TOOL FOR COLLABORATING ROBOT, ROBOT WITH TOOL FIXED TO SAME AND COLLISION PREVENTION METHOD

The invention relates to a tool for a collaborating robot, comprising: a tool housing; a robot flange; a tool drive device; a tool insert holder for receiving a tool insert; a tool insert which can befastened to the tool insert holder; a drive shaft for transmitting a drive torque from the tool drive device to the tool insert holder including the tool insert; a collision protection device which has a dual-channel monitoring system with two position detection mechanisms, and which is connected to a programmable logic controller in terms of signals; a collision protection cover arranged coaxially on the free end of the tool in the axial direction of the tool insert, wherein the collision protection cover is movably coupled to a tappet which is mounted displaceably in the axial direction, and wherein in the event of a collision contact with the collision protection cover, a change in position of the tappet in the axial direction can be detected by the position detection mechanisms and the collision protection de