WO2015074710A1 - Device and method for locking and unlocking a receiving plate - Google Patents

Abstract

The present invention relates to a device and a method for locking and unlocking a robot-side receiving plate (3) of a robot with a tool-side receiving plate (2). The device comprises a depositing station (1) for receiving and holding the tool-side and the robot-side receiving plate (2, 3), the robot-side receiving plate (3) and the tool-side receiving plate (2), a locking unit (9) and a supplying device (12) for supplying energy to the locking unit (9). The locking unit (9) has a basic state, in which it is locked and in which it remains as a result of a locking force, and, by supplying an unlocking force, can be moved from the basic state into an unlocked state. The unlocking force can be supplied to the locking unit (9) only after the receiving plate (2, 3) having the locking unit (9) has been received in the depositing station (1). The supplying device remains in a closed position as a result of a closing force, and the supplying device (12) can only be moved into an opened position against the closing force when there is a signal that has been transmitted when the robot-side receiving plate (3) is received in the depositing station (1), wherein unlocking of the locking unit (9) is only possible in this opened position. Unlocking energy is supplied to the locking unit (9) by way of the depositing station (1) and the supplying device (11, 12, 16, 19) and also a coupling means (17) for guiding the energy, connecting the depositing station (1) to the receiving plate (2, 3) carrying the locking unit (9), the unlocking energy only being converted into the unlocking force in the locking unit (9).

Description

 Device and method for locking

 and unlocking a receiving plate

The present invention relates to an apparatus and a method for locking and unlocking a robot-side receiving plate of a robot and a tool-side receiving plate.

When using an industrial robot, for example in a production, a receiving plate is usually provided at one end of an arm of the industrial robot, on which a further, different tools supporting receiving plate can be attached. Since large forces act on the operation of the industrial robot due to the acceleration and the high weight of the tool and the mounting plates, it is particularly important that both the robot-side mounting plate arranged on the arm of the industrial robot and the tool-side mounting plate carrying the tool are firmly connected and do not dissolve during operation. There are therefore mechanisms seen in which the tool-side receiving plate can be separated from the robot-side receiving plate only under certain conditions. For example, the solution exists to provide a locking mechanism exclusively on the robot-side receiving plate. However, this has the disadvantage that all compressed air cables must be arranged on the robot-side receiving plate by the normally operated with compressed air locking mechanism. As a result, a weight of the robot-side receiving plate is increased and a control of the industrial robot more difficult. Likewise, this does not adequately ensure that the locking mechanism does not open unintentionally during operation of the industrial robot.

Usually, a connection and disconnection of the two receiving plates takes place in a so-called storage station, in which the tool-side receiving plate is held ready with the tools attached thereto until it is picked up and used by the industrial robot. From the prior art, for example, the document DE 100 07 386 AI is known in which a locking mechanism can be solved by a piston at the storage station. A disadvantage of this solution, however, is that the piston must be precisely aligned with the locking mechanism in order to transmit a force necessary for unlocking and the piston can also be moved independently of the support plates applied to the storage station, so even with only partial rest already a loosening of the connection can be brought about. In addition, due to the direct contact between the piston and the locking mechanism, ie a direct power supply, it must be expected that the mounting plates tilt and a correct function can be ensured only with the aid of clamping elements. Object of the present invention is thus a device and a

Propose method with which the mentioned disadvantages can be overcome and a reliable locking and unlocking a robot-side receiving plate with a tool-side receiving plate is made possible without the receiving plates are excessively heavy, but at the same time secured against accidental loosening. This object is achieved by a device according to claim 1 and a method according to claim 17, Advantageous embodiments and further developments are described in the dependent claims.

A device for locking and unlocking a robot-side receiving plate of a robot with a tool-side receiving plate to summarizes a storage station for receiving and holding the tool side, the robot side receiving plate and the tool-side receiving plate, arranged on the robot side receiving plate or the tool-side receiving plate locking unit and a feeding device for Supplying energy to the locking unit. The robot-side receiving plate can be applied to the tool-side receiving plate and thus received and held by this.

The locking unit has a basic state in which the locking unit is locked and in which it remains by a locking force. Only by supplying an unlocking force can the locking unit be moved from the ground state to an unlocked state.

The feeder has a closed position in which it is held by a closing energy and a closing force. The storage station and the locking unit supporting receiving plate can be connected via a coupling agent. The unlocking energy is supplied to the locking unit via the deposition station, the feeder and the coupling means. Only in the locking unit, a conversion of the supplied Entriegelungsenergie takes place to the unlocking force. Thus, the

Entriegelungskraft provided only when the locking unit supporting receiving plate is received, since only in this case, the unlocking energy can get to the locking unit. The recording takes place here in the storage station when the tool-side receiving plate carries the locking unit, or when the robot-side receiving plate includes the locking unit when the robot-side receiving plate is applied to the tool-side receiving plate and thus received and the tool-side receiving plate is added gestation in the Abla. Characterized in that the locking and unlocking of the two receiving plates takes place only at the depositing station, ie in a state in which the tool-side receiving plate is deposited and held at the depositing station, wherein typically the robot-side receiving plate is deposited on the tool-side receiving plate, the two mounting plates are secured against unintentional loosening during operation. This is achieved in that the unlocking energy comes from the storage station or at least passed over this. The fact that the feed unit is separated from the actual locking unit, that forms an independent component, is an additional safeguard against accidental locking and

Unlock the mounting plates given. By converting the supplied unlocking energy into the unlocking force only at the locking unit, it is ensured that no external forces act on the receiving plates which can hinder the locking or unlocking, for example by tilting one or both mounting plates. The indirect supply of force allows a force-neutral system, since the locking unit itself is spatially separated from the storage station and not in direct contact with this. At the same time, an energy flow from the deposition station or via the deposition station and the delivery device and the coupling means to the locking unit is made possible.

The tool-side receiving plate typically comprises a plurality of tools, such as a welding device, and associated modules for air feedthrough and electricity supply, which are releasably secured to the receiving plate. The tool-side mounting plate can from the

Storage station are first recorded, and the robot-side receiving plate is subsequently positioned on the tool-side receiving plate. By picking up the receiving plate at the storage station, this is to be understood to mean a latching in a holding device, so that the respective receiving plate is secured against falling down. This can already be fulfilled, for example, by means of a corresponding holding device when a certain minimum distance between the receiving plate and the depositing station takes place when the holding devices engage in one another. Likewise should be defined by a recording of the robot-side receiving plate on the tool-side receiving plate. Typically, the robot-side receiving plate is attached to an arm of an industrial robot having at least four axes, preferably five axes, more preferably six axes. The device described can thus also comprise such an industrial robot. Of course, the industrial robot may also be or at least comprise a SCARA robot. The arm of the industrial robot, at the end of which the robot-side receiving plate is fastened, thus also holds this receiving plate.

It can be provided that the unlocking energy comprises a pneumatic energy, a hydraulic energy and / or an electromagnetic, in particular an electrical energy and, accordingly, the unlocking force comprises a pneumatic force, a hydraulic force and / or an electromagnetic, in particular an electrical force , In the case of an application of pneumatics thus the locking unit is moved by a supplied compressed air from the ground state. This allows the use of technologies often used in the field of industrial robots, which can be easily provided and are available for a reliable and fast switching of the locking unit from the ground state to the unlocked state.

The feeding device may supply at least a part of the locking energy and the locking force to the locking unit, as long as the feeding device is in the closing position. As a result, a backup against unintentional locking and unlocking is again made possible, since the locking force required for locking is provided by the feeding device. Preferably, in this case, a supply of compressed air, whereby the closed position can be achieved and maintained permanently. Particularly preferably, a compressed air sensor is arranged between the supply device and the locking unit and monitors a compressed air supply. If this compressed air sensor detects a drop in the compressed air supply, which suggests an insufficient locking force, the compressed air sensor can issue a warning signal and appropriate countermeasures can be initiated. If other forms of energy are used, the sensor may also be an electromagnetic sensor and / or a hydraulic sensor to monitor the energy supply of the locking unit.

Typically, the feeder is returned to the closed position by a spring and is permanently held therein by the spring force. Thus, the feeder can act as a switch or actuator that can be toggled between two or more states, or changes state upon actuation ,

The supply device may be configured to allow only in the open position, the supply of the unlocking energy and the unlocking force to the locking unit and / or at least partially or completely block a supply of the locking energy and the locking force to the locking unit. Thus, the feeder secures against unintentional loosening, since at least the unlocking force is supplied at the appropriate position or the locking force is at least partially canceled. The supply device can also be designed to provide the energy required for unlocking only when both receiving plates are located at the storage station, which also prevents the unwanted loosening during operation.

The feeding device is typically arranged on the robot-side receiving plate, the tool-side receiving plate or the storage station. The feeding device may also comprise more than one component, wherein all components may be arranged together on one of the receiving plates or the storage station as well as distributed over the two receiving plates and the storage station. Likewise, an energy source which supplies the unlocking energy can also be arranged on the robot-side receiving plate, the tool-side receiving plate or the depositing station, as long as this unlocking energy is guided via the depositing station at least over a distance. The storage station must therefore be on the way between the power source and the locking unit.

The locking unit can be arranged on the robot-side receiving plate and / or the tool-side receiving plate. The lock Gelungseinheit may comprise a plurality of components, all of which is arranged on one of the receiving plates or a part of the components on the robot-side receiving plate and another part of the components on the tool-side receiving plate. Typically, the feeding device and the locking unit are arranged together on the robot-side receiving plate or together on the tool-side receiving plate. By arranging both devices on a single receiving plate, a particularly simple construction is made possible. Of course, alternatively, the feeding device and the locking unit may be arranged on different receiving plates. Thus, the robot-side receiving plate may have the feeding device and the tool-side receiving plate, the locking unit or vice versa. By providing the locking unit on one or both of the receiving plates, the part of the device at which the energy is converted into force is reduced directly at the receiving plate to be locked or unlocked, and thus a risk of unwanted loosening.

It can be provided that the locking energy and the locking force and / or the closing energy and the closing force is effected by a spring, that is mediated by them. As a result, the locking unit is held in the ground state by a mechanically exerted spring force or the supply device is held in the closed position. Preferably, the locking force results from a combination of the spring with a compressed air, a hydraulic force or an electromagnetic force. Characterized in that two different mechanisms are provided for holding the locking unit in the locking position, the locking position is reliably maintained, even in case of failure of a component, such as a spring break or a drop in the compressed air. Of course, alternatively, only the spring force or only the compressed air or the hydraulic force or the electromagnetic force hold the locking unit in the ground state. Typically, the unlocking energy is a same type of energy as the locking energy, but alternatively, the two energies may also have different types of energy. Alternatively or additionally, the supply device can be moved into an open position against the locking force which it holds in the closed position only when a signal transmitted in the receiving station carrying the locking unit is received. The unlocking force or the unlocking energy can typically be supplied to the locking unit only after receiving the tool-side receiving plate in the depositing station and receiving the robot-side receiving plate on the tool-side receiving plate. The signal by which the feeder is movable to the open position may be an electrical signal, a hydraulic signal and / or a pneumatic signal. All transmission paths are already tested in the field of industrial robots and allow a reliable switching of the feeder between the various possible states. Preferably, an induction coupler generates the signal, which in this case is an electrical signal or a magnetic signal, and / or a pneumatic coupling means, preferably a pneumatically actuable pressure switch generates the signal, which in this case is a pneumatic signal. Both by the induction coupler and by the pressure switch is at a recording of the receiving plates in the storage station, ie when falling below a certain minimum distance as stated above, in which an induction can be detected or a pressure exerted on the pressure switch is detectable, a reliable detection of the signal. For this purpose, the pressure switch can also be extendable, that is, a certain piece protrudes beyond a surface of the respective receiving plate.

It can be provided that the locking unit receives the signal for unlocking only after receiving the tool-side receiving plate in the storage station. This allows a further protection against unwanted

Locking or unlocking, since the signal is transmitted only when both mounting plates are in the appropriate position. Preferably, the signal is transmitted only if the robot-side receiving plate rests on the tool-side receiving plate held in the depositing station. The locking unit may comprise an active part and a passive part. The active part has at least one movable element, which can be moved for locking to the passive part. As a result, a mechanically strong connection is generated. Typically, several such moveable elements are provided. The active part can be at the robot side

Receiving plate and the passive part to be arranged on the tool-side receiving plate. Alternatively, the passive part is arranged on the robot-side receiving plate and the active part on the tool-side receiving plate. If the active part and the passive part are provided, the receiving plate carrying the locking unit should be that which has the active part, that is to say the movable part.

For reliable switching of the feeding device between different positions or states when using pneumatic components, this may comprise at least a first directional control valve. Directional valves are in the

Pneumatics known as reliable switching elements. Preferably, the directional control valve is a 5/2-way valve or a 3/2-way valve.

It can be provided that the supply device can be switched by a second directional valve. The switching over the directional control valve has the advantage that an additional safeguard against unwanted locking and unlocking is given, since now both the supply device and the directional control valve have to be switched to the corresponding positions in order to supply the unlocking force. Preferably, this second directional control valve is arranged in the storage station in order to be able to supply the unlocking force exclusively when the two receiving plates have been received in the depositing station. Particularly preferably, the directional control valve comprises

3/2-way valve or a 5/2-way valve or is such a directional control valve. In addition to the first directional control valve and the second directional control valve, the supply device may also comprise a means for supplying the energy, for example a power source or a compressed air source.

The first directional control valve and / or the second directional control valve can be switched by an electromagnetic force, a hydraulic force and / or pneumatically by a pneumatic force, that is to say a pressurization of the compressed air. Both directional valves typically have a closed position, in the They remain by an electromagnetic force, an air pressure and / or a spring force, as long as no energy is supplied to switch to another state.

The coupling means, through which the flow of energy to the locking unit, may comprise a coupling and a nipple when using a pneumatic or hydraulic energy. When using electromagnetic energy, the coupling means may comprise a plug and a socket. A part of the coupling agent, for. As the socket or the nipple, are then arranged on one of the receiving plates, such as the robot-side receiving plate, while the corresponding other part, z. B. the plug or the coupling to which the other receiving plate, for example, the tool-side receiving plate are arranged. Alternatively, the first part of the coupling means may be arranged on one of the two receiving plates and the second part is attached to the storage station. Energy can be passed from one of the receiving plates to the other via the coupling means, or energy can be conducted from the depositing station to one or both of the receiving plates. The coupling means may also be multi-part, wherein a first coupling between the storage station and the tool-side receiving plate and a second coupling between the tool-side receiving plate and the robot-side receiving plate may be provided.

Preferably, the apparatus comprises a computing unit configured to control the picking up of the robot-side receiving plate and the tool-side receiving plate and the method of the feeding device to an open position by outputting the signal. As a result, the device can be operated fully automatically and the usual procedures for locking and unlocking can be provided, for example, by a teach-in procedure. Of course, the transmission of the signal or the switching of the feeding device and the locking unit can be done manually. The computing unit typically includes a computer designed to control an industrial robot.

Preferably, an air control module is provided on the locking unit, provided that a pneumatic actuation takes place. The air control module can also be controlled via the computing unit and allows a more accurate compressed air.

A method for locking and unlocking a robot-side receiving plate of a robot and a tool-side receiving plate comprises several steps. First, the tool-side receiving plate is received and held in the storage station. Subsequently, the robot-side receiving plate is applied to the tool-side receiving plate, so that both receiving plates are held by the storage station. Alternatively, provided that the tool-side receiving plate and the robot-side receiving plate connected to the tool-side receiving plate by a locking unit are already in a connected state, both receiving plates are deposited in the depositing station in this state. A feeding device is held in a closed position by a closing force. The feeding device is moved into an open position after receiving the tool-side receiving plate in the depositing station against the closing force.

With the feeder now in an open position, the unlocking energy is directed to the latch unit. This supply line via the storage station, the feeding device and a coupling means which connects the storage station directly or indirectly with the locking unit carrying the receiving plate. In the locking unit, the unlocking energy is converted into an unlocking force, wherein the

Unlocking force overcompensated for their counteracting locking force. The locking unit is thereby moved from a basic state in which the locking unit is locked, in an unlocked state. If the two mounting plates were connected when recording in the storage station, now takes place a separate from the tool-side receiving plate separated as unlocked, robot-side receiving plate.

The feeding of the unlocking energy is then terminated, regardless of whether the robot-side receiving plate has been removed from the tool-side receiving plate or both are still in contact with each other. stand each other. By stopping the feeding of the unlocking force, the feeding device is returned to the closing position and the locking unit is locked. If the two mounting plates were separated from each other when recording in the storage station, now takes place connected to the tool-side receiving plate connected to the robot side receiving plate.

The method enables a reliable locking and unlocking and thus a connection and disconnection of the robot-side receiving plate with the tool-side receiving plate. The method is typically carried out with the device described, or the described device is suitable for carrying out the described method.

It can be provided that, when picking up the tool-side receiving plate in the depositing station or when picking up the robot-side receiving plate on the tool-side receiving plate, a movement of the respective receiving plate is stopped in the direction of the depositing station and is continued only after registration of the signal. This allows the receiving plate to be safely received in the storage station, since the signal is transmitted only when falling below a certain minimum distance.

In a further step of the method, a signal can be transmitted, which is generated after receiving the robot-side receiving plate and the tool-side receiving plate. This signal goes to the feeder. After receiving the signal, the feeder is moved against the closing force in an open position. It can be provided that a computing unit controls the method and preferably performs it automatically. As a result, a manual operation is no longer necessary, and the process can be performed quickly and reproducibly.

Embodiments of the invention are illustrated in the drawings and will be described below with reference to Figures 1-43. Show it: 1 is a perspective plan view of a robot-side receiving plate, a tool-side receiving plate and a storage station.

Fig. 2 shows the arrangement shown in Figure 1 in a perspective

 Bottom view;

3 is a plan view of the arrangement shown in FIGS. 1 and 2;

Fig. 4 is a schematic view of a pneumatic circuit of the device; 5 is a perspective view of the storage station, on which the interconnected receiving plates are stored;

Fig. 6 is a schematic circuit diagram of the pneumatic circuit during the approach shown in Fig. 5;

Fig. 7 is a view corresponding to Figure 5, in which the connected

 Receiving plates are further approached to the storage station; Fig. 8 is a view corresponding to Figure 5, in which the connected

 Mounting plates are stored on the storage station;

9 is a sectional view of a pressure switch during the deposition of the two receiving plates on the storage station.

Fig. 10 is a figure 9 corresponding view of the pressure switch below

 compressed air;

11 is a schematic circuit diagram of the pneumatic circuit in the in

Figure 10 illustrated situation; Fig. 12 is a view corresponding to Figure 5, in which the tool side

Receiving plate remains in the storage station and the robot-side receiving plate is separated from the tool-side receiving plate;

Fig. 13 is a view similar to Fig. 9 of the pressure switch during the situation shown in Fig. 12;

FIG. 14 is a schematic circuit diagram of FIG. 4 corresponding to FIG

 Pneumatikkreises during the situation shown in Figure 12;

FIG. 15 shows a view corresponding to FIG. 5 during a further lifting of the robot-side receiving plate; FIG. FIG. 16 shows a view corresponding to FIG. 5 with an even further lifting of the robot-side receiving plate; FIG.

Fig. 17 is a view corresponding to Figure 5, in which the robot side

 Receiving plate was compared with the situation shown in Figure 16 again further removed from the tool-side receiving plate;

FIG. 18 shows a representation corresponding to FIG. 9 of the pressure switch in the situation shown in FIG. 17;

19 shows a representation of the pneumatic circuit corresponding to FIG. 4 in the situation shown in FIG. 17;

FIG. 20 shows a representation corresponding to FIG. 5, in which the robot-side receiving plate is approximated to the tool-side receiving plate;

FIG. 21 shows a view corresponding to FIG. 5 with a further approximation of the robot-side receiving plate; FIG. a view corresponding to Figure 5 at a relation to the state shown in Figure 21 further approximation of the robot-side receiving plate; a view corresponding to Figure 5 at a relation to the state shown in Figure 21 still further approaching the robot-side receiving plate; a representation corresponding representation 5 in a recording of the robot-side receiving plate on the tool-side receiving plate; a representation corresponding to Figure 4 of the pneumatic circuit in the situation shown in Figure 24 prior to unlocking; a representation corresponding to Figure 4 of the pneumatic circuit in the situation shown in Figure 24 in the unlocked state; a representation corresponding to Figure 5, in which the robot-side receiving plate rests on the tool-side receiving plate; a representation corresponding to Figure 4 of the pneumatic circuit in the situation shown in Figure 27; a further embodiment in a figure 5 corresponding view in which the compressed air supply for locking and unlocking via the tool-side receiving plate and not via the robot-side receiving plate; a representation corresponding to Figure 4 of the pneumatic circuit for the configuration shown in Figure 29; a representation corresponding to Figure 5 of the embodiment shown in Figure 29, in which the connected receiving plates are stored on the storage station; FIG. 32 is a view corresponding to FIG. 29 of the embodiment shown in FIG. 29, in which the connected receiving plates are deposited on the depositing station; FIG.

FIG. 33 is a view corresponding to FIG. 5 and shown in FIG. 29

 Embodiment in which the robot-side receiving plate is separated from the tool-side receiving plate; FIG. 34 is a view corresponding to FIG. 5 and shown in FIG. 29

 Embodiment in which the robot-side receiving plate is completely separate from the tool-side receiving plate; FIG. 35 is a view corresponding to FIG. 4 of a further embodiment of the circuit with only one valve;

FIG. 36 shows a perspective top view of the storage station with both receiving plates, in which an induction coupler is arranged both at the depositing station and at one of the receiving plates; FIG.

Fig. 37 is a plan view of the arrangement shown in Fig. 36; FIG. 38 shows a diagram corresponding to FIG. 4 of a circuit in which a signal is transmitted via an electrical switch; FIG.

Figure 39 is a figure 7 corresponding representation of a circuit in which two valves are provided for switching, both of which are actuated via an electrical switch.

FIG. 40 is a diagram corresponding to FIG. 4 of a circuit in which the energy of the locking unit is supplied from the deposition station via a switch; FIG.

Fig. 41 is a perspective view of a coupling means; Fig. 42 is a sectional view of the coupling means shown in Fig. 41 in the open state, and Fig. 43 is a Fig. 42 corresponding view in the closed state.

FIG. 1 shows a perspective plan view of a storage station 1 in which a tool-side receiving plate 2 and a robot-side receiving plate 3 can be deposited. The storage station 1 is part of a tool change system in which a plurality of tool-side receiving plates, on which various tools are attached, are kept at the storage station 1 in order to be able to be picked up and used if necessary. The storage station 1 has a pin 4, which may be in connection with a holder 5 of the tool-side receiving plate 2 in such a way that the tool-side receiving plate 2 is held by the storage station 1. The robot-side receiving plate 3 can be applied to the tool-side receiving plate 2 and held by this. For this purpose, the tool-side receiving plate 2 on a plurality of guide pin 6, which can be inserted into corresponding recesses of the robot-side receiving plate 3 and thus hold the plate. The storage station 1 has a compressed air supply 7, which is arranged laterally on the storage station 1 and can be brought into connection with a corresponding component of the tool-side receiving plate 2. Both on the tool-side receiving plate 2 and on the robot-side receiving plate 3, an air control module 8 is arranged, through which the two plates can be supplied with compressed air. On the tool-side receiving plate 2, a welding gun is arranged as a tool; In addition, several air ducts or plugs for electricity can be arranged on the tool-side receiving plate 2 or the robot-side receiving plate 3. The robot-side receiving plate 3 is typically attached to a six-axis industrial robot. The industrial robot can be equipped with various tool-side mounting plates 2 with different tools and can thus be used variably for different tasks. The industrial robot is controlled by a computer. This Computer also automatically performs the method for connecting or disconnecting the two receiving plates 2 and 3.

Figure 2 shows the arrangement shown in Figure 1 in a perspective view from below. Recurring features are provided with identical reference numerals in this figure as well as in the following figures. FIG. 3 shows a plan view of the arrangement shown in FIGS. 1 and 2 in a perspective view. The robot-side receiving plate 3, which is normally attached to one end of an arm of the industrial robot, is located in alignment over the tool-side receiving plate 2, which is of the

Storage station 1 is held. Likewise, the two Luftsteuermodu- le 8 are aligned over each other. The robot-side receiving plate 3 has a centrally located punch, which serves as an active part of a locking unit and in a corresponding opening 29 of the tool-side receiving plate 2 is inserted. The stamp pushes through a piston to

Lock a plurality of balls to the outside, which engage in a ring of the centrally located opening 29 and thus connect and hold the two receiving plates 2 and 3 together. A pre-centering of the robot-side receiving plate 3 takes place via three guide pins 6 which are arranged on the tool-side receiving plate 2 around the opening 29 and engage in corresponding receiving holes of the robot-side receiving plate 3. A final centering via the opening 29 and the stamp. In other embodiments, of course, the tool-side receiving plate 2 include the active part and the robot-side receiving plate 3, the passive part. The lock unit is configured to remain in a ground state in which it is locked by a locking force and a lock energy and to be movable to an unlocked state only by supplying an unlocking force or an unlocking force, respectively.

Figure 4 shows a schematic circuit diagram of a circuit with a locking mechanism. The locking unit 9 is held by a spring 10 in the locked basic state shown in FIG. The locking unit 9 comprises a plurality of balls or bolts which are arranged on the robot-side receiving plate 3 and engage in the tool-side receiving plate 2 in the locked state. These balls are for this purpose pressed by a pressure actuated by air piston in a structure suitable structure of the tool-side receiving plate. This piston is shown schematically in FIG. Via a compressed air source 11 arranged on the robot-side receiving plate 3 and a 3/2-way valve 12, air pressure is fed via a hose 13 to the locking unit 9, so that the locked state is maintained both by the spring 10 and by the applied air pressure. The 3/2-way valve 12 thus forms part of a supply device and is adapted to hold the locking unit 9 by compressed air supply in the closed state or to prevent this compressed air supply for unlocking. In other embodiments, the delivery device may also be a switch or other actuatable element.

The 3/2-way valve 12 is held by a spring 14 in a closed position. Alternatively or additionally, the directional control valve 12 can also be held in this position by an electromagnetic force or an application of compressed air or hydraulically, or be switched to another state by one of the named forces or energies. The locking unit 9 can be moved by compressed air in an unlocked position, provided that the supply of compressed air via the hose 13 is prevented. In the position of the 3/2-way valve 12 shown in FIG. 4, the directional control valve 12 must therefore be moved against a spring force of the spring 14 so that compressed air supply via the hose 13 can no longer take place. The compressed air required for unlocking can be supplied via the storage station 1 or the directional control valve 12 or both via the storage station 1 and the directional control valve 12.

The directional control valve 12 is arranged in the robot-side receiving plate 3 and switchable via a pressure valve 15 between two states, d. H. that the directional control valve 12 is acted upon by the pressure valve 15 with compressed air and thus switched to another state. The pressure valve 15 is also arranged on the robot-side receiving plate 3 and can be acted upon via a 3/2-way valve 16 with compressed air. The directional control valve 16 is arranged in the storage station 1 and can supply the compressed air via a coupling 17 to the pressure valve 15. The directional control valve 16 as a further part of

Feeding device is closed by an electromagnetic force in a closed held by a manually or automatically operable switch 18 also by an electromagnetic force in a state in which a compressed air source 19 via the storage station 1 and the clutch 17, the pressure valve 15 acts on compressed air. As a result, not only the locking unit 9 in its left

Half pressurized with compressed air, but at the same time the directional control valve 12 is closed, so that the pressurization on the right side of the directional control valve 12 is omitted and the directional control valve 12 is moved against the spring force in an unlocked state. In further embodiments, the directional control valve 12 may also be arranged on the tool-side receiving plate 2 or on the robot-side receiving plate 3. Thus, the directional control valve 12 and the directional control valve 16 form the supply device.

In further embodiments, the path represented by a dashed line in FIG. 4 can also be used, in which, via a pressure switch 20, as

Coupling means between the robot-side receiving plate 3 and the tool-side receiving plate 2 and a further pressure switch 21 as a further coupling means which is arranged between the tool-side receiving plate 2 and the storage station 1, the compressed air is fed to the pressure valve 15 in the locking unit 9. Instead of a pure pressure switch, a nipple and a nozzle or, in the case of an electromagnetic energy supply via a plug and a socket, can take place as coupling means, via which an energy flow takes place from the compressed air source 19 to the locking unit 9. The coupling means is thus arranged in the illustrated embodiment between the storage station 1 and the robot-side receiving plate 3, wherein in Fig. 4 and the other figures, all drawn below the clutch 17 and the pressure switch 21 elements are arranged on the storage station 1 and all Right and above the coupling 17 and above the pressure switch 20 drawn elements on the robot-side receiving plate 3 are arranged. The path between the pressure switch 20 and the pressure switch 21 runs as a hose or other guide on the tool-side receiving plate 2. In other embodiments, the compressed air source 11 or the compressed air source 19 or another energy source that provides the Entriegelungsenergie, also on the tool-side receiving plate. 2 be arranged. In Figure 5, the storage station 1 is shown in a perspective view, on which the interconnected and locked receiving plates 2 and 3 are stored. The method by means of which the two receiving plates 2 and 3 can be separated from one another or connected to one another is illustrated with reference to FIGS.

The robot-side receiving plate 3 comprises not only the locking unit 9, but also all hoses for supplying the compressed air to the locking unit 9. The compressed air is thus not conducted in the embodiment shown in Fig. 5 on the tool-side receiving plate 2. Instead of the air control modules 8 shown in Figures 1 and 2 thus extend in the embodiment shown in Fig. 5 only compressed air cable on the outside of the robot-side receiving plate 3. At the storage station 1, a pressure switch 22 is provided, a retracted and an extended position may have 1 depending on the successful application of compressed air by the storage station and thus the coupling 17 corresponds. In the embodiment shown in Figure 5, it is shown in the retracted position. The pressure switch 22 can communicate with a corresponding actuating device 23 on the robot-side receiving plate 3, provided that a distance between the two devices falls below a certain value. Both the pressure switch 22 and the actuator 23 may be designed as a leading coupling means.

FIG. 6 shows the schematic diagram of the compressed air circuit in a view corresponding to FIG. The circuit diagram corresponds to that in

Figure 5 illustrated situation in which the locking unit 9 is locked by the application of compressed air via the compressed air source 11 and the clutch 17 does not forward compressed air in the left half of the locking unit 9, since the parts 22 and 23 have no contact with each other. The directional valve 16 is a 3/2 as in the embodiment shown in FIG.

Directional control valve, the directional control valve 12 is now a 5/2-way valve. In further embodiments, the directional control valve 16 may be a 5/2-way valve.

FIG. 7 shows, in a representation corresponding to FIG. 5, a further approximation of the interconnected robot-side receiving plate 3 and the tool-side receiving plate 2 to the depositing station 1. take that only the tool-side receiving plate 2 engages in a holder 5 of the storage station 1 and is thus held by the storage station 1. A resting of the interconnected receiving plates 2 and 3 on the storage station 1 is shown in Figure 8 in a figure 5 corresponding representation. About the pressure switch 22 can now be the robot-side receiving plate

3 are supplied with compressed air.

FIG. 9 shows, in a cross section, the pressure switch 22 on which the robot-side receiving plate 3 rests. In this state, no compressed air is applied, and the pressure switch 22 remains in the retracted state.

FIG. 10 shows, in a representation corresponding to FIG. 9, the pressure switch 22, in which the compressed air indicated by dots can now flow from the discharge station 1 into the robot-side receiving plate 3. FIG. 11 shows, in a view corresponding to FIG. 4, the circuit diagram for the state shown in FIGS. 9 and 10. The pressure switch 22 receives by the resting of the robot-side receiving plate 3, a signal and switches the directional control valve 16 in a state in which the compressed air can flow through the coupling 17 to the locking unit 9 in the left half. Here, the supplied pneumatic energy, which may also be a hydraulic energy in other embodiments, converted into a pneumatic force, so that there is a force neutral system in which the locking unit 9 is spatially separated from the storage station 1. By this energy supply without direct contact between the locking unit 9 and the storage station 1, the locking unit 9 can be arranged arbitrarily on the receiving plates 2 and 3.

The signal is thus transmitted only when the tool-side receiving device 2 rests on the storage station 1 and the robot-side receiving device 3 on the tool-side receiving device 3. However, the locking unit 9 is held in the locked state, since the pressure valve 15 in the state shown in Figure 11, the directional control valve 12 can not yet switch. About the directional control valve 12, however, the right half of the locking unit 9 is pressurized with compressed air. FIG. 12 shows, in a perspective view corresponding to FIG. 5, the storage station 1 in which the tool-side receiving plate 2 accommodated by the depositing station 1 remains, but the robot-side receiving plate 3 which has now been unlocked is lifted off the depositing station 1. The pressure switch 22 is further acted upon by compressed air and is moved after lifting the robot-side receiving plate 3 in an extended state. FIG. 13 again shows, in a cross section, the pressure switch 22, in which, by lifting the robot-side receiving plate 3, it is moved by the compressed air into an extended state. FIG. 14 now shows the state following the state shown in FIG. 11, in which the directional control valve 12 is moved by the pressure valve 15 into a state in which compressed air can no longer reach the locking unit 9 via the compressed air source 11. At the same time, however, compressed air supply from the compressed air source 19 to the locking unit 9 is ensured by the directional control valve 16 and the coupling 17.

FIGS. 15, 16 and 17 show in a representation corresponding to FIG. 5 how the robot-side receiving plate 3 moves farther away from the tool-side receiving plate 2. The pressure switch 22 remains in the extended position. Figure 18 shows, again in a cross section, the pressure switch 22 at a complete separation of the robot-side receiving plate 3 from the storage station 1. The extended position of the pressure switch 22 is achieved by the deposition station taking place acting on the pressure switch 22 with compressed air.

FIG. 18 shows the pressure switch 22 in a representation corresponding to FIG. 9, in which the pressurization of compressed air takes place only in the tool-side receiving plate 2, while due to the spatial separation, the robot-side receiving plate 3 is no longer supplied with compressed air from the depositing station 1. FIG. 19 shows, in a schematic representation corresponding to FIG. 4, the diagram corresponding to FIG. Since due to the spatial separation, the clutch 17 can no longer provide air pressure to the locking unit 9, the directional control valve 12 switches back to the original state caused by the spring 14, in which the locking valve 9 by the spring 10 and the compressed air on the

Hose 13 locked. A compressed air sensor 24 is attached to the hose 13. which checks whether compressed air is provided in the sufficient amount of the locking unit 9. If this is not the case, the compressed air sensor 24 outputs an acoustic or optical signal and interrupts the current process for connecting the two receiving plates 2 and 3.

FIG. 20 shows, in a representation corresponding to FIG. 5, how the robot-side receiving plate 3 is completely removed from the tool-side receiving plate 2 and the depositing station 1, but is now approximated again to receive the tool-side receiving plate 2. In FIG. 21, an approximation of FIG Robot-side receiving plate 3 to the tool-side receiving plate 2 and the storage station 1 shown.

In FIGS. 22, 23 and 24, a corresponding further approach of the robot-side receiving plate 3 to the tool-side receiving plate 2 and the loading of the pressure switch 22 with a pressure mediated by the robot-side receiving plate 3 are shown. In Fig. 23 it is shown that the robot-side receiving plate 3 is briefly stopped in its movement when the pressure switch 22 is in contact. In this position, the pneumatic signal is transmitted and compressed air can get from the storage station 1 to the robot-side receiving plate 3. The movement of the robot-side receiving plate 3 is only continued in the direction of the tool-side receiving plate 2 and the storage station 1 when an unlocking of the locking unit 9 has been detected via an unlocking sensor.

FIG. 25 shows a schematic circuit diagram corresponding to FIG. 4 in a further exemplary embodiment, as when the robot-side receiving plate 3 approaches the deposition station 1, the locking unit 9 is again pressurized. Once a certain distance is exceeded (as in the example in the 23 and

24 illustrated state) and the two receiving plates 2 and 3 are in contact with each other via the pressure switch 22, the compressed air from the storage station 1 via the tool-side receiving plate 2 to the robot-side receiving plate 3 and the locking unit 9 are performed. FIG. 26 shows a schematic illustration corresponding to FIG

Locking unit 9 at a sufficiently high pressure again in the unlocked state switches. The supplied compressed air as unlocking energy is converted in the locking unit in the unlocking force. Instead of compressed air can be used in other embodiments, a liquid for the hydraulic exercise of the unlocking force.

A corresponding end state with a now re-locked robot-side receiving plate 3 and tool-side receiving plate 2 is shown in Figure 27 in a Figure 5 corresponding perspective view. The schematic diagram corresponding to FIG. 4 is shown in FIG.

FIG. 29 shows, in a view corresponding to FIG. 5, a further embodiment of the invention in which the compressed air is forwarded via the deposit station 1 to the robot-side receiving plate 3 and from there via a hose 25 to the tool-side receiving plate 2. Both the robot-side receiving plate 3 and the tool-side receiving plate 2 each have a mutually aligned air control module 8, through which the locking unit 9 can be acted upon with compressed air.

FIG. 30 illustrates a corresponding schematic diagram in a corresponding case in FIG. 4. In FIG. 4, as an alternative, the compressed air supply from the compressed air source 19 to the locking unit 9 now takes place via two pressure switches 20, 21 the directional control valve 12 are arranged on the robot-side receiving plate 3 and are connected via the pressure switch 20 with the tool-side receiving plate 2 in connection. This receiving plate 2 is in turn connected via the pressure switch 21 to the storage station 1, so that compressed air for unlocking the locking unit 9 can be fed to it from the compressed air source 19 via the storage station 1, the tool-side receiving plate 2 and the robot-side receiving plate 3. In FIGS. 31, 32, 33 and 34, the application of the interconnected receiving plates 2 and 3 as well as the lifting of the robot-side receiving plate 3 are shown in a perspective which describes the exemplary embodiment of FIG. 29 and corresponds to FIG. As can be seen in FIG. 34, the pressure switch 22 is now located on the air control module 8 of the tool-side receiving plate 2. The directional control valve 12 can be located within the robot side. be arranged receiving plate 3, or, as indicated in Fig. 30, be attached to an outer side of this receiving plate 3.

FIG. 35 shows a further exemplary embodiment of a circuit diagram in a view corresponding to FIG. The locking unit 9 is controlled in this case via only a single way valve 16, in the illustrated embodiment, a 5/2-way valve. The directional control valve 16 is held by the spring 14 in a closed position, in which via the compressed air source 11, the right side of the locking unit 9 is acted upon with compressed air. In addition, the locking unit 9 is held in the locked position by the spring force generated by the spring 10. By a button 18 which is manually or electrically actuated, the directional control valve 16 can be moved to a second position in which the compressed air source 11, the right side of the locking unit 9 is no longer pressurized with compressed air, but rather the left side of the locking unit 9 with compressed air provided. The locking unit 9 and the directional control valve 16 are both arranged on the robot-side receiving plate 3, but the compressed air via two coupling means 17 and 26, which are arranged between the robot-side receiving plate 3 and the storage station 1, led to the locking unit 9. The clutches 17 and 26 are pressure switches in the illustrated embodiment, in other embodiments, other coupling means, such as a nipple and a corresponding coupling may be provided. Although the entire compressed air supply via the robot-side receiving plate 3 could be done, but provides the provision of the line through the storage station 1 and the two pressure switches 17 and 26 has the advantage that a compressed air to the left side of the locking unit 9 is only possible if the robot side Receiving plate 3 rests on the storage station 1. The energy flow of the compressed air is thus inevitably on the storage station 1, so that only at the storage station, the state of the locking unit 9 can be changed.

FIG. 36 shows a perspective top view of the robot-side receiving plate 3, the depositing station 1 and the tool-side receiving plate 2. In the exemplary embodiment illustrated in FIG. 36, no pressure switch is provided, but instead a signal for unlocking the locking mechanism. Unit 9 is effected via an induction coupler 27 arranged on the storage station 1 and a further induction coupler 28 arranged on one of the two receiving plates 2 and 3. By receiving the induction plate 28 carrying the receiving plate 2, 3 on the storage station 1, an electromagnetic signal is generated by the induction couplers 27, 28, which is used to unlock the locking unit 9. The directional control valve 12 and the directional control valve 16 may be in other embodiments instead of pneumatic valves and solenoid valves. Likewise, instead of pressure switches and electrical connectors can be used.

The arrangement shown in a perspective view in Figure 36 in a plan view is shown in Figure 37. Here it can be seen that the induction couplers 27 and 28 are in the immediate vicinity and only minimally spaced from each other. A typical distance may be between 6 mm and 30 mm, preferably between 10 mm and 20 mm.

FIG. 38 shows, in a schematic view corresponding to FIG. 4, a further exemplary embodiment of a circuit diagram. The locking unit 9 in turn can be locked and unlocked via the directional control valve 16, but the energy for switching the directional control valve 16 is now transmitted via a plug 37 and a corresponding socket 36 as electrical energy. However, the signal for changing the state of the directional control valve 16 now takes place via the induction couplers 27 and 28, which transmit an electrical signal to the directional control valve 16.

FIG. 39 shows, in a view corresponding to FIG. 4, a further exemplary embodiment of a circuit diagram in which a signal is generated via the induction couplers 27 and 28 and electrical energy is supplied to the robot-side receiving plate 3 via the bush 36 and the plug 37. This signal now controls both the directional control valve 16 and the

Directional valve 12, so that from a single compressed air source 11, which is arranged on the robot-side receiving plate 3, the compressed air is applied to the locking unit 9. Instead of only two induction couplers 27 and 28, it is also possible in each case between the storage station 1 and the tool-side receiving plate 2 and between the tool side

Receiving plate 2 and the robot-side receiving plate 3 corresponding Induction coupler be provided. In further embodiments, an induction coupler can also be provided only between the storage station 1 and the tool-side receiving plate 2, and a pressure switch can be provided between the tool-side receiving plate 2 and the robot-side receiving plate 3, or vice versa. In further embodiments, the path drawn in dashed lines can also be taken over the coupling 21 located between the depositing station 1 and the tool-side receiving plate 2 and the coupling 20 located between the tool-side receiving plate 2 and the robot-side receiving plate 3, to the locking unit 9 via the directional control valves 12 and 16 supply compressed air for unlocking. The transmitted signal now switches the two directional control valves 12 and 16 in parallel.

A minimal configuration is shown in a representation corresponding to FIG. 4 in FIG. The compressed air source 11, which may also be the source of hydraulic energy or electromagnetic energy in further embodiments, is in turn arranged on the storage station 1, but may also be arranged on the tool-side receiving plate 2 or the robot-side receiving plate 3 in further embodiments and sends the Compressed air via a switch 38, which may be formed depending on the type of energy used as a directional control valve or electrical or magnetic switch, and the coupling means 30 to the locking unit 9. The coupling means 30 may be a pressure switch, but also a nipple and a clutch or a Plug and a socket comprise, of which one part of the locking unit supporting the receiving plate 2, 3 and the other part on the locking unit 3 not supporting receiving plate 2, 3 or the storage station 1 can be arranged. The locking unit 9 is held by a spring force, a hydraulic force, an electromagnetic force, a pneumatic force, a motor or any combination of said forces in the locked state and only when supplying the compressed air or other suitable form of energy from the source 11 in the unlocked state moves.

FIG. 41 shows a perspective view of a coupling means 30. An upper part of the coupling means 30 is arranged on the robot-side receiving plate 3, while of the storage station, a lower part 32 in a corresponding recess of the upper part is insertable. This coupling means 30 can replace, for example, the two pressure switches 17 and 26 of FIG. 35 and allows a compressed air supply to the locking unit 9 via the storage station.

Figure 42 shows the coupling means 30 in a sectional view in an open state. By way of a channel 33 arranged in the upper part 31, compressed air flows, which however leaves the upper part through a downwardly pointing, centrally arranged opening 34. After, as in the closed state shown in Figure 43, the lower part 32 was pressed by a spring in this opening, the compressed air can not leave the channel 33 through the opening 34. Instead, the lower part 32 has a passage in the inserted into the opening 34 pin through which the compressed air in the channel 33 aligned opposite channel 35 of the upper part 31 can pass. Thus, the compressed air is passed through the storage station 1 and only in this case, the compressed air can reach the channel 35 and the locking unit 9 arranged behind it. The coupling agent 30 thus acts in this case as a supply device for the compressed air.

Only features disclosed in the embodiments of the various embodiments can be combined and claimed individually.

LIST OF REFERENCE NUMBERS

1 storage station

 2 tool-side mounting plate

3 robot-side mounting plate

4 cones

 5 bracket

 6 guide pins

 7 compressed air supply

 8 air control module

 9 locking unit

 10 spring

 11 compressed air source

 12 way valve

 13 hose

 14 spring

 15 pressure valve

 16 way valve

 17 clutch

 18 switches

 19 compressed air source

 20 pressure switch

 21 pressure switch

 22 pressure switch

 23 actuator

 24 compressed air sensor

 25 hose

 26 clutch

 27 induction couplers

 28 induction couplers

 29 opening

 30 coupling agents

 31 top part

 32 lower part

 33 channel

34 opening 35 channel 36 socket 37 plug 38 switch

Claims

claims 1. Device for locking and unlocking a robot-side receiving plate (3) with a tool-side receiving plate (2) comprising  a storage station (1) for receiving and holding the tool-side receiving plate (2),  the robot-side receiving plate (3) and  the tool-side receiving plate (2), wherein the robot-side receiving plate (3) of the tool-side receiving plate (2) is receivable,  a locking unit (9) and  a feeding device (11, 12, 16, 19, 29) for supplying energy to the locking unit,  wherein the locking unit (9) has a base state in which the locking unit (9) is locked and in which the locking unit (9) remains by a locking force and is movable into an unlocked state only by an unlocking force from the ground state, the feeding device (9) 11, 12, 16, 19, 29) remains in a closed position by a closing energy and a closing force and is movable into an open position,  characterized in that a supply of an unlocking energy to the locking unit (9) via the storage station (1) and the feeding device (11, 12, 16, 19, 29) and a storage station (1) with the receiving unit (9, 9) carrying the locking unit (2, 3 Connecting means (17, 20, 21, 26, 30) for guiding the energy takes place, wherein a conversion of the unlocking energy in the unlocking force only in the locking unit (9), so that the unlocking force in the locking unit (9) only after the Receiving the locking unit (9) carrying the receiving plate (2, 3) acts. 2. Device according to claim 1, characterized in that the unlocking energy comprises a pneumatic energy, a hydraulic energy and / or an electrical energy and the  Unlocking force comprises a pneumatic force, a hydraulic force and / or an electric force, wherein the locking unit (9) is movable in the case of the pneumatic energy and the pneumatic force by supplied compressed air from the ground state. 3. Device according to claim 1 or claim 2, characterized in that the supply device (11, 12, 16, 19, 29) at least a part of a locking energy and the locking force for the locking unit (9) supplies, provided that the supply device (11, 12 , 16, 19, 29) in the closed position, preferably by supplying compressed air, wherein particularly preferably a compressed air sensor (24) between the supply device (11, 12, 16, 19, 29) and the locking unit (9) is arranged for monitoring a compressed air supply. 4. Device according to one of the preceding claims, characterized in that the supply device (11, 12, 16, 19, 29) only in the open position, a supply of the locking energy and the locking force to the locking unit (9) at least partially blocked and / or allows a supply of the unlocking energy and the unlocking force. 5. Device according to one of the preceding claims, characterized in that the locking unit (9) on the robot-side receiving plate (3) and / or the tool-side receiving plate (2) is arranged. 6. Device according to one of the preceding claims, characterized in that the feed device (11, 12, 16, 19, 29) on the robot-side receiving plate (3), the tool-side receiving plate (2) and / or the storage station (1) is arranged , 7. Device according to one of the preceding claims, characterized in that the locking energy and the locking force and / or the closing energy and the closing force by a spring (10, 14) is mediated, wherein preferably the locking force of a combination of the spring (10, 14 ) results in a pressurized air. 8. Device according to one of the preceding claims, characterized in that the supply device (11, 12, 16, 19, 29) only in case of concern during the recording in the storage station (1) of the locking unit (9) carrying the receiving plate (2, 3) transmitted signal against the closing force in the open position is movable. 9. Apparatus according to claim 8, characterized in that the signal by which the feed device (11, 12, 16, 19, 29) is movable in the open position, an electrical signal, a hydraulic signal and / or a pneumatic signal in which preferably an induction coupler (27, 28) generates the electrical signal and / or the pneumatic coupling means (17, 20, 21, 26, 30), preferably a pneumatically actuable pressure switch (22, 23), the pneumatic signal. 10. The device according to claim 8 or claim 9, characterized in that the locking unit (9) receives the signal for unlocking only after receiving the tool-side receiving plate (2) in the storage station (1), wherein they are particularly preferably the signal for unlocking only receives, even if the robot-side receiving plate (3) on the tool-side receiving plate (2) is applied. 1 1. Device according to one of the preceding claims, characterized in that the locking unit (9) comprises an active part and a passive part, wherein the active part has at least one movable element, which are movable for locking to the passive part, and wherein either the active part on the robot side The passive part is arranged on the tool-side receiving plate (2) or the passive part is arranged on the robot-side receiving plate (3) and the active part on the tool-side receiving plate (2). 12. Device according to one of the preceding claims, characterized in that the supply device (11, 12, 16, 19, 29) comprises at least a first directional control valve (12), preferably a 5/2-way valve or a 3/2-way valve. 13. Device according to one of the preceding claims, characterized in that the supply device (11, 12, 16, 19, 29) by a second directional control valve (16) is switchable, which is preferably arranged in the storage station (1) and more preferably a Includes 3/2-way valve or a 5/2-way valve. 14. Device according to one of claims 12 or 13, characterized in that the first directional control valve (12) and / or the second directional control valve (16) by an electromagnetic force, a hydraulic force and / or a pneumatic force are switchable and by an electromagnetic Force and / or a spring force remain in a closed position. 15. Device according to one of the preceding claims, characterized in that the coupling means (17, 20, 21, 26, 30) when using the pneumatic energy and / or the hydraulic energy, a clutch and a nipple or when using the electromagnetic energy, a socket and a plug, wherein in each case a part of the coupling means (17, 20, 21, 26, 30) on the roboter terseitigen receiving plate (3) and another part of the tool-side receiving plate (2) or a part of the coupling means (17, 20, 21, 26, 30) on one of the receiving plates (2, 3) and the other part is arranged at the storage station. 16. Device according to one of the preceding claims, characterized in that the device comprises a computing unit which is formed, the recording of the robot-side receiving plate and the tool-side receiving plate and the method of the feeder (11, 12, 16, 19, 29) to control an open position by outputting the signal. 17. A method for locking and unlocking a robot-side receiving plate (3) with a tool-side receiving plate (2), comprising the steps:  a) picking up and holding the tool-side mounting plate (2) and subsequent application of the robot-side receiving plate (3) on the tool-side receiving plate (2) in a storage station (1) or receiving the tool-side receiving plate (2) and connected to the tool-side receiving plate (2) by a locking unit (9) robot-side receiving plate (3) in the storage station (1 );  b) moving a feeding device (11, 12, 16, 19, 29), which remains in a closed position by a closing force, wherein the feeding device (11, 12, 16, 19, 29) after receiving the tool-side receiving plate (2) against the closing force is moved to an open position;  c) supplying an unlocking energy via the depositing station (1), the feeding device (11, 12, 16, 19, 29) and a coupling means (17, 20, 21, 26, 30) which supports the receiving plate (9) carrying the locking unit (9). 2, 3) connects to the storage station (1), and converting the unlocking energy into the unlocking force in the locking unit (9), which is thereby moved from a basic state, in which the locking unit (9) is locked, into an unlocked state;  d) removal of the tool-side receiving plate (2) separate robot-side receiving plate (3), if the two receiving plates (2, 3) when receiving in the storage station (1) were connected; e) terminating the supply of the unlocking energy, so that the supply device (11, 12, 16, 19, 29) returns to the closed position and the locking unit (9) back to the ground state versa;  f) Removal of the tool-side receiving plate (2) separate robot-side receiving plate (3), if the two receiving plates (2, 3) when recording in the storage station (1) were connected, or removing the robot side connected to the tool-side receiving plate (2) Receiving plate (3), if the two receiving plates (2, 3) when recording in the storage station (1) were separated. 1 8. A method according to claim 17, characterized in that when receiving the tool-side receiving plate (2) in the storage station (1) or when receiving the robot-side receiving plate (3) by the tool-side receiving plate (2) movement in the direction of the storage station (1) is stopped and will continue after registering the signal. 19. The method according to claim 17 or claim 18, characterized in that a computing unit controls the method and preferably performs automated.