from the disconnection position into the connecting position,

wherein the fixed part and the loose part each have a number of abutment surfaces,

wherein the abutment surfaces on the fixed part and the loose part are arranged immovably at least in the engagement direction and preferably also transversely to the engagement direction,

in this case, the at least one contact surface of the fastening part and the corresponding contact surface of the loose part each have a passage for conducting a gaseous medium.

Background

Such a media coupling is known, for example, from WO 2009/097956 a 2. In the media coupling, the primary positioning aids are coordinated with one another in such a way that: the loose part is connected with the fixed part in a self-locking way. Even after the loose part has been transferred into the connecting position, no force is exerted on the holding means (which should hold the loose part in the connecting position) and therefore likewise no force is exerted on the holding means, the loose part remains connected with the fixed part. The loose parts can only be removed with great effort. In particular in WO 2009/097956 a2 the primary positioning aid is constructed as a conical shaft and a conical sleeve with a comparatively small opening angle, so that the conical shaft and the conical sleeve are held clamped independently of one another by means of a clamping device after the loose part and the fixed part have been connected.

From EP 1894649 a1 a robot is known which is equipped with an automatic gripper changing system and which manipulates a sliding closure on a metallurgical vessel with a sliding closure. In EP 1894649 a1 the position of the sliding closure member is first detected by means of at least one camera. The piston-cylinder unit is then gripped by means of the gripper changing system and the sliding closure is actuated with it. No further details of the mechanical design of the gripper change system can be found in EP 1894649 a 1.

In metallurgical processes it is necessary in some cases to feed gaseous media and/or electrical signals to the metallurgical vessel or to intercept electrical signals from the metallurgical vessel. For this purpose, corresponding media couplings are used, which establish a connection for the gas to be delivered and/or electrical signals. The fixed part of the media coupling is in this case located on the metallurgical vessel and the loose part is connected to or released from the fixed part as required. Metallurgical vessels, such as ladles, can only be positioned with limited accuracy, wherein the accuracy is often subject to tolerances in excess of 100 mm. The direct, automatic connection of the loose part to the fixed part and the release of the loose part from the fixed part by means of a robot are therefore problematic. The specific position of the ladle and thus of the media coupling can be determined relatively accurately by means of corresponding sensor devices, in particular three-dimensional measuring systems. The remaining inaccuracy is typically in the range below 10 mm. It is still a few millimeters and is therefore too inaccurate for conventional quick couplings, such as those used by industrial robot manufacturers according to standards. Since, in particular, the gas and electric plugs which are installed in the loose part of conventional quick couplings must, due to the design, be precisely centered and precisely aligned on the receptacles of the respective socket and fastening part. Worse, the fixed portion is often much hotter than the loose portion before the loose portion is joined to the fixed portion.

Attempts have been made to compensate for the still existing tolerances by means of a spring compensation system and an accurate centering pin. The results of these attempts, however, were unsuccessful. Since jamming and skewing always occur shortly before the connecting position is reached, although it is possible to position the loose part correspondingly with respect to the fixed part. As a result, this approach has not proven practical.

Disclosure of Invention

The object of the present invention is to further develop a media coupling of the type mentioned at the beginning: a fully automatic operation by means of an industrial robot is achieved in a simple and reliable manner and the connection of the media to be transported (gas and electrical signals) can still be established reliably.

This object is achieved by a media coupling having the features of claim 1. Advantageous embodiments of the media coupling according to the invention are the subject matter of the dependent claims 2 to 13.

A media coupling of the type mentioned at the outset is designed according to the invention in such a way that,

the number of abutment surfaces of the fixed part and of the loose part is exactly three respectively,

the abutment surfaces of the fixed part and the loose part each form a triangle and

either the fastening part and the loose part bear against each other only with their three respective abutment surfaces in the connecting position or the fastening part and the loose part bear against each other with a number of further elements in the connecting position in addition to their three respective abutment surfaces, but these further elements are arranged resiliently at least in the engaging direction on the fastening part and/or on the loose part.

By determining the number of abutting faces of the fixed portion and the loose portion as exactly three engaging abutting faces in a triangular arrangement ensures that: the loose part is accurately positioned if the respective abutment surface of the loose part abuts against the respective abutment surface of the fixed part in the connecting position. This is especially true if the triangle is a substantially equilateral triangle. This positioning is completely automated if the fastening part and the loosening part in the connected position only lie with their three contact surfaces against one another.

If the fastening part and the loose part rest against each other in the connecting position with a number of further elements in addition to their three abutment surfaces in each case, the resilient arrangement of the further elements on the fastening part and/or on the loose part leads to the determination of the end position of the loose part in the connecting position not only by the further elements but also by the three abutment surfaces in each case.

The respective primary positioning aid is preferably arranged, viewed transversely to the joining direction, within a triangle formed by exactly three abutment faces of the fastening part and the loosening part each. The size of the triangle formed by exactly three contact surfaces of the fastening part and the loose part can be maximized, which in turn increases the stability and the positioning accuracy.

The primary positioning aid is preferably constructed in such a way that: the farther the loose portion is from the fixed portion as viewed in the engaging direction, the greater the amplitude of movement of the loose portion in a plane orthogonal to the engaging direction is allowed. Whereby less initial positioning accuracy is required in order to convey the loose part to the fixed part. Thus, the conveyance of the loosened portion to the fixed portion becomes easy.

In a specific embodiment, the fastening part and the loosening part can each have exactly one primary positioning aid, for example, wherein one of the primary positioning aids is designed as a conical shaft and the other as a conical sleeve. This results in a particularly simple manner in better and better positioning when the device is transferred from the separating position into the connecting position.

The conical shaft and the conical sleeve have corresponding opening angles. The opening angle of the tapered sleeve and the opening angle of the tapered shaft may have the same value or different values from each other. In both cases, a primary positioning-assisted self-locking action can be avoided, wherein the positioning can still be ensured. As soon as no external forces are applied to the primary positioning aid anymore, for example by means of a holding element, the primary positioning aid does not hold the loose part on the fixed part. This also applies when the loose part is skewed with respect to the fixed part.

Preferably, the opening angle of the conical sleeve and the conical shaft lies between 9 ° and 16 °, in particular between 10 ° and 15 °. But other values are not excluded.

Regardless of the way and method in which the primary positioning aid is configured in terms of design, it is preferably configured in terms of function such that: it acts non-self-locking. This can be achieved, as already mentioned, in particular by a corresponding adaptation of the opening angle, in the case of a primary positioning aid as a design of the conical shaft and the conical sleeve. But this is also possible in other designs of the primary positioning aid.

In a particularly preferred embodiment, the primary positioning aid is configured rotationally symmetrically with respect to an engagement axis extending in the engagement direction. This is the case, for example, in the designs already mentioned as conical sleeve and conical shaft. In the case of a rotationally symmetrical embodiment of the primary positioning aid, the fastening part and the loosening part preferably also have an additional positioning aid on their sides facing one another, which co-acts with one another, by means of which the loosening part is oriented in a predetermined rotational position, as seen about the joint axis, when being transferred from the disconnection position into the connection position. This ensures not only a translatory positioning transversely to the engagement direction, but also a defined rotational orientation about the engagement axis with the aid of an additional positioning.

Preferably, one of the additional positioning aids is configured as a sphere or as a cylinder, wherein in the case of a cylinder the cylinder axis extends orthogonally to the joint axis, in particular radially to the joint axis. The other of the additional positioning aids is in this case configured as a tapering profile which has a recess at its narrow end for accommodating the one additional positioning aid. This embodiment ensures a stable and reliable guidance even if the loose part is pushed onto the fixed part slightly askew with respect to the engagement direction.

Preferably, the primary positioning aid and the additional positioning aid are coordinated with one another in such a way that: in the case of a transfer of the loose part from the separating position into the connecting position, the loose part is first positioned relative to the fixed part in a translatory manner partially or completely transversely to the engagement direction by the interaction of the main positioning aid and is only then rotationally oriented in the predetermined rotational position by the additional positioning aid. This ensures that the transfer from the disconnection position into the connection position is particularly reliable.

Preferably, the three abutment surfaces are polished and/or hardened and also lie directly against one another in the connecting position without a sealing element between them. This improves the positioning accuracy. On the other hand, sealing elements (e.g., sealing rings) are avoided, which are particularly prone to failure due to the harsh operating conditions. Although a certain leakage flow of the guided gaseous medium can occur by omitting the sealing element. This is tolerable, however, since on the one hand only harmless gases (air, nitrogen and noble gases such as argon) are conducted and, in addition, the pressure at which the gases are exposed is typically 15bar maximum and is therefore comparatively small. Less leakiness can be tolerated under these edge conditions. Preferably, the three abutment surfaces are oriented orthogonally to the joining direction in the joining position.

This improves the positioning accuracy on the one hand and achieves a relatively good seal despite the absence of the sealing element on the other hand.

In a further embodiment it is preferably provided that,

-arranging a fixed retaining element on the fixed part and a movable retaining element on the loose part,

the movable holding element can be transferred from the open state into the closed state and from the closed state into the open state by means of the actuator,

in the open state of the movable holding element, the transfer of the loose part from the separating position into the connecting position and vice versa is possible,

in the closed state of the movable holding element, the transfer of the loose part from the separating position into the connecting position and vice versa cannot be performed and

the actuator is configured such that: the retaining element, which is movable in the unpowered state of the actuator, can be transferred from the closed state into the open state by an external force acting on the loose part.

Hereby is achieved that the connection of the loose part to the fixed part can easily be released if the actuator becomes unpowered. The fixed holding element can be configured, for example, as a pulling head with a groove-shaped undercut, and the movable holding element can be configured as a clamping sleeve with a clamp. The actuator may be configured in particular as a pressure cylinder, for example as a pneumatically operated cylinder.

In this case, retaining elements (R ü ckhalteelemente) extending in the engagement direction are also preferably arranged on both sides of the primary positioning aid, which retaining elements prevent the loose part from falling off the fixed part in the unpowered state of the actuator.

The retaining element may in particular be configured to retain the mandrel.

If the fixed part and the loose part also bear against one another with a number of further elements (in this case resiliently) in the connecting position, the gaseous medium and/or the electrical signal is preferably transmitted between the fixed part and the loose part in the connecting position via the further elements on the fixed part and the loose part. Since if this is not the case, the other elements may not need to be omitted alternatively. The elements of the fixed part and of the loose part which bear against one another in the case of the transmission of the gaseous medium are preferably designed as surfaces. In the case of transmission of electrical signals, one of the two elements of the fixed part and the loose part, which are in each case in contact with one another, is preferably designed as a surface. The further element can likewise be designed as a surface, as a spring-mounted contact pin, etc., as required. The electrical signal to be transmitted can be directed to a direct voltage or an alternating voltage as required. The voltages used are generally relatively low, in most cases up to 60V, preferably even up to 40V. The concept of "electrical signals" is to be understood broadly in the context of the present invention. Or may be purely powered.

Drawings

The above described features, characteristics and advantages of the present invention, as well as the manner and method of implementing the present invention, will be more apparent and more readily understood in connection with the following description of the embodiments, which is set forth in greater detail in connection with the accompanying drawings. In this case, the schematic diagram shows:

figure 1 shows a media coupling in a perspective view,

figure 2 shows the fixed part of the media coupling in a view from a front perspective,

figure 3 shows a loose part of the media coupling of figure 1 in a perspective view,

figure 4 shows the media coupling of figure 1 in cross-section,

figure 5 shows the cross-section of figure 4 in a perspective view,

figure 6 shows a rough view of the conical shaft and the conical sleeve in a cross-sectional view,

figure 7 shows a rough view of the abutment face and the elements from the side,

fig. 8 shows a rough view of the additional positioning aids and their co-action.

Detailed Description

Fig. 1 to 8 show the same media coupling. The drawings are therefore described together below.

According to fig. 1, the media coupling has a fixed part 1 and a loose part 2. The fixed part 1 is a part of the medium coupling which is not moved in a case where the fixed part 1 and the loose part 2 are connected to each other and in a case where the fixed part 1 and the loose part 2 are released from each other. The loosening portion 2 is a portion that is moved. The stationary part 1 may for example be fastened to a metallurgical vessel, such as a ladle. The metallurgical vessel is not shown in the figures.

The loose part 2 is intended to be reliably connected to the fastening part 1 and likewise reliably separated from the fastening part 1 by means of an industrial robot, the end part 3 of which is visible only in fig. 4 and 5. Starting from a separating position, in which the loosening portion 2 is separated from the fixing portion 1, the loosening portion 2 can also be brought into a connecting position, in which the loosening portion 2 is connected to the fixing portion 1, by means of an industrial robot. The connection provided by the loose part 2 and the connection part 1 to each other in the connected state allows the transmission of media, in particular gases, and possibly also electrical signals.

In order to connect the loose part 2 with the fixed part 1, the position of the fixed part 1 is first detected by means of a camera or similar device. The stereo image can be detected and analyzed, for example by means of a plurality of cameras, so that the position of the fixing part 1 is recognized exactly or more exactly at 10mm after the analysis. This position is related to the industrial robot. The detection and determination of this position is known to the person skilled in the art and is therefore not the subject of the present invention. Before or after the position determination, the industrial robot grips the loose part 2 with its end piece 3 and locks it on the end piece 3. The industrial robot then transports the loose part 2 into the open position. For example, the loose part 2 is in the open position in the illustration of fig. 1.

In the release position the loose part 2 is also completely separated from the fixed part 1. But already-at least substantially-not only correctly oriented (oriented) but also substantially transversely to the engagement direction z. This positioning is possible for an industrial robot since the position of the stationary part 1 is known before. For transfer into the connecting position (shown in fig. 4 and 5), the loose part 2 is then moved by the industrial robot in the joining direction z towards the fixed part 1. The movement can be performed, for example, by position adjustment or force adjustment.

The loose part 2 is locked to the fixed part 1 after the connecting position is reached. As will be discussed in more detail later. The industrial robot then unlocks the end piece 3 from the loose part 2. Thereby ending the process of connecting the loosening portion 2 to the fixing portion 1.

A similar procedure is performed in order to loosen the loose part 2 from the fixed part 1. The position of the loose part 2 is first detected by means of a camera or similar. This procedure is known to the person skilled in the art and is therefore not the subject of the present invention. The industrial robot then grips the loose part 2 with its end piece 3 and locks it on the end piece 3. The loose part 2 is then unlocked from the fixed part 1. This will be discussed in more detail later. After unlocking the loose part 2 from the fixed part 1, the industrial robot transfers the loose part 2 into the open position by a movement away from the fixed part 1 counter to the engagement direction z. The industrial robot then rests the loose part 2 at a suitable point and unlocks the end piece 3 from the loose part 2. This concludes the loosening process of the loose part 2 from the fixed part 1.

In order to facilitate the exact positioning of the loose part 2 relative to the fixed part 1 in the event of a transfer of the loose part 2 from the separating position into the connecting position, the fixed part 1 and the loose part 2 have mutually co-acting primary positioning aids 4, 5 on their sides facing one another in the connecting position. The loose part 2 is positioned relative to the fixed part 1, viewed transversely to the engagement direction z, with the transfer from the disconnection position into the connection position by means of the primary positioning aids 4, 5.

The primary positioning aids 4, 5 may also be configured as desired. However, the main positioning aids 4, 5 are preferably configured in terms of function: the further away the loose part 2 is from the fixed part 1 seen in the engagement direction z, the greater the amplitude of movement of the loose part 2 in the xy-plane oriented orthogonally to the engagement direction z is allowed by the primary positioning aid. Within the xy plane, the directions x and y are linearly uncorrelated with each other, usually and preferably orthogonal to each other. The functionality of the main positioning aids 4, 5 can be easily achieved by corresponding bevelling of the guide surfaces of the main positioning aids 4, 5. For example, the fastening part 1 and the loosening part 2 can each have exactly one primary positioning aid 4, 5, corresponding to the illustrations in fig. 1 to 5, wherein one of the primary positioning aids 4, 5 is designed as a conical shaft 4 and the other as a conical sleeve 5. Other designs, for example a pyramidal design, are also possible.

According to the illustrations in fig. 1 to 5, a conical shaft 4 is arranged on the fixed part 1 and a conical sleeve 5 is arranged on the loose part 2. This arrangement represents a standard case. In principle, however, the reverse is also possible.

The conical shaft 4 has an opening angle α according to fig. 6 the conical sleeve 5 has an opening angle β, in particular the opening angles α, β are typically between 9 ° and 16 °, for example between 10 ° and 15 °, the opening angles α, β preferably have the same value, but they may also have different values from one another.

The fastening portion 1 has-particularly clearly see fig. 1 and 2-exactly three abutment surfaces 6, i.e. not more than nor less than three abutment surfaces 6. The abutment surface 6 of the fixing portion 1 forms a triangle. The triangle is preferably a substantially equilateral triangle. Thus, the angle of the triangle formed is at approximately 60 °. Of course small deviations are also not problematic. However, any angle of the triangle formed should not be obtuse, that is, should not be greater than 90 °. Preferably, the primary positioning aid 4 of the fixing portion 1 is arranged inside a triangle formed by the three abutment surfaces 6 of the fixing portion 1. The abutment surface 6 is arranged immovably on the fixing portion 1 at least in the engaging direction z. Preferably, the abutment surfaces are also arranged immovably in the xy-plane. Preferably, the abutment surface 6 is oriented orthogonally to the engagement direction z, i.e. extends in or parallel to the xy-plane.

The loose part 2 has exactly one corresponding abutment surface 7 for each of the three abutment surfaces 6 of the fixed part 1 (see fig. 7), i.e. exactly three abutment surfaces 7 in total, not more than nor less than. The abutment surface 7 of the loosening portion 2 abuts against the abutment surface 6 of the fixing portion 1 in the joining position. Therefore, the abutting surface 7 of the loosening portion 2 also forms a triangle. The triangle formed by the abutment surface 7 of the loose part 2 is-at least substantially-congruent with the triangle formed by the abutment surface 6 of the fixed part 1. Furthermore, the main positioning aid 5 of the loose part 2 is arranged within the triangle formed by the three abutment surfaces 7 of the loose part 2. The abutment surface 7 is arranged immovably on the loosening portion 2 at least in the engaging direction z. The abutment surface 7 of the loose part 2 is oriented in accordance with the abutment surface 6 of the fixed part 1.

In the connected position, the fastening part 1 and the loosening part 2 bear against one another at least with their three bearing surfaces 6, 7 in each case. A passage 12 opens into at least one abutment surface 6 of the fastening part 1 and the corresponding abutment surface 7 of the loose part 2. The gaseous medium is guided from the loosening part 2 to the fixing part 1 via the channel 12.

Corresponding to the illustrations in fig. 1 and 2, it is possible for a corresponding passage 12 to open into each contact surface 6 of the fastening part 1. In a similar manner, it is also possible for a corresponding passage 12 to open into each abutment face 7 of the loose part 2. In this way, up to three different gaseous media can be guided via the contact surfaces 6, 7 of the fastening part 1 and the fastening part 2, which contact each other in the connecting position.

It is possible that the fastening part 1 and the loosening part 2 bear against one another only with their three bearing surfaces 6, 7 in each case. In this case, the fastening part 1 and the loosening part 2 bear against one another only with their respective contact surfaces 6, 7 in the connected position. The fastening part 1 and the loose part 2 do not abut against each other in the connecting position by means of other components, such as primary positioning aids 4, 5. These parts are spaced apart from each other at least seen in the joining direction z. Thus, the arrival of the connection position is determined only by: the abutment surface 7 of the loose part 2 abuts against the abutment surface 6 of the fixed part 1. The release can be achieved in particular if a maximum of three different gaseous media have to be conducted via the media coupling and no electrical signals have to be conducted.

Alternatively, it is possible that more than three different gaseous media must or should be guided via the media coupling. In this case, additional elements 8, 9 for guiding the gaseous medium may be present, for example (see fig. 7). The elements 8, 9 are designed as surfaces which bear against one another in the connecting position. In order to be able to conduct the respective gaseous medium, the elements 8, 9 must also abut one another in the connecting position. In order to ensure the above and in addition also the arrival of the connection position is still determined by: the contact surface 7 of the loose part 2 rests against the contact surface 6 of the fixed part 1, and the elements 8, 9 are arranged resiliently (nachgiebig) on the fixed part 1 and/or on the loose part 2 at least in the joining direction z. This is schematically shown in fig. 7 for the element 9 on the loose part 2. Alternatively or additionally, however, it is also possible for the element 8 of the fastening part 1 to be arranged resiliently in the engagement direction z.

Irrespective of the number of gaseous media conducted via the media coupling, it is also necessary or desirable to convey electrical signals in addition to the gaseous media. In this case, there may be, for example, elements 10, 11 for conducting electrical signals (see fig. 7). The elements 10, 11 are generally configured as surfaces, for example as elements 10 on the fixing part 1. The other element 11, 10 can likewise be designed as a surface. However, it can also be configured differently from this, for example as a compression spring, as a spring-mounted contact pin, or the like. In order to be able to transmit electrical signals, the elements 10, 11 must also lie against one another in the connected position. To ensure this and also to ensure that the arrival of the connection position is still determined by: the contact surface 7 of the loose part 2 rests on the contact surface 6 of the fixed part 1, and the elements 10, 11 on the fixed part 1 and/or on the loose part 2 are arranged resiliently at least in the joining direction z. This situation is schematically shown in fig. 7 for the element 11 on the loose part 2. Alternatively or additionally, however, it is also possible for the element 10 of the fastening part 1 to be arranged resiliently in the joining direction z.

If the elements 8, 9, 10, 11 are present, the fastening part 1 and the loosening part 2 bear against one another in the connecting position not only with their respective contact surfaces 6, 7 but also with the respective other elements 8, 9, 10, 11. With other components, for example the primary positioning aids 4, 5, the fastening part 1 and the loosening part 2 do not abut against each other in the connecting position in this case either. These parts are still spaced apart from each other, at least seen in the joining direction z. Due to the resilient arrangement of the further elements 8, 9, 10, 11, the reaching of the connection point is also not determined by the further elements 8, 9, 10, 11 in this case, but only by the contact surfaces 6, 7.

The gaseous medium which is to be conducted via the medium coupling is generally a low-cost and harmless gas, in particular compressed air, nitrogen and possibly a noble gas, in particular argon. Furthermore, these gases are usually only at moderate pressures of up to 15 bar. A sufficient sealing of the abutment surfaces 6, 7 in the connecting position can thus also be achieved without sealing elements between the abutment surfaces 6, 7. It can of course be advantageous if each of the three contact surfaces 6, 7 is polished and/or hardened. If this is the case, the three contact surfaces 6, 7 lie directly against one another. Similar embodiments are also suitable for the surfaces with which the elements 8, 9 rest against one another in the connection position, electrical signals, for example supply voltages, analog or digital signals or signals, for example frequency-coded signals, usually having a comparatively low voltage of at most 60V, preferably at most 40V.

It is not explained in detail in the scope of the invention how the medium (gas and, if necessary, also electrical signals) is fed to the medium coupling and is discharged from the medium coupling. This is achieved in a completely conventional manner. The only thing important in the context of the invention is the transfer from the loosening part 2 to the fixing part 1 and vice versa, if necessary.

The primary positioning aids 4, 5, which according to the exemplary embodiment are designed as conical shafts and conical sleeves, are configured rotationally symmetrically with respect to an engagement axis 13 extending in the engagement direction z. The primary positioning aids 4, 5 alone thus ensure the centering of the loose part 2 relative to the fixed part 1. However, as viewed about the joint axis 13, there is still a free rotation of the loose part 2 relative to the fixed part 1, as far as the primary positioning aids 4, 5 are concerned. In order to also ensure the orientation of the loose part 2 about the joint axis 13, the fixed part 1 and the loose part 2 therefore have additional positioning aids 14, 15, which interact with one another, on their sides facing one another. By means of the additional positioning aids 14, 15, the loose part 2 is oriented in a predetermined rotational position, as seen about the joint axis 13, during the transfer from the disconnection position into the connection position.

One of the additional positioning aids 14 is preferably configured as a ball. This can be seen particularly well in fig. 1 and 2. The additional positioning aid 14 is preferably arranged on the stationary part 1. The other additional positioning aid 15 is designed as a tapered profile which has a recess 16 at its narrow end for receiving the additional positioning aid 14. Not only the diameter d of the ball 14 but also the clear width of the depression 16 typically moves within a two-digit millimeter range. The recess 16 preferably has a clear width w which is only slightly (often only up to 0.1 mm) greater than the diameter d of the ball 14. As an alternative to the design as a ball, the additional positioning aid 14 can also be designed as a cylinder. The cylinder axis extends in this case orthogonally to the joint axis 13, in particular radially to the joint axis 13.

The design of the positioning aid 14 as a ball and as a cylinder is therefore particularly advantageous, since it has proven to be possible in practice to best exclude skewing of the main positioning aids 4, 5 by means of these contours. The transfer of the loose part 2 from the separating position into the connecting position is thereby achieved particularly reliably.

The primary positioning aids 4, 5 and the additional positioning aids 14, 15 are preferably coordinated with one another in such a way that: in the case of a transfer of the loose part 2 from the disconnected position into the connected position, the loose part 2 is first positioned in a translatory manner relative to the fixed part 1 partially or completely transversely to the engagement direction z by the interaction of the main positioning aids 4, 5 and only then is the loose part 2 rotationally oriented in a predetermined rotational position by the interaction of the additional positioning aids 14, 15. This can be easily achieved, in particular, by a corresponding arrangement of the primary positioning aids 4, 5 and the additional positioning aids 14, 15.

In order to be able to lock the loose part 2 in the connected position with the fixed part 1, a fixed holding element 17 is arranged on the fixed part 1. The fixed holding element 17 can be designed, for example, as a pulling head with a groove-shaped undercut 18. Furthermore, a movable holding element 19 is arranged on the loosening portion 2. The movable holding element 19 can be configured, for example, as a clamping sleeve 20 with gripping fingers 21. Furthermore, an actuator 22 is arranged on the loose part 2, by means of which actuator the movable holding element 19 is actuated. The actuator 22 can be embodied, for example, as a pressure cylinder, in particular as a pneumatically actuated cylinder, corresponding to the illustrations in fig. 3 to 5. In fig. 3 to 5, lines are not shown, via which the actuator 22 is actuated electrically, hydraulically or pneumatically. They can be designed in a completely conventional manner.

In order to transfer the loose part 2 from the separating position into the connecting position, the actuator 22 must first be actuated in such a way that: which holds the movable holding element 19 in the open state. This is the case in the embodiment according to fig. 3 to 5 if the piston 23 of the pressure cylinder 22 is moved as far as possible within the loosening portion 2 towards the fixed portion 1. The loose part 2 is then transferred by means of an industrial robot into an intermediate position between the separating position and the connecting position. In this intermediate position, positioning transverse to the engagement direction z has already been performed by the primary positioning aids 4, 5 and a defined rotational position of the loose part 2 relative to the fixed part 1 has already been ensured by the additional positioning aids 14, 15. However, the ball 14 (or the cylinder if appropriate) is not yet or at least not yet completely located in the depression 16 with its maximum extension in the xy plane. Starting from this state, the actuator 22 is actuated in such a way that: which transports the movable holding element 19 in the closed state. This is the case in the embodiments according to fig. 3 to 5 if the piston 23 of the pressure cylinder 22 moves as far away as possible from the fixed part 1 within the loose part 2. By the transfer of the movable holding element 19 into the closed state, the loose part 2 is transferred from the intermediate position into the connecting position. Furthermore, additional positioning aids 14 are introduced into the recess 16 by this movement. In this state, that is to say when the loose part 2 is already in the connecting position and the movable holding element 19 is in the closed state, the loose part 2 is held locked on the fixed part 1. Loosening of the loose part 2 is not possible until the movable holding element 19 is again transferred into the open state.

In order to transfer the loose part 2 from the connected position into the disconnected position, the actuator 22 is actuated in such a way that: which transfers the movable holding element 19 into the open state. The loose part 2 is then transferred from the connecting position into the separating position by means of an industrial robot.

Embodiments are possible in which the movable holding element 19 is transferred from the open state into the closed state and vice versa only by actuating the actuator 22. It may happen that the energy supply to the actuator 22 fails. In order to still be able to release the loose part 2 from the fixed part 1 in such a situation-i.e. when the actuator 22 becomes unpowered-the actuator 22 is preferably constructed such that: the retaining element 19, which is movable in the unpowered state of the actuator 22, can be transferred from the closed state into the open state by an external force effect on the loose part 2. For example, in the case of the embodiment according to fig. 3 to 5, the loosening element 2 can be loosened from the fixing element 1 counter to the joining direction z by pulling on the loosening element 2, wherein the position of the actuator 22 relative to the fixing element 1 is initially held stationary and thus, for example, the piston 23 is moved within the loosening element 2. The movable holding element 19 is thereby transferred into its open position, so that the loose part 2 can then be removed from the fixed part 1.

In order not to impede the removal of the loose part 2 from the fixed part 1 in this case, it is particularly advantageous if the main positioning aids 4, 5 and, if appropriate, the additional positioning aids 14, 15 are designed in such a way that they act in a non-self-locking manner, i.e. they do not hold the loose part 2 on the fixed part 1 if an external force directed away from the fixed part 1 is applied to the loose part 2. This should also apply in case of skew or the like. This is ensured by the specific design explained above (the primary positioning aids 4, 5 are constructed as conical shafts and conical sleeves and the additional positioning aids 14, 15 are constructed as balls or cylinders and tapered profiles). But other suitable designs are possible.

In many cases the joining direction z extends exactly or at least substantially horizontally. In this case, the x direction may correspond to a vertical line and the y direction may extend horizontally, for example, within an xy plane orthogonal to the z direction. In order to prevent the loose part 2 from falling off the fixed part 1 in the unpowered state of the actuator 22 with the engagement direction z extending substantially horizontally, retaining elements 24 can be arranged on the fixed part 1 on both sides of the primary positioning aid 4 (see e.g. fig. 1 and 2). The retaining element 24 on the fixing part 1 can, for example, be configured to hold a mandrel. On the loose part 2, in this case, corresponding retaining elements 25, for example corresponding receiving rings, are arranged.

The present invention has many advantages. In particular, the design according to the invention ensures that the movement of the loose part 2 during the transfer from the disconnection position into the connection position no longer has to be carried out precisely in the joining direction z. Small, in practice often unavoidable angular deviations of up to 3 °, but at least up to 2 °, are tolerable. A reliable transport into the connection location is still possible. A similar situation is indicated for the transfer of the loose part 2 from the connecting position into the separating position. Likewise, the initial positioning by the industrial robot transversely to the joining direction z is also not critical. An initial positioning accuracy of about 10mm is just as well fully sufficient. A high temperature difference of up to 200 ℃ between the fixed part 1 and the loose part 2 during the connection is also not critical.

Although the invention has been illustrated and described in more detail by means of preferred embodiments, the invention is not limited by the disclosed examples and other variants can be derived therefrom by the person skilled in the art without departing from the scope of the invention.

List of reference numerals

1 fixed part

2 loose part

3 end piece

4 main positioning auxiliary/conical shaft

5 Primary positioning Assist/Cone Sleeve

6. 7 binding surface

8. 9 element for guiding a gaseous medium

10. 11 element for conducting an electrical signal

12 channels

13 axis of engagement

14. 15 additional positioning aid

16 depressions

17 fixed holding element

18 groove shaped undercut

19 a movable holding element

20 clamping sleeve

21 gripping finger

22 actuator

23 piston

24. 25 Retention element

d diameter

w net width

x vertical line

y horizontal line

z direction of engagement

The angle of opening of a, beta.