US20040234385A1 - Smart axes and related method - Google Patents
Smart axes and related method Download PDFInfo
- Publication number
- US20040234385A1 US20040234385A1 US10/878,942 US87894204A US2004234385A1 US 20040234385 A1 US20040234385 A1 US 20040234385A1 US 87894204 A US87894204 A US 87894204A US 2004234385 A1 US2004234385 A1 US 2004234385A1
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- United States
- Prior art keywords
- displacement unit
- unit according
- control
- displacement
- components
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/43—Programme-control systems fluidic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/43—Programme-control systems fluidic
- G05B19/44—Programme-control systems fluidic pneumatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31031—Assembly, manipulator cell
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34191—Pneumatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45055—Assembly
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53039—Means to assemble or disassemble with control means energized in response to activator stimulated by condition sensor
- Y10T29/53061—Responsive to work or work-related machine element
Definitions
- the invention relates to a displacement unit for a manipulation system.
- a method for controlling a processing machine is known, in particular an assembly machine and similar processing machine.
- the latter comprises a plurality of workpiece carriers, which are moved past workstations on a moving track or work line in transport direction.
- the latter are designed respectively for at least one prespecified procedure and are controlled at least partly by an electronic control unit.
- Each workstation has its own electronic control unit, which is equivalent to the control units of other workstations, whereby the control unit of each workstation only cooperates with the immediately following and/or immediately preceding workstation via a data and control line.
- At the first workstation an electronic protocol is established for each workpiece carrier, which in addition to an identification identifying or characterizing said workpiece carrier contains the work to be performed in transport direction at subsequent workstations.
- Said protocol is then sent according to the work stages via a data line from the control unit of the preceding workstation to the control unit of the subsequent workstation.
- the disadvantage of this design is that the individual workstations comprise various different components, according to the work to be performed, which excludes the serial manufacture of the various components. In this way it is not possible to produce such an assembly machine using standardized individual components, which is disadvantageous for the manufacturing costs of such an assembly machine.
- a further disadvantage is that once a production process has been commenced it is not possible to intervene to correct an erroneous protocol for example.
- the central monitoring or direct programming of a particular workstation is not possible for example with an additional simulation procedure.
- EP 0 240 965 shows a compact electrohydraulic switching module which is used, for example, for driving displacement units which comprises a valve piston and a valve housing surrounding the valve piston with a drive arrangement formed by a coil, whereby the drive arrangement is driven by a command processing element, for example a microprocessor.
- EP 0 275 992 a method for driving a machine system, for example production lines, conveyor systems etc, with several actuators, especially electric motors but also other electrically controllable and electromechanical actuating devices are described, whereby some of the actuators are combined into a group and a control unit is assigned to each of the actuators in this group.
- a decentralized drive for example of a displacement unit, is also described in FR 2 657 807.
- the object of the present invention is to create a displacement unit which is composed of separate standardized components and can be integrated as a standardized component itself into a complete system and thus a modular structure—for example an assembly line—can be created.
- the object of the invention is achieved according to one aspect thereof with a displacement unit for a manipulation system, which comprises components which are adjustable relative to each other, a guiding device for guiding the components, and a control unit.
- the control unit has a pressure fluid control valve for actuating one of the components by the pressure fluid, and a control module cooperating with the pressure fluid control valve and comprising a logic unit, the control module being connectable to a central control unit by interface.
- the control unit is integrated into one of the components.
- the object is also achieved according to another aspect of the invention with a: displacement for a manipulation system, which comprises components which are adjustable relative to each other, a pressure fluid drive for adjusting the components, the device having an outer surface, a guiding device for one of the components, and a control unit.
- the control unit has a pressure fluid control valve connected to the drive for actuating the drive by the pressure fluid, a control module cooperating with the pressure fluid control valve and comprising a logic unit, the control module being connectable to a central control unit by an interface, and a display element.
- the pressure fluid control valve and the control module are mounted on the outer surface of the drive.
- FIG. 1 a displacement unit according to the invention, in cross section, in front elevation
- FIG. 2 a section of the displacement unit 1 of the invention, in particular a control unit, in perspective view;
- FIG. 3 a section of the displacement unit of the invention, in particular a control unit, in perspective view;
- FIG. 4 a further embodiment of the displacement unit of the invention, in cross section, in plan view;
- FIG. 5 the displacement unit of the invention, in cross section, along the lines V-V of FIG. 4;
- FIG. 6 a further embodiment of the displacement unit of the invention, in front elevation
- FIG. 7 a block diagram of a control unit of the displacement unit of the invention.
- FIG. 8 a circuit diagram of the control unit of the displacement unit of the invention.
- FIG. 9 a time-motion diagram of the displacement unit of the invention.
- FIG. 10 a flowchart of the method of the invention for operating the displacement unit according to the invention
- FIG. 11 a flowchart of the method for operating the displacement unit of the invention
- FIG. 12 a further embodiment of the displacement unit according to the invention, in cross section, in plan view;
- FIG. 13 the displacement unit of the invention, in cross section along the lines XIII-XIII of FIG. 12.
- FIG. 1 a displacement unit 1 for example for supply, manipulation, joining or control systems of an assembly system for assembly parts 2 is shown.
- the unit comprises components 3 , 4 that can be displaced relative to one another using a drive unit 5 , for example by means of compressed air, electricity or hydraulic fluid.
- the displacement unit 1 comprises at least one guiding device 6 for at least one of the components 3 , 4 .
- the displacement unit 1 also comprises a control unit 7 , at least one member 8 of the control unit 7 processing logic information or bus information and a command is integrated into the drive unit 5 or into at least one of the components 3 , 4 .
- the control unit 7 comprises at least one control module 9 and one or more pressure fluid control valves 10 is designed for example as pneumatic valve 11 . It can however also be designed as a relay or as a contactor.
- the control unit 7 in particular the pressure fluid control valves 10 are connected to the drive unit 5 , which is designed for example as a pneumatic drive 12 , hydraulic drive, servomotor drive, electric motor drive, manual drive or piezo drive.
- the pneumatic drive 12 has the form of a pneumatic cylinder 13 .
- the latter comprises parallel closing elements 14 , which can be adjusted relative to one another and are mounted in a cylindrical pipe 15 , whereby the volume and the displacement of the cylinder can be changed. Cylindrical pipe 15 forms the guiding device 6 in the present embodiment.
- signalling and monitoring members 16 which are designed for example as limit switches or proximity switches 17 or as a displacement measuring system or position detecting system.
- At least one assembly part 2 is located on a transport device 18 , which in the present embodiment comprises a drive and guiding device 19 and workpiece carrier 20 .
- the drive and guiding device 19 comprises for example drive axes 21 , which run perpendicular to the transport device and to a central axis 22 of the pneumatic cylinder 13 .
- a drive wheel 23 is arranged on the drive axis 21 and secured thereto and can be made for example of plastic or metal with a plastic coating. Spaced apart from the drive wheel 23 at a distance 24 measured parallel to the drive axis 21 is a guiding wheel 25 which is not fixed by secured to drive axis 21 for example.
- the guiding wheel 25 in particular a surface 26 thereof is pressed for example by means of elastic force against a flank surface 27 of the workpiece carrier 20 running parallel thereto and at right angles to the drive axis 21 , an inner spacing 28 of a recess 29 of the workpiece carrier 20 parallel to the distance 24 corresponding to the distance 24 plus a double wheel width 30 .
- a mount 32 attached detachably or non-detachably to the upper side 31 in which assembly part 2 is arranged.
- the latter is designed as roller 33 made of plastic for example, which has a cylindrical bore 34 in which a bolt 35 also forming an assembly 2 is to be pressed.
- roller 33 made of plastic for example, which has a cylindrical bore 34 in which a bolt 35 also forming an assembly 2 is to be pressed.
- the pneumatic cylinder 13 has a piston 36 forming the component 4 , which has a piston surface 37 at right angles to the central axis 22 , beyond which a piston rod 38 projects.
- the former comprises in the present embodiment a pressure piece 39 , which is screwed onto the piston rod 38 , in particular onto a threaded section 40 thereof.
- the displacement unit 1 in the present embodiment acts as a joining system, in particular as a pressing device for assembly parts.
- control unit 7 On an outer surface 41 of the cylindrical pipe 15 is the control unit 7 , which is mounted for example on a console 42 connected detachably or non-detachably to the outer surface 41 .
- the pressure fluid control valves 10 are preferably connected detachably to the console 42 and are formed by a 4/2-way-valve 43 , two restrictor return valves 44 , 45 and two 3/2-way-valves 46 , 47 .
- the pressure fluid control valves 10 comprise for example electrically operated drives 48 , which are connected by control lines 49 to the control module 9 illustrated by dashed lines.
- control lines 49 it is possible to design the control lines 49 not only as free, i.e. flexible, lines but to integrate them into an electric distribution bar or cable channel.
- the fluid pressure control valves 10 are connected according to their switching function for example by lines 50 , in particular pneumatic pipes 51 .
- the control module 9 has inputs 52 , for example for signals and commands of signalling and monitoring members 16 or for signals and commands of an additional control unit 7 of further displacement units 1 or external input and output devices or drive units 5 and power or pressure fluid control valves 10 , the inputs 52 being connected for example by single point plugs with single lines, which can also be connected non-detachably to the inputs 52 .
- the inputs 52 can also be connected by at least one multipoint plug with at least one multi-point line or by a bus connector plug 53 to a central connecting line.
- the control module 9 also comprises outputs 54 which permit the output of signals and commands to the pressure fluid control valves 10 .
- outputs 54 can be used for example for signals and commands to the signalling and monitoring members 16 of additional displacement units 1 or to external input and output devices or to drive units 5 and for power.
- the output of signals and commands can be performed by means of the bus connector plug 53 which also forms an input 52 .
- the outputs 54 can like the inputs 52 be connected by single point plugs with single lines or by one or an additional multipoint plug to one or other multipoint line or via one or other additional bus connector plug 53 to one or other additional central connecting line.
- the lines 50 shown in FIG. 1 in particular the pneumatic pipes 51 can be substituted or supplemented by a pneumatic distribution bar 55 .
- the distribution bar 55 has a length 56 and a width 57 perpendicular thereto, which with a height 58 measured perpendicular to the width 57 delimits an end face 59 .
- the latter comprises openings 60 for channels 61 which extend for example over the entire length 56 , parallel to the latter and parallel to one another.
- openings 60 are also provided for the pressure fluid control valves 10 .
- openings 60 are also provided for the pressure fluid control valves 10 .
- the channels 61 are formed for example by an air inlet channel 64 , an air outlet channel 65 and two connecting channels 66 , 67 .
- An opening 63 of the 4/2-way-valve 43 is connected to a channel 61 for example by a plug.
- the 3/2-way-valve 46 Spaced apart from the 4/2-way-valve 43 in the opposite direction to the end face 59 is the 3/2-way-valve 46 .
- the latter also comprises openings 63 , one of which is connected preferably detachably with the connecting channel 66 , and in which the restrictor return valve 44 is arranged. Facing away from the upper side 62 of the pneumatic distribution bar 55 and parallel to the latter the 3/2-way-valve 46 is delimited by an upper side 68 , which comprises two openings 63 , one opening 63 comprising for example a sound damper 69 , whereas the other opening 63 is connected to the pneumatic cylinder 13 shown in FIG. 1.
- openings 63 can however also be arranged on the underside 70 of the 3/2-way-valve 46 facing the upper side 62 and away from the upper side 68 , as a result of which in the pneumatic distribution bar 55 further channels 61 would be necessary.
- the 3/2-way-valve 47 Spaced apart from the 3/2-way-valve 46 in the opposite direction to the 4/2-way-valve 43 is the 3/2-way-valve 47 , which is connected by an opening 63 through an opening 60 arranged in the upper side 62 of the distribution bar 55 with the connecting channel 67 . Out of the opening 63 a restrictor return valve 45 extends inside the 3/2/way-valve 47 . There are also openings 63 on the upper side 68 of the 3/2-way-valve 47 , one opening 63 having a sound damper 69 , and the other opening 63 being connected to the pneumatic cylinder 13 shown in FIG. 1. Such a connection of pressure fluid control valves 10 is preferably used for the end position damping of pneumatic cylinder 13 to be explained in more detail.
- any arrangement of pressure fluid control valves 10 and thereby the realization of various controls can be achieved. Accordingly the number of channels 61 arranged in the pneumatic distribution bar 55 and the pressure fluid control valves 10 arranged on the pneumatic distribution bar 55 can be varied as desired. It is also possible to integrate the pressure fluid control valves 10 into the pneumatic distribution bar 55 and not, as shown by way of example, to arrange them detachably or non-detachably on the upper side 62 . In addition, the pressure fluid control valves 10 can also be arranged on or in the cylindrical pipe 15 instead of being arranged on a pneumatic distribution bar 55 . In particular at least one component 3 ; 4 can comprise a pneumatic distribution bar 55 .
- FIG. 3 shows another embodiment of the control unit 7 in perspective view.
- the latter comprises—as described for FIG. 2—a pneumatic distribution bar 55 which comprises channels 61 and on the upper side 62 of which several pressure fluid control valves 10 are arranged.
- the pressure fluid control valves 10 comprise drives 71 which are connected detachably or non-detachably with the pressure fluid control valves 10 and with an electric distribution bus bar 72 preferably by plugs 74 designed as coupling devices 73 .
- the electric distribution bus bar 72 is a part of the control unit 7 . It is however also possible to form a flexible connection between the electric distribution bus bars 72 and the control unit 7 .
- the electric distribution bus bar 72 should not only be understood to be a rigid line connection, but can also be formed by flexible single lines preferably running into a housing.
- the control unit 7 in particular the control module 9 comprises in the present embodiment at least one display element 75 , which is designed for example as a display 76 with text, number display, light-emitting diodes and/or acoustic information elements.
- the control unit 7 comprises an input device 77 , preferably in the form of a keyboard 78 .
- the latter can however also be formed by a touch screen which combines the input device 77 with the display 76 .
- the display element 75 together with the input device 77 forms an input and output device 79 .
- the electric distribution bus bars 72 and the control unit 7 comprise on an end side face 80 a multipoint plug 81 designed as an input 52 and output 54 . It is also possible to use the bus connector plug 53 described in FIG. 1.
- FIGS. 4 and 5 a further embodiment of a displacement unit l according to the invention is shown.
- the latter comprises the drive unit 5 , which in the present embodiment is designed as a pneumatic cylinder 13 without a piston rod.
- the pneumatic cylinder 13 without a piston rod in turn comprises a cylindrical pipe 15 , which has connection openings 82 which project from the outer surface 41 of the cylindrical pipe 15 up to a cylinder inner chamber 83 .
- the cylindrical pipe 15 is used in turn as a guiding device 6 for the piston 36 .
- This is hollow and comprises two parallel piston plates 84 at right angles to the central axis 22 , which are connected detachably or non-detachably to flanges 85 running parallel thereto.
- the flanges 85 are a component of a piston body 86 , which has a rectangular cross section in a plane perpendicular to the central axis 22 .
- the flanges 85 and the piston plates 84 are adjusted in outline to the cross section of the cylindrical inner chamber 83 and are circular and concentric to the central axis 22 .
- An outer surface 87 delimiting the piston body 86 and parallel to the central axis 22 is used for mounting a slide 88 which passes through a slot-shaped longitudinal opening 89 arranged in the cylindrical pipe 15 .
- the slide 88 comprises a pneumatic distribution bar 55 , which is secured detachably or non-detachably to an upper side 90 of the slide 88 perpendicular to the outer surface 87 .
- the slide 88 has a height 91 measured parallel to the outer surface 87 which spaces the upper side 90 from an underside 92 of the slide 88 parallel thereto.
- the slot height 93 of the longitudinal opening 89 measured parallel to the slide height 91 is greater than the slide height 91 plus the bar height 58 of the pneumatic distribution bar 55 .
- the slide 88 is delimited in opposite direction to the outer surface 87 of the piston body 86 , which is component. 4 by an end face 94 , which has a mechanical interface 95 for additional displacement units 1 or assembly and processing devices or for power or for control units 7 .
- said mechanical interface 95 can be designed so that the end face 94 or the end face 59 of the pneumatic distribution bar 55 comprises not shown openings which correspond with also not shown openings in the other displacement unit 1 . It is also possible instead of a separate pneumatic distribution bar 55 to design the slide 88 to have integrated channels 61 .
- bus line 97 On an inner end face 96 of the slide 88 and the pneumatic distribution bar 55 running parallel to the end face 94 and opposite the latter are inputs 52 and outputs 54 which are combined in the present embodiment in the form of a bus line 97 . It is also possible however, instead of the bus line 97 to use a multipoint line or single lines.
- the bus line 97 can be flexible or rigid and runs as far as the piston plate 84 which faces the control unit 7 for the pneumatic cylinder 13 without a piston rod.
- inputs 52 and outputs 54 which are designed as coupling devices 98 . From said coupling devices 98 up to the adjacent closing element 14 of the pneumatic cylinder 13 without a piston rod extend one or more control lines 49 and one or more lines 50 which are designed to be adjustable in length for example in the form of a spiral.
- coupling devices 98 On an outer surface 99 of the closing element 14 facing away from the piston 36 are coupling devices 98 , which are allocated to the control lines 49 and lines 50 .
- the control unit 7 is also arranged on the outer surface 99 .
- the latter comprises a display 76 and a keyboard 78 .
- the control unit 7 in particular the control module 9 has inputs 52 and outputs 54 , which also can be designed as coupling devices 98 and are used for the transmission of signals and commands for example to a central control unit.
- This transmission is, however, not necessarily possible only by means of lines 50 or control lines 49 , but can also be performed, for example, optically by means of lasers or by means of infrared or ultrasound.
- From the control module 9 extends an ASIC bus line 100 for example, which supplies the pressure fluid control valves 10 or the signalling and monitoring members 16 with power or data or conveys data from the latter.
- the ASIC bus line 100 is preferably bipolar. Via an interface 101 and an evaluation unit 102 the signals and commands originating from the control module 9 or the central control unit and transmitted by the ASIC bus line 100 are transmitted to an electric distribution bus bar 72 which is arranged in a guiding device 103
- the guiding device 103 is preferably arranged in the cylindrical pipe 15 and extends at least over a portion of a length 104 of the drive unit 5 . It is thus designed so that it projects groove-like over the outer surface 41 of the cylindrical pipe 15 in opposite direction to the piston 36 . In the region of the outer surface 41 it has a slot width 105 , which is arranged symmetrically about a central plane 106 running through the central axis 22 . At a depth 107 measured from the outer surface 41 in opposite direction to the piston 36 the guiding device 103 comprises a groove 108 , which has a width 109 parallel to the slot width 105 and perpendicular to the central plane 106 which is greater than the slot width 105 .
- the groove 108 has a height 110 measured adjoining the depth 107 in opposite direction to the piston 36 .
- the guiding device 103 also comprises a recess groove 111 which has a width 112 measured parallel to the groove width 109 that is smaller than the latter.
- the cylindrical pipe 15 also comprises connection openings 82 projecting from the outer surface 41 in the direction of the inner chamber of the cylinder 83 .
- connection openings 82 projecting from the outer surface 41 in the direction of the inner chamber of the cylinder 83 .
- channels 61 run in the cylindrical pipe 15 , in particular an air inlet channel 64 and an air outlet channel 65 . From the latter connecting channels 114 extend up to the groove 108 and run at right angles to the outer surface 41 .
- Pressure fluid control valves 10 are inserted into the guiding device 103 , which in the present embodiment are designed as valve cartridges 115 . They comprise a flange 116 with contact elements 117 which are in contact with the electrical distribution bus bar 72 .
- the electric distribution bus bar 72 which in the present embodiment is designed as a conductor can, however, also be in the form of lines integrated into the component 3 , i.e. in the cylindrical pipe 15 .
- the valve cartridge 115 it is also possible for the valve cartridge 115 to have a separate control module 9 , which is provided either in addition to the control module 9 arranged on the closing element 14 or replaces the latter.
- the guiding device 103 also forms a bar-shaped securing device 118 for the signalling and monitoring members 16 . These can also comprise control modules 9 . It is also possible not to integrate the guiding device 103 into the drive unit 5 , i.e. into the cylindrical pipe 15 , but to design it as a separate component, which is secured detachably or non-detachably to the cylindrical pipe 15 . In this way the guiding device 103 can comprise several connection openings arranged at prespecified distances in the direction of the length 104 , at least one of which corresponds with connection openings 82 arranged in the cylindrical pipe 15 . In this way it is possible to design the guiding device 103 for a modular structure of the displacement unit 1 .
- FIG. 6 a further embodiment of a displacement unit 1 according to the invention is shown.
- the latter comprises components 3 , 4 that are adjustable relative to one another, component 4 being arranged by means of a guiding device 6 designed as a linear guide 119 on the frame-shaped component 3 .
- the guiding device 6 can however also be designed as a rotary or gear guide or as a sliding track.
- the frame-shaped component 3 has two parallel connecting elements 120 , which are spaced apart by longitudinal elements 121 running at right angles and parallel to one another.
- the connecting elements 120 are used for mounting securing devices 122 which are formed by a damping device 123 , in particular a shock absorber 124 . In this way the component 4 is restricted in at least one direction of movement on the component 3 .
- Signalling and monitoring members 16 are also arranged in the connecting elements 120 , which are designed for example in the form of capacitive proximity switches 17 .
- the guiding device 6 is designed as a ball bush guide.
- the component 4 has at least one ball bush 125 , in which a guide shaft 126 is inserted, which is arranged securely on the component 3 .
- One longitudinal element 121 is constituted by drive unit 5 which in the present embodiment is also designed as a pneumatic cylinder 13 .
- Pneumatic cylinder 13 is a linear cylinder and comprises the slide 88 on which component 4 is secured. The latter comprises in turn the interface 95 , on which a not shown additional displacement unit 1 can be arranged and in the region of which also not shown inputs 52 and outputs 54 of a control unit 7 can be arranged, which can be connected by plug connections to a control unit 7 of a not shown additional displacement unit 1 .
- Integrated into the drive unit 5 is the pneumatic distribution bar 55 and the electric distribution bus bar 72 with the control module 9 .
- the electric distribution bus bar 72 is connected by dot-dash shown control lines 49 to signalling and monitoring members 16 and the pneumatic distribution bar 55 via lines 50 , for example pneumatic pipes 51 to the pressure fluid control valves 10 .
- the control module 9 is a microprocessor 127 , which is connected by conductors 128 forming control lines 49 to an interface 129 forming an input 52 and output 54 .
- the latter comprises an integrated or, as shown, an external evaluation unit 130 which is also connected to the microprocessor 127 .
- a memory 131 for saving individual movements, and an input 52 and output 54 designed as an external interface 129 for external input and output devices 79 are connected to the microprocessor 127 .
- microprocessor 127 is also connected to a driver 132 which is arranged between outputs 54 and the microprocessor 127 and to a DIA converter 133 which is arranged between inputs 52 for signalling and monitoring members 16 and the microprocessor 127 .
- the microprocessor 127 is designed so that it detects one or more of the following functions in parallel or in series:
- the initiating mode is used so that on forming the connection between the control module 9 and the control unit 134 , the basic parameters of the control module 9 of the displacement unit 1 are transmitted.
- the latter can for example be transmitted in the form of a program which makes the potential reference values of the displacement units 1 , in particular the pneumatic cylinder 13 , appear on an external input and output device 79 or on a screen of the control unit 134 .
- Said potential reference values such as displacements in x and y direction, speeds and forces can therefore be stored in the memory 131 .
- the operator can now determine the actual, i.e. current reference values, for example the displacement, the acceleration, and the deceleration of the piston 36 of the pneumatic cylinder 13 , according to the individual movement situation.
- the potential reference values can be shown as variables, which can be provided by the operator with the corresponding current reference values. If the current reference value entered by the operator exceeds the stored potential reference value, a warning can be sent to the operator for example.
- Such an initiation of a displacement unit 1 can however also be performed by means of a data glove and simulation of the displacement unit 1 directly at the control module 9 .
- the operator with the data glove executes the movement to be performed directly in the relevant assembly station.
- the displacement unit 1 performs these movements of the data glove preferably simultaneously and transmits the values detected by signalling and monitoring members 16 , for example x and y components, to the microprocessor 127 and/or to the control unit 134 .
- the data glove is coupled by inputs 52 and outputs 54 to the control unit 7 and/or the control unit 134 , and the movement data is conveyed to the latter. The latter calculate from this a function of the movement and store it as a program.
- the expense of programming can be considerably reduced and the displacement unit 1 can be used variably.
- the x and y components can however also be detected by a local positioning system similar to the GPS.
- the input and output device 79 can however also be designed as a keyboard, a reading device for chipcards, magnetic cards, CDs, diskettes or tapes.
- control module 9 of displacement units 1 can be initiated in the same way.
- the control module 9 following the already initiated control module 9 can be connected to the former via the not shown bus line 97 .
- the potential reference values are sent to the central control unit 134 avoiding the preceding control module 9 .
- the operator can now also determine the actual reference values for this additional control module 9 , which can be stored in the control unit 134 or in the memory 131 as data or in program form. In this manner for each individual control module 9 the corresponding handling program can be provided.
- control module 9 can be dependent on the handling parameter of another control module 9 , it is also necessary to connect the individual handling programs of the control modules 9 . This can be performed by means of the control unit 134 or the control modules 9 themselves. For this purpose for example after the initiation of a control module 9 , i.e. after determining the current reference values, the latter can ask in a dialogue with the operator “start signal?” This start signal is a freely definable variable used by the operator. The operator can use a signal of a different displacement unit 1 in that this other displacement unit 1 , i.e.
- the other control module 9 creates a monitoring signal, which is sent from the signalling and monitoring members 16 of this other displacement unit 1 via the D/A converter 133 , and via the interface 129 as a data bus addressed to the displacement unit 1 needing the start signal, which data bus is used in the variable “start signal?”.
- a connection of this kind of various control modules 9 i.e. various displacement units 1 , can also be performed however via the input and output device 79 of a control module 9 .
- control mode is carried out as follows.
- the interface 129 is connected to a central connection line 135 , which is designed as a serial or parallel bus line 136 and leads to at least one control unit 134 and additional displacement units 1 . From the control unit 134 or from one or more additional control modules 9 the interface 129 receives one or more data sets provided with an address. In the evaluation unit 130 a comparison of these addresses is made with the address of the control module 9 . When the addresses coincide, the control module 9 is supplied with the transmitted data set.
- a data set of this kind can in the present example merely be a starting pulse for the control module 9 and thus for the displacement unit 1 concerned, which is transmitted for example from a control module 9 of a different displacement unit 1 , which has completed its tasks.
- the operator by means of the control unit 134 or an external input and output device 79 can instruct the microprocessor 127 of the control module 9 of this other displacement unit 1 , to enter a signal received by a signalling and monitoring member 16 , for example a position of the pneumatic cylinder 13 via the interface 129 to a control module 9 of a displacement unit 1 addressed into the bus line 136 .
- This signal reaches the interface 129 of the control module 9 of the displacement unit 1 and is fed into the microprocessor 127 of this control module 9 where it is used as a starting pulse for the program for this displacement unit 1 determined by the operator after the initiation mode in the memory 131 of the control module 9 or in the central control unit 134 .
- a pulse arrives via a control line 49 to the microprocessor 127 , which sends a corresponding signal to the pressure fluid control valve 10 , i.e. to the drive 48 of a pneumatic valve 11 , and ends the air supply to the pneumatic cylinder 13 and stops its movement.
- the evaluation of sensors 137 designed as signalling and monitoring members 16 can also be performed in the control unit 134 and the drive or charging of individual actuators 138 of a displacement unit 1 can be performed directly via the central bus line 136 .
- control unit 7 and control unit 134
- control unit 134 or from the individual components of the control unit 7 to the latter optically by means of lasers or by means of infrared or ultrasound.
- control module 9 also has a learning mode.
- a position to be reached by the piston 36 i.e. a reference value in the program of the microprocessor 127 designed as logic element 139 is predetermined and detected for example by means of a measuring member, in particular a displacement measuring device.
- the actual position i.e. the actual value of the stopped piston 36 is detected, and sent to the microprocessor 127 or the central control unit 134 , where the actual value is compared with the reference value and the difference between the reference position and the actual position of the piston 36 is determined.
- the microprocessor 127 sends a pulse for opening a pressure fluid control valve 10 , whereby the piston 36 is moved back by the difference, and thus the exact position is reached, i.e. the actual value is adjusted to the reference value.
- This difference is also used for the next displacement cycle, in order to actuate the pressure fluid control valve 10 not just when reaching the reference position, but earlier by the calculated difference.
- the actual value is defined as the reference value which represents an optimized time value for example with respect to cycle time, wear, vibration etc.
- a learning mode of this kind is advantageous in particular for increasing the acceleration of the piston 36 and a corresponding damping, i.e. slowing down of the piston 36 .
- the advantage of such a learning function is in particular that, on using servovalves, the pistons 36 of the pneumatic cylinder 13 are accelerated or slowed down, and in this way there is a change in the kinematic energy of the piston, which makes the deceleration of the piston to an exact position more difficult.
- a further example of the learning mode can on using corresponding sensors 137 , in particular microsensors, reduce the stress on and thereby the wear of the displacement unit.
- a vibration sensor designed as a signalling and monitoring member 16 can be provided on upper side 31 at tool carrier 20 , which transmits its data wirelessly or by line to the control module 9 or to the control unit 134 .
- a vibration sensor or force sensor can also be arranged on the displacement unit 1 for example on component 3 and/or component 4 .
- the vibration sensor transmits the value of the vibration to the control module 9 or the control unit 134 .
- the latter evaluate the measurement value and, on exceeding a specific predeterminable target value, for example by means of calculating algorithms such as fuzzy logic, neuronal networks or genetic algorithms, calculate a new end position of the gripper, which on reaching the assembly part 2 is no longer placed “so hard” into the mount, which is achieved preferably by the end position damping described below.
- the relative number of cycles between two consecutive adjustments of the positions of the components 3 , 4 can be used to determine a maintenance plan. In this way it is possible on the basis of the predeterminable reference value to determine an optimum drive curve of the displacement unit 1 and to control the pressure fluid control valves 10 accordingly.
- the pressure in the air inlet line of the pneumatic cylinder 13 is determined by a pressure sensor and stored in the memory 131 .
- the actual pressures are detected cyclically. Due to wear, for example in the region of the piston 36 and the cylindrical pipe 15 , or the linear guide 119 designed as a guiding device 6 illustrated in FIG. 6, the sliding friction is reduced, which results in a reduction of frictional forces and thereby directly to a reduction in pressure.
- This drop in pressure thus signals the degree of wear of the elements concerned, and can, as already described, be used as parameters for the modes of the displacement unit 1 .
- the microprocessor 127 counts for example the absolute number of performed cycles and the relative cycle number between two consecutive corrections of the parameters on the basis of the learning mode. If the relative cycle number drops so far that it falls below a predeterminable minimum cycle number, the microprocessor 127 sends a repair signal either directly to the control unit 134 or via the external interface 129 to external input and output devices 79 .
- the repair signal is set in a relation to the absolute cycle number and a maintenance plan for the future can be developed therefrom.
- the wear can also be determined directly for example by surface roughness measurements and/or by continual measuring of the objects, for example the piston 36 or the sealing rings.
- specific displacement modes for the displacement unit 1 such as a for example “normal drive”, “slow drive” or “rapid drive” can be predetermined by positioning paths and speed profiles 140 .
- the starting point here is the available displacement time of a displacement unit 1 resulting from the cycle time of an assembly system, in particular a double acting pneumatic cylinder 13 .
- the latter should be 70 ms, for example.
- the speed profile 140 is formed therefrom.
- the pneumatic cylinder 13 is charged with compressed air on one side 142 at the time point or at position 141 .
- the compressed air comes from a compressed air supply 143 , which is connected to an electrically operated 4/2 valve 144 serving as pressure fluid control valve 10 .
- the electrically operated 4/2-way-valve 144 i.e.
- the drive 145 designed as a coil is connected by a control line 49 and the driver 132 to the microprocessor 127 , which via the interface 129 , the evaluation unit 130 and the bus line 136 receives the starting signal from the control unit 134 or a control module 9 of a different displacement unit 1 .
- the 4/2-way-valve 144 is actuated and a line 146 put under pressure.
- a restrictor return valve 147 designed as a pressure fluid control valve 10 is released in flow direction to the pneumatic cylinder 13 and the compressed air reaches an electrically operated 3/2-way-valve 148 unrestrictedly.
- a drive 149 of this valve is connected by a separate control line 49 or via the control line 49 of the 4/2-way-valve 144 to the microprocessor 127 and is inactivated on the advance of the piston 36 , so that a free passage of the compressed air is provided to side 142 .
- a pulse is sent via a control line 49 to a further 3/2-way-valve 150 , for example just by microprocessor 127 and not by the control unit 134 , which is connected to the side 151 of the pneumatic cylinder 13 and in this activated state the side 151 is completely vented by means of a sound damper 152 .
- the piston 36 can now be accelerated with full pressure on side 142 and at a given time point 153 in the microprocessor 127 or in the control unit 134 reaches position 154 .
- the pulse from the microprocessor 127 to the additional 3/2-way-valve 150 is switched off, whereby the latter is moved back, for example by spring force, into its position of rest and the venting of compressed air from the side 151 is performed no longer by sound damper 152 but by counter pressure by a further restrictor return valve 155 , as a result of which the piston speed is reduced until position 156 is reached.
- a holding time begins not shown in FIG. 9, during which an additional displacement unit 1 arranged for example on the piston rod 38 , completes its task, or the return motion of the piston 36 is performed.
- the pulse on the drive 145 of the 4/2-way-valve 144 is removed, whereby the latter adopts a position of rest due to the spring force.
- the air flows into a line 157 in the direction of side 151 .
- Air freely flows through throttle return valve 155 in the direction of the second 3/2-way-valve 150 , the drive 149 of which is not actuated and thus compressed air reaches the side 151 .
- a pulse is sent by the microprocessor 127 to the drive 149 of the first 3/2-way-valve 148 and activates the latter, as a result of which the side 142 is completely vented by a sound damper 152 .
- the piston 36 now moves at maximum speed from position 156 to position 158 .
- the pulse i.e. the voltage on the drive 149 of the first 3/2-way-valve 148 is removed, as a result of which the latter is returned by spring force into its position of rest, and frees the path in the direction of the first throttle return valve 147 , whereby the compressed air emerging from side 142 is throttled and the piston 36 is braked.
- securing devices 122 for example in the form of switchable end stops can be arranged, which themselves can act as signalling and monitoring members 16 or comprise additional signalling and monitoring members 16 . If one is arranged at position 141 , for example a pulse is sent via a separate control line 49 or a central connecting line 135 to the microprocessor 127 , which conveys this signal via the evaluation unit 130 and the interface 129 to the control unit 134 and processes its into a pulse, in which it ends the program stored in the memory 131 .
- the pressure fluid control valves 10 i.e. the 4/2-way-valve 144 , the 3/2-way-valves 148 , 150 and the throttle return valves 147 , 155 are only examples, and can of course be substituted and/or supplemented according to different control functions by different pressure fluid control valves 10 .
- a reference parameter of this kind can for example be the speed of a pneumatic cylinder 13 and thus the cycle time of a displacement unit 1 .
- the cycle time of each individual displacement unit 1 can be determined and sent into the central. control unit 134 .
- the “slowest” displacement unit 1 is determined, i.e. the greatest pulse time of the displacement unit 1 is established.
- the cycle times of the other displacement units 1 are adjusted for example by means of the learning mode.
- FIGS. 10 and 11 the sequence of the initiating mode is shown in combination with the learning mode for optimising reference valves with respect to the cycle time.
- method step 159 is commenced.
- a physical target variable in the central control unit 134 shown in FIG. 7 or in the control module 9 to be optimized from a specific number of such physical target variables.
- the latter can for example be the maximum speed, the minimum impactor the necessary speed.
- the necessary speed of a displacement unit 1 is oriented to each displacement unit 1 which takes the greatest time for a specific assembly step to be performed thereby for procedural reasons. As this slowest displacement unit 1 determines the cycle time of the entire assembly system, it is not necessary that other displacement units 1 , which are “faster” than the “slowest” displacement unit 1 perform the assembly steps to be performed thereby in their minimum possible individual cycle time.
- sequence 160 is performed.
- the connection between the central control unit 134 and the first control module 9 of the first displacement unit 1 is formed by means of the bus line 136 .
- procedure 161 is performed.
- the potential reference values of the displacement unit 1 determined in the control module 9 especially in the memory 131 for example maximum displacements in x and y direction, are sent to the central control unit 134 automatically by producing the connection in sequence 160 .
- step 162 in which the actual reference values of the control module 9 of the displacement unit 1 adjusted to the corresponding assembly situation of the displacement unit 1 are pregiven at the central control unit 134 or at an external input and output device 79 .
- sequence 163 is performed which is formed by the learning mode.
- the learning mode begins with procedure 164 , in which the control module 9 programmed with reference values is started manually and externally, followed by method step 165 .
- the pressure fluid control valves 10 of the displacement unit 1 are actuated according to the entered actual reference values.
- the actual values are detected, i.e. the actual positions of the components 3 , 4 of the displacement unit 1 .
- procedure 167 a comparison of the detected actual values with the entered reference value is made and where there is insufficient correspondence there is a return to the beginning of method step 165 and thus a further actuation of the pressure fluid control valves 10 and a change of position of the components 3 , 4 of the displacement unit 1 is performed. If the reference-actual value comparison is successful in procedure 167 , i.e. the actual values correspond with the reference values, the actual target variable of the displacement unit 1 is stored in the sequence 168 . Which target variable should be stored from a possible number of actual target variables is determined by the selection made in method step 159 of the physical target variable to be optimized.
- Said target value can for example, as already indicated, be the pulse time of the “slowest” displacement unit 1 , which determines the necessary speed for all displacement units 1 .
- procedure 171 beginning with the first displacement unit 1 a comparison of the actual-target variable is made with the target value. If the latter do not correspond, method step 172 is performed, which is formed for example by sequence 163 i.e. by the learning mode. After completing the learning mode, i.e. after ending sequence 163 , and adjusting the actual values of the displacement unit 1 to the target value procedure 171 is carried out, i.e. a comparison of the actual target variable of the first displacement unit 1 with the target value.
- step 172 If these two do not coincide, there is a return to the beginning of method step 172 , i.e. to the learning mode. If the comparison is successful however, i.e. the latter coincide, it is queried in sequence 173 whether all actual target variables of all control modules 9 of all displacement units 1 have been compared and adjusted by means of procedure 171 with the target value.
- procedure 171 If this is not the case there is a return to the beginning of procedure 171 , where now the actual target variable of an additional displacement unit 1 is compared with the target value. If the actual target variable corresponds with the target value, which are compared in procedure 171 , the process continues to the beginning of sequence 173 . However, if in sequence 173 it is found that all actual target variables of control modules 9 of all displacement units 1 have been compared with the target value, procedure 174 is commenced, i.e. the control mode or the monitoring mode commences for example and the assembly system is started.
- method steps 159 , 162 , 165 , 169 , 172 and/or sequences 160 , 163 , 168 , 170 and/or procedures 161 , 164 , 167 , 170 can be preset in the central control unit 134 and in an individual control module 9 of a displacement unit 1 or in several control modules 9 of several displacement units 1 .
- FIGS. 12 and 13 a further embodiment of the displacement unit 1 according to the invention is shown.
- the latter is basically the same as the displacement unit 1 shown in FIGS. 4 and 5.
- the displacement unit 1 comprises adjacent to the outer surface 41 signalling and monitoring members 16 and pressure fluid control valves 10 .
- the signalling and monitoring members 16 which can have separate control modules 9 and logic elements 139 , preferably have contacting openings 175 arranged symmetrically about the central plane 106 , which forms a line connection to a bus line 136 , comprising two individual conductors 176 , which forms the electric distribution bus bar 72 .
- the bus line 136 can however also be designed as a 3-conductor system, one conductor of which is designed as an emergency off conductor by means of which the power supply of all actuators 138 is interrupted.
- the signalling and monitoring member 16 comprises an initiator element 177 , an electronic module 178 forming logic element 139 connecting the latter and connecting lines 179 from the electronic module 178 to the contacting openings 175 via which the received signals are transmitted from the initiator element 177 to the bus line 136 .
- the pressure fluid control valves 10 also have the contacting openings 175 by which the latter are supplied with power via the bus line 136 .
- the bus line 136 has a circular cross section, whereby it is possible to change both the pressure fluid control valves 10 and the signalling and monitoring members 16 in their position along the displacement unit 1 . It is also possible however to integrate the bus line 136 into lines 50 , in particular into a pneumatic pipe 51 for the pressure fluid control valves 10 .
Abstract
The invention describes a displacement unit (1) for example for supply, manipulation, guiding or control systems of mounting parts (2), with components (3, 4) that can be adjusted relative to one another by means of a drive unit (5) and with at least one guiding device (6) for at least one of the components (3; 4) and a control unit (7). At least one member (8) of the control unit (7) used for processing logic information or bus information is integrated into the drive unit (5) and/or into at least one of the components (3; 4) and/or is mounted on one of the components (3; 4).
Description
- Applicant claims priority under 35 U.S.C. §119 of Austrian Application No. A1384/97 filed Aug. 18, 1997. Applicant also claims priority under 35 U.S.C. §365 of PCT/AT98/00194 filed Aug. 18, 1998. The international application under PCT article 21(2) was not published in English.
- 1. Field of the Invention
- The invention relates to a displacement unit for a manipulation system.
- 2. The Prior Art
- From DE 41 06 689 A1 a method for controlling a processing machine is known, in particular an assembly machine and similar processing machine. The latter comprises a plurality of workpiece carriers, which are moved past workstations on a moving track or work line in transport direction. The latter are designed respectively for at least one prespecified procedure and are controlled at least partly by an electronic control unit. Each workstation has its own electronic control unit, which is equivalent to the control units of other workstations, whereby the control unit of each workstation only cooperates with the immediately following and/or immediately preceding workstation via a data and control line. At the first workstation an electronic protocol is established for each workpiece carrier, which in addition to an identification identifying or characterizing said workpiece carrier contains the work to be performed in transport direction at subsequent workstations. Said protocol is then sent according to the work stages via a data line from the control unit of the preceding workstation to the control unit of the subsequent workstation. The disadvantage of this design is that the individual workstations comprise various different components, according to the work to be performed, which excludes the serial manufacture of the various components. In this way it is not possible to produce such an assembly machine using standardized individual components, which is disadvantageous for the manufacturing costs of such an assembly machine. A further disadvantage is that once a production process has been commenced it is not possible to intervene to correct an erroneous protocol for example. Furthermore, the central monitoring or direct programming of a particular workstation is not possible for example with an additional simulation procedure.
- EP 0 240 965 shows a compact electrohydraulic switching module which is used, for example, for driving displacement units which comprises a valve piston and a valve housing surrounding the valve piston with a drive arrangement formed by a coil, whereby the drive arrangement is driven by a command processing element, for example a microprocessor.
- In EP 0 275 992, a method for driving a machine system, for example production lines, conveyor systems etc, with several actuators, especially electric motors but also other electrically controllable and electromechanical actuating devices are described, whereby some of the actuators are combined into a group and a control unit is assigned to each of the actuators in this group.
- Similarly, a decentralized drive, for example of a displacement unit, is also described in
FR 2 657 807. - The object of the present invention is to create a displacement unit which is composed of separate standardized components and can be integrated as a standardized component itself into a complete system and thus a modular structure—for example an assembly line—can be created.
- The object of the invention is achieved according to one aspect thereof with a displacement unit for a manipulation system, which comprises components which are adjustable relative to each other, a guiding device for guiding the components, and a control unit. The control unit has a pressure fluid control valve for actuating one of the components by the pressure fluid, and a control module cooperating with the pressure fluid control valve and comprising a logic unit, the control module being connectable to a central control unit by interface. The control unit is integrated into one of the components. The surprising advantage is that the control unit is connected directly to the displacement unit and thus expensive installation of wiring can be avoided on the one hand and specific functions of the adjusting unit can be preset without external programming. In this way for example the expense of programming can be reduced considerably and it is possible to produce the transport devices in series as standard units without the special manufacture of parts designed for specific uses being necessary. In addition, accessibility to the individual components in the region of a machine is considerably improved if the two supply lines leading from the pressure fluid control valve to the drive unit are omitted by integrating the pressure fluid control valve into the drive unit or the components. A further advantage is the short lines which prevents undesired damping caused by the elastic stretching of the feed lines, friction losses etc., resulting in a considerable improvement in switching times, reaction times etc.
- The object is also achieved according to another aspect of the invention with a: displacement for a manipulation system, which comprises components which are adjustable relative to each other, a pressure fluid drive for adjusting the components, the device having an outer surface, a guiding device for one of the components, and a control unit. The control unit has a pressure fluid control valve connected to the drive for actuating the drive by the pressure fluid, a control module cooperating with the pressure fluid control valve and comprising a logic unit, the control module being connectable to a central control unit by an interface, and a display element. The pressure fluid control valve and the control module are mounted on the outer surface of the drive. In addition to the advantages described hereinabove, a surprising advantage over and above the overall effect can be achieved in that the short switching times and ways of optimizing the overall displacement sequence can be combined with the thereby achievable greater availability.
- The invention is explained in more detail in the following by way of the embodiments illustrated in the drawings.
- These show:
- FIG. 1 a displacement unit according to the invention, in cross section, in front elevation;
- FIG. 2 a section of the displacement unit1 of the invention, in particular a control unit, in perspective view;
- FIG. 3 a section of the displacement unit of the invention, in particular a control unit, in perspective view;
- FIG. 4 a further embodiment of the displacement unit of the invention, in cross section, in plan view;
- FIG. 5 the displacement unit of the invention, in cross section, along the lines V-V of FIG. 4;
- FIG. 6 a further embodiment of the displacement unit of the invention, in front elevation;
- FIG. 7 a block diagram of a control unit of the displacement unit of the invention;
- FIG. 8 a circuit diagram of the control unit of the displacement unit of the invention;
- FIG. 9 a time-motion diagram of the displacement unit of the invention;
- FIG. 10 a flowchart of the method of the invention for operating the displacement unit according to the invention;
- FIG. 11 a flowchart of the method for operating the displacement unit of the invention;
- FIG. 12 a further embodiment of the displacement unit according to the invention, in cross section, in plan view;
- FIG. 13 the displacement unit of the invention, in cross section along the lines XIII-XIII of FIG. 12.
- First of all it should be noted that in the descriptions of the various embodiments the same parts are given the same reference numbers or component names, whereby the disclosures contained throughout the description can be applied to the same parts with the same reference numbers or the same component names. Also the details relating to position, such as e.g. top, bottom, side etc. relate to the Figure being described and should be transposed to a new position when the position has changed. Furthermore, individual features of the various embodiments shown can represent independent solutions according to the invention.
- In FIG. 1 a displacement unit1 for example for supply, manipulation, joining or control systems of an assembly system for
assembly parts 2 is shown. The unit comprisescomponents drive unit 5, for example by means of compressed air, electricity or hydraulic fluid. Furthermore, the displacement unit 1 comprises at least one guidingdevice 6 for at least one of thecomponents control unit 7, at least onemember 8 of thecontrol unit 7 processing logic information or bus information and a command is integrated into thedrive unit 5 or into at least one of thecomponents - The
control unit 7 comprises at least onecontrol module 9 and one or more pressurefluid control valves 10 is designed for example aspneumatic valve 11. It can however also be designed as a relay or as a contactor. Thecontrol unit 7, in particular the pressurefluid control valves 10 are connected to thedrive unit 5, which is designed for example as apneumatic drive 12, hydraulic drive, servomotor drive, electric motor drive, manual drive or piezo drive. Thepneumatic drive 12 has the form of apneumatic cylinder 13. The latter comprisesparallel closing elements 14, which can be adjusted relative to one another and are mounted in acylindrical pipe 15, whereby the volume and the displacement of the cylinder can be changed.Cylindrical pipe 15 forms the guidingdevice 6 in the present embodiment. Incomponent 3, in particular in thecylindrical pipe 15, are signalling andmonitoring members 16, which are designed for example as limit switches or proximity switches 17 or as a displacement measuring system or position detecting system. - At least one
assembly part 2 is located on atransport device 18, which in the present embodiment comprises a drive and guidingdevice 19 and workpiece carrier 20. The drive and guidingdevice 19 comprises for example drive axes 21, which run perpendicular to the transport device and to acentral axis 22 of thepneumatic cylinder 13. Adrive wheel 23 is arranged on thedrive axis 21 and secured thereto and can be made for example of plastic or metal with a plastic coating. Spaced apart from thedrive wheel 23 at adistance 24 measured parallel to thedrive axis 21 is a guidingwheel 25 which is not fixed by secured to driveaxis 21 for example. The guidingwheel 25, in particular asurface 26 thereof is pressed for example by means of elastic force against aflank surface 27 of the workpiece carrier 20 running parallel thereto and at right angles to thedrive axis 21, aninner spacing 28 of arecess 29 of the workpiece carrier 20 parallel to thedistance 24 corresponding to thedistance 24 plus adouble wheel width 30. - On an upper side31 of the workpiece carrier 20 facing away from the
recess 29 and facing the displacement unit 1, which upper side is perpendicular to thecentral axis 22, is amount 32 attached detachably or non-detachably to the upper side 31 in whichassembly part 2 is arranged. The latter is designed asroller 33 made of plastic for example, which has acylindrical bore 34 in which abolt 35 also forming anassembly 2 is to be pressed. Of course, the use of such a displacement unit 1 is not only restricted to transportdevices 18 with workpiece carriers 20 forassembly parts 2 described. - The
pneumatic cylinder 13 has apiston 36 forming thecomponent 4, which has apiston surface 37 at right angles to thecentral axis 22, beyond which apiston rod 38 projects. In an end region of thepiston rod 38 facing away from thepiston surface 37 the former comprises in the present embodiment apressure piece 39, which is screwed onto thepiston rod 38, in particular onto a threadedsection 40 thereof. In this way the displacement unit 1 in the present embodiment acts as a joining system, in particular as a pressing device for assembly parts. - On an
outer surface 41 of thecylindrical pipe 15 is thecontrol unit 7, which is mounted for example on aconsole 42 connected detachably or non-detachably to theouter surface 41. The pressurefluid control valves 10 are preferably connected detachably to theconsole 42 and are formed by a 4/2-way-valve 43, tworestrictor return valves valves fluid control valves 10 comprise for example electrically operated drives 48, which are connected bycontrol lines 49 to thecontrol module 9 illustrated by dashed lines. Of course, it is possible to design thecontrol lines 49 not only as free, i.e. flexible, lines but to integrate them into an electric distribution bar or cable channel. The fluidpressure control valves 10 are connected according to their switching function for example bylines 50, in particularpneumatic pipes 51. Thecontrol module 9 hasinputs 52, for example for signals and commands of signalling andmonitoring members 16 or for signals and commands of anadditional control unit 7 of further displacement units 1 or external input and output devices or driveunits 5 and power or pressurefluid control valves 10, theinputs 52 being connected for example by single point plugs with single lines, which can also be connected non-detachably to theinputs 52. - The
inputs 52 can also be connected by at least one multipoint plug with at least one multi-point line or by abus connector plug 53 to a central connecting line. Thecontrol module 9 also comprisesoutputs 54 which permit the output of signals and commands to the pressurefluid control valves 10. Furthermore, outputs 54 can be used for example for signals and commands to the signalling andmonitoring members 16 of additional displacement units 1 or to external input and output devices or to driveunits 5 and for power. The output of signals and commands can be performed by means of thebus connector plug 53 which also forms aninput 52. - The
outputs 54 can like theinputs 52 be connected by single point plugs with single lines or by one or an additional multipoint plug to one or other multipoint line or via one or other additionalbus connector plug 53 to one or other additional central connecting line. As shown in FIG. 2 thelines 50 shown in FIG. 1, in particular thepneumatic pipes 51 can be substituted or supplemented by apneumatic distribution bar 55. Thedistribution bar 55 has alength 56 and awidth 57 perpendicular thereto, which with aheight 58 measured perpendicular to thewidth 57 delimits anend face 59. The latter comprisesopenings 60 forchannels 61 which extend for example over theentire length 56, parallel to the latter and parallel to one another. - On an
upper side 62 running perpendicular to theend face 59 and having thelength 56 and thewidth 57,openings 60 are also provided for the pressurefluid control valves 10. Thus for the 4/2-way-valve 43 adjacent to theend face 59 on theupper side 62 there are fouropenings 60 connected to correspondingopenings 63 in the pressurefluid control valves 10. Thechannels 61 are formed for example by anair inlet channel 64, anair outlet channel 65 and two connectingchannels opening 63 of the 4/2-way-valve 43 is connected to achannel 61 for example by a plug. Spaced apart from the 4/2-way-valve 43 in the opposite direction to theend face 59 is the 3/2-way-valve 46. The latter also comprisesopenings 63, one of which is connected preferably detachably with the connectingchannel 66, and in which therestrictor return valve 44 is arranged. Facing away from theupper side 62 of thepneumatic distribution bar 55 and parallel to the latter the 3/2-way-valve 46 is delimited by anupper side 68, which comprises twoopenings 63, oneopening 63 comprising for example asound damper 69, whereas theother opening 63 is connected to thepneumatic cylinder 13 shown in FIG. 1. Thelatter openings 63 can however also be arranged on theunderside 70 of the 3/2-way-valve 46 facing theupper side 62 and away from theupper side 68, as a result of which in thepneumatic distribution bar 55further channels 61 would be necessary. - Spaced apart from the 3/2-way-
valve 46 in the opposite direction to the 4/2-way-valve 43 is the 3/2-way-valve 47, which is connected by anopening 63 through anopening 60 arranged in theupper side 62 of thedistribution bar 55 with the connectingchannel 67. Out of the opening 63 arestrictor return valve 45 extends inside the 3/2/way-valve 47. There are alsoopenings 63 on theupper side 68 of the 3/2-way-valve 47, oneopening 63 having asound damper 69, and theother opening 63 being connected to thepneumatic cylinder 13 shown in FIG. 1. Such a connection of pressurefluid control valves 10 is preferably used for the end position damping ofpneumatic cylinder 13 to be explained in more detail. - Of course in this way any arrangement of pressure
fluid control valves 10 and thereby the realization of various controls can be achieved. Accordingly the number ofchannels 61 arranged in thepneumatic distribution bar 55 and the pressurefluid control valves 10 arranged on thepneumatic distribution bar 55 can be varied as desired. It is also possible to integrate the pressurefluid control valves 10 into thepneumatic distribution bar 55 and not, as shown by way of example, to arrange them detachably or non-detachably on theupper side 62. In addition, the pressurefluid control valves 10 can also be arranged on or in thecylindrical pipe 15 instead of being arranged on apneumatic distribution bar 55. In particular at least onecomponent 3; 4 can comprise apneumatic distribution bar 55. - FIG. 3 shows another embodiment of the
control unit 7 in perspective view. The latter comprises—as described for FIG. 2—apneumatic distribution bar 55 which compriseschannels 61 and on theupper side 62 of which several pressurefluid control valves 10 are arranged. The pressurefluid control valves 10 comprise drives 71 which are connected detachably or non-detachably with the pressurefluid control valves 10 and with an electricdistribution bus bar 72 preferably byplugs 74 designed ascoupling devices 73. In the present embodiment the electricdistribution bus bar 72 is a part of thecontrol unit 7. It is however also possible to form a flexible connection between the electric distribution bus bars 72 and thecontrol unit 7. Also the electricdistribution bus bar 72 should not only be understood to be a rigid line connection, but can also be formed by flexible single lines preferably running into a housing. - The
control unit 7, in particular thecontrol module 9 comprises in the present embodiment at least onedisplay element 75, which is designed for example as adisplay 76 with text, number display, light-emitting diodes and/or acoustic information elements. In addition, thecontrol unit 7 comprises aninput device 77, preferably in the form of akeyboard 78. The latter can however also be formed by a touch screen which combines theinput device 77 with thedisplay 76. Thedisplay element 75 together with theinput device 77 forms an input andoutput device 79. The electric distribution bus bars 72 and thecontrol unit 7 comprise on an end side face 80 amultipoint plug 81 designed as aninput 52 andoutput 54. It is also possible to use thebus connector plug 53 described in FIG. 1. - In the jointly described FIGS. 4 and 5 a further embodiment of a displacement unit l according to the invention is shown. The latter comprises the
drive unit 5, which in the present embodiment is designed as apneumatic cylinder 13 without a piston rod. Thepneumatic cylinder 13 without a piston rod in turn comprises acylindrical pipe 15, which hasconnection openings 82 which project from theouter surface 41 of thecylindrical pipe 15 up to a cylinderinner chamber 83. Thecylindrical pipe 15 is used in turn as a guidingdevice 6 for thepiston 36. This is hollow and comprises twoparallel piston plates 84 at right angles to thecentral axis 22, which are connected detachably or non-detachably toflanges 85 running parallel thereto. - The
flanges 85 are a component of apiston body 86, which has a rectangular cross section in a plane perpendicular to thecentral axis 22. Theflanges 85 and thepiston plates 84 are adjusted in outline to the cross section of the cylindricalinner chamber 83 and are circular and concentric to thecentral axis 22. Anouter surface 87 delimiting thepiston body 86 and parallel to thecentral axis 22 is used for mounting aslide 88 which passes through a slot-shapedlongitudinal opening 89 arranged in thecylindrical pipe 15. Theslide 88 comprises apneumatic distribution bar 55, which is secured detachably or non-detachably to anupper side 90 of theslide 88 perpendicular to theouter surface 87. Theslide 88 has aheight 91 measured parallel to theouter surface 87 which spaces theupper side 90 from anunderside 92 of theslide 88 parallel thereto. Theslot height 93 of thelongitudinal opening 89 measured parallel to theslide height 91 is greater than theslide height 91 plus thebar height 58 of thepneumatic distribution bar 55. On theupper side 62 of thedistribution bar 55 and the electric distribution bus bars 72, which can also be arranged on theupper side 90 of theslide 88, are the pressurefluid control valves 10. From the pressurefluid control valves 10run lines 50 toconnection openings 82 of an additional displacement unit 1, which is also designed as apneumatic cylinder 13, but with apiston rod 38. - The
slide 88 is delimited in opposite direction to theouter surface 87 of thepiston body 86, which is component. 4 by anend face 94, which has amechanical interface 95 for additional displacement units 1 or assembly and processing devices or for power or forcontrol units 7. In place oflines 50 saidmechanical interface 95 can be designed so that theend face 94 or theend face 59 of thepneumatic distribution bar 55 comprises not shown openings which correspond with also not shown openings in the other displacement unit 1. It is also possible instead of a separatepneumatic distribution bar 55 to design theslide 88 to have integratedchannels 61. - On an inner end face96 of the
slide 88 and thepneumatic distribution bar 55 running parallel to theend face 94 and opposite the latter areinputs 52 andoutputs 54 which are combined in the present embodiment in the form of abus line 97. It is also possible however, instead of thebus line 97 to use a multipoint line or single lines. Thebus line 97 can be flexible or rigid and runs as far as thepiston plate 84 which faces thecontrol unit 7 for thepneumatic cylinder 13 without a piston rod. In saidpiston plate 84 there areinputs 52 andoutputs 54 which are designed ascoupling devices 98. From saidcoupling devices 98 up to theadjacent closing element 14 of thepneumatic cylinder 13 without a piston rod extend one ormore control lines 49 and one ormore lines 50 which are designed to be adjustable in length for example in the form of a spiral. - On an
outer surface 99 of theclosing element 14 facing away from thepiston 36 are couplingdevices 98, which are allocated to thecontrol lines 49 and lines 50. - The
control unit 7 is also arranged on theouter surface 99. The latter comprises adisplay 76 and akeyboard 78. Thecontrol unit 7, in particular thecontrol module 9 hasinputs 52 andoutputs 54, which also can be designed ascoupling devices 98 and are used for the transmission of signals and commands for example to a central control unit. This transmission is, however, not necessarily possible only by means oflines 50 orcontrol lines 49, but can also be performed, for example, optically by means of lasers or by means of infrared or ultrasound. From thecontrol module 9 extends anASIC bus line 100 for example, which supplies the pressurefluid control valves 10 or the signalling andmonitoring members 16 with power or data or conveys data from the latter. TheASIC bus line 100 is preferably bipolar. Via aninterface 101 and anevaluation unit 102 the signals and commands originating from thecontrol module 9 or the central control unit and transmitted by theASIC bus line 100 are transmitted to an electricdistribution bus bar 72 which is arranged in aguiding device 103. - The
guiding device 103 is preferably arranged in thecylindrical pipe 15 and extends at least over a portion of alength 104 of thedrive unit 5. It is thus designed so that it projects groove-like over theouter surface 41 of thecylindrical pipe 15 in opposite direction to thepiston 36. In the region of theouter surface 41 it has aslot width 105, which is arranged symmetrically about acentral plane 106 running through thecentral axis 22. At adepth 107 measured from theouter surface 41 in opposite direction to thepiston 36 theguiding device 103 comprises agroove 108, which has awidth 109 parallel to theslot width 105 and perpendicular to thecentral plane 106 which is greater than theslot width 105. Thegroove 108 has aheight 110 measured adjoining thedepth 107 in opposite direction to thepiston 36. In addition to thegroove height 110 the guidingdevice 103 also comprises arecess groove 111 which has awidth 112 measured parallel to thegroove width 109 that is smaller than the latter. - The
cylindrical pipe 15 also comprisesconnection openings 82 projecting from theouter surface 41 in the direction of the inner chamber of thecylinder 83. Symmetrically about thecentral plane 106 and at abore distance 113 apart,channels 61 run in thecylindrical pipe 15, in particular anair inlet channel 64 and anair outlet channel 65. From thelatter connecting channels 114 extend up to thegroove 108 and run at right angles to theouter surface 41. - Pressure
fluid control valves 10 are inserted into the guidingdevice 103, which in the present embodiment are designed asvalve cartridges 115. They comprise aflange 116 withcontact elements 117 which are in contact with the electricaldistribution bus bar 72. The electricdistribution bus bar 72 which in the present embodiment is designed as a conductor can, however, also be in the form of lines integrated into thecomponent 3, i.e. in thecylindrical pipe 15. In addition, it is also possible for thevalve cartridge 115 to have aseparate control module 9, which is provided either in addition to thecontrol module 9 arranged on theclosing element 14 or replaces the latter. - The
guiding device 103 also forms a bar-shapedsecuring device 118 for the signalling andmonitoring members 16. These can also comprisecontrol modules 9. It is also possible not to integrate theguiding device 103 into thedrive unit 5, i.e. into thecylindrical pipe 15, but to design it as a separate component, which is secured detachably or non-detachably to thecylindrical pipe 15. In this way the guidingdevice 103 can comprise several connection openings arranged at prespecified distances in the direction of thelength 104, at least one of which corresponds withconnection openings 82 arranged in thecylindrical pipe 15. In this way it is possible to design theguiding device 103 for a modular structure of the displacement unit 1. - In FIG. 6 a further embodiment of a displacement unit1 according to the invention is shown. The latter comprises
components component 4 being arranged by means of aguiding device 6 designed as alinear guide 119 on the frame-shapedcomponent 3. The guidingdevice 6 can however also be designed as a rotary or gear guide or as a sliding track. The frame-shapedcomponent 3 has two parallel connectingelements 120, which are spaced apart bylongitudinal elements 121 running at right angles and parallel to one another. The connectingelements 120 are used for mounting securingdevices 122 which are formed by a dampingdevice 123, in particular ashock absorber 124. In this way thecomponent 4 is restricted in at least one direction of movement on thecomponent 3. Signalling andmonitoring members 16 are also arranged in the connectingelements 120, which are designed for example in the form of capacitive proximity switches 17. - The
guiding device 6 is designed as a ball bush guide. Thecomponent 4 has at least oneball bush 125, in which aguide shaft 126 is inserted, which is arranged securely on thecomponent 3. Onelongitudinal element 121 is constituted bydrive unit 5 which in the present embodiment is also designed as apneumatic cylinder 13. -
Pneumatic cylinder 13 is a linear cylinder and comprises theslide 88 on whichcomponent 4 is secured. The latter comprises in turn theinterface 95, on which a not shown additional displacement unit 1 can be arranged and in the region of which also not showninputs 52 andoutputs 54 of acontrol unit 7 can be arranged, which can be connected by plug connections to acontrol unit 7 of a not shown additional displacement unit 1. Integrated into thedrive unit 5 is thepneumatic distribution bar 55 and the electricdistribution bus bar 72 with thecontrol module 9. The electricdistribution bus bar 72 is connected by dot-dash showncontrol lines 49 to signalling andmonitoring members 16 and thepneumatic distribution bar 55 vialines 50, for examplepneumatic pipes 51 to the pressurefluid control valves 10. - As shown in the jointly described FIGS.7 to 9, the
control module 9 is amicroprocessor 127, which is connected byconductors 128 formingcontrol lines 49 to aninterface 129 forming aninput 52 andoutput 54. The latter comprises an integrated or, as shown, anexternal evaluation unit 130 which is also connected to themicroprocessor 127. In addition, amemory 131 for saving individual movements, and aninput 52 andoutput 54 designed as anexternal interface 129 for external input andoutput devices 79 are connected to themicroprocessor 127. In addition themicroprocessor 127 is also connected to adriver 132 which is arranged betweenoutputs 54 and themicroprocessor 127 and to aDIA converter 133 which is arranged betweeninputs 52 for signalling andmonitoring members 16 and themicroprocessor 127. Themicroprocessor 127 is designed so that it detects one or more of the following functions in parallel or in series: - initiating mode
- control mode
- learning mode
- monitoring mode
- Of course, it is possible to provide a
separate microprocessor 127 for each of these functions to perform these functions using a conventional control or perform them in acentral control unit 134. - The initiating mode is used so that on forming the connection between the
control module 9 and thecontrol unit 134, the basic parameters of thecontrol module 9 of the displacement unit 1 are transmitted. The latter can for example be transmitted in the form of a program which makes the potential reference values of the displacement units 1, in particular thepneumatic cylinder 13, appear on an external input andoutput device 79 or on a screen of thecontrol unit 134. Said potential reference values, such as displacements in x and y direction, speeds and forces can therefore be stored in thememory 131. The operator can now determine the actual, i.e. current reference values, for example the displacement, the acceleration, and the deceleration of thepiston 36 of thepneumatic cylinder 13, according to the individual movement situation. This can be performed for example in such a way that by means of the input andoutput device 79 or by means of thecontrol unit 134, the potential reference values can be shown as variables, which can be provided by the operator with the corresponding current reference values. If the current reference value entered by the operator exceeds the stored potential reference value, a warning can be sent to the operator for example. - Such an initiation of a displacement unit1 can however also be performed by means of a data glove and simulation of the displacement unit 1 directly at the
control module 9. In this case the operator with the data glove executes the movement to be performed directly in the relevant assembly station. The displacement unit 1 performs these movements of the data glove preferably simultaneously and transmits the values detected by signalling andmonitoring members 16, for example x and y components, to themicroprocessor 127 and/or to thecontrol unit 134. The data glove is coupled byinputs 52 andoutputs 54 to thecontrol unit 7 and/or thecontrol unit 134, and the movement data is conveyed to the latter. The latter calculate from this a function of the movement and store it as a program. In particular by using a data glove as an input andoutput device 79 the expense of programming can be considerably reduced and the displacement unit 1 can be used variably. The x and y components can however also be detected by a local positioning system similar to the GPS. Thus for example when producing not showndifferent assembly parts 2 on an assembly device for eachindividual assembly part 2 and each individual displacement unit 1 a corresponding program can be developed rapidly and saved. The input andoutput device 79 can however also be designed as a keyboard, a reading device for chipcards, magnetic cards, CDs, diskettes or tapes. - The
other control modules 9 of displacement units 1 can be initiated in the same way. On using a bus line system thecontrol module 9 following the already initiatedcontrol module 9 can be connected to the former via the not shownbus line 97. In this case the potential reference values are sent to thecentral control unit 134 avoiding the precedingcontrol module 9. The operator can now also determine the actual reference values for thisadditional control module 9, which can be stored in thecontrol unit 134 or in thememory 131 as data or in program form. In this manner for eachindividual control module 9 the corresponding handling program can be provided. - As however in many cases the activation of a
control module 9 can be dependent on the handling parameter of anothercontrol module 9, it is also necessary to connect the individual handling programs of thecontrol modules 9. This can be performed by means of thecontrol unit 134 or thecontrol modules 9 themselves. For this purpose for example after the initiation of acontrol module 9, i.e. after determining the current reference values, the latter can ask in a dialogue with the operator “start signal?” This start signal is a freely definable variable used by the operator. The operator can use a signal of a different displacement unit 1 in that this other displacement unit 1, i.e. theother control module 9, creates a monitoring signal, which is sent from the signalling andmonitoring members 16 of this other displacement unit 1 via the D/A converter 133, and via theinterface 129 as a data bus addressed to the displacement unit 1 needing the start signal, which data bus is used in the variable “start signal?”. A connection of this kind ofvarious control modules 9, i.e. various displacement units 1, can also be performed however via the input andoutput device 79 of acontrol module 9. - The control mode is carried out as follows.
- The
interface 129 is connected to acentral connection line 135, which is designed as a serial orparallel bus line 136 and leads to at least onecontrol unit 134 and additional displacement units 1. From thecontrol unit 134 or from one or moreadditional control modules 9 theinterface 129 receives one or more data sets provided with an address. In the evaluation unit 130 a comparison of these addresses is made with the address of thecontrol module 9. When the addresses coincide, thecontrol module 9 is supplied with the transmitted data set. A data set of this kind can in the present example merely be a starting pulse for thecontrol module 9 and thus for the displacement unit 1 concerned, which is transmitted for example from acontrol module 9 of a different displacement unit 1, which has completed its tasks. - In this case, as already described above, the operator by means of the
control unit 134 or an external input andoutput device 79 can instruct themicroprocessor 127 of thecontrol module 9 of this other displacement unit 1, to enter a signal received by a signalling and monitoringmember 16, for example a position of thepneumatic cylinder 13 via theinterface 129 to acontrol module 9 of a displacement unit 1 addressed into thebus line 136. This signal reaches theinterface 129 of thecontrol module 9 of the displacement unit 1 and is fed into themicroprocessor 127 of thiscontrol module 9 where it is used as a starting pulse for the program for this displacement unit 1 determined by the operator after the initiation mode in thememory 131 of thecontrol module 9 or in thecentral control unit 134. - With the arrival of the start pulse in the
microprocessor 127 its program begins to run. In this case by means of thedriver 132, if there is one, one or more pressurefluid control valves 10 are charged by one ormore control lines 49, so, that current flows through a coil designed as adrive 48 of the pressurefluid control valves 10 and a valve body is moved by means of magnetic force. In this way, for example by means of the connection opening 82 of thepneumatic cylinder 13 shown in FIG. 4, the latter is charged with compressed air and operates for example at constant speed. It is also possible however instead of conventionalpneumatic valves 11 to use servovalves and thus vary the speed of thepiston 36. - If the
piston 36 now reaches a position which can be detected by means of the signalling and monitoringmember 16 shown in FIG. 4 or prespecifled in the program of themicroprocessor 127, a pulse arrives via acontrol line 49 to themicroprocessor 127, which sends a corresponding signal to the pressurefluid control valve 10, i.e. to thedrive 48 of apneumatic valve 11, and ends the air supply to thepneumatic cylinder 13 and stops its movement. The evaluation ofsensors 137 designed as signalling andmonitoring members 16 can also be performed in thecontrol unit 134 and the drive or charging ofindividual actuators 138 of a displacement unit 1 can be performed directly via thecentral bus line 136. In addition, the switching and control procedures should not be understood to be restrictive and only represent a simple example of acontrol module 9. Furthermore, data can be transmitted between thecontrol unit 7 andcontrol unit 134 or from the individual components of thecontrol unit 7 to the latter optically by means of lasers or by means of infrared or ultrasound. - As already explained, the
control module 9 also has a learning mode. In this case, as already shown in the control mode, for example a position to be reached by thepiston 36, i.e. a reference value in the program of themicroprocessor 127 designed aslogic element 139 is predetermined and detected for example by means of a measuring member, in particular a displacement measuring device. - Once the
piston 36 reaches this position the corresponding pulse of a displacement measuring device forming signalling and monitoringmember 16 is evaluated in themicroprocessor 127, and the required pulse is sent to the pressurefluid control valve 10, which stops the supply of power to thedrive unit 5. Due to the kinematic energy of thepiston 36 however, despite ending the air supply, thepiston 36 may move beyond the given position, which can affect the precision of positioning the displacement unit 1. - By means of the displacement measuring device the actual position, i.e. the actual value of the stopped
piston 36 is detected, and sent to themicroprocessor 127 or thecentral control unit 134, where the actual value is compared with the reference value and the difference between the reference position and the actual position of thepiston 36 is determined. After determining the difference, themicroprocessor 127 sends a pulse for opening a pressurefluid control valve 10, whereby thepiston 36 is moved back by the difference, and thus the exact position is reached, i.e. the actual value is adjusted to the reference value. This difference is also used for the next displacement cycle, in order to actuate the pressurefluid control valve 10 not just when reaching the reference position, but earlier by the calculated difference. This means that the actual value is defined as the reference value which represents an optimized time value for example with respect to cycle time, wear, vibration etc. A learning mode of this kind is advantageous in particular for increasing the acceleration of thepiston 36 and a corresponding damping, i.e. slowing down of thepiston 36. The advantage of such a learning function is in particular that, on using servovalves, thepistons 36 of thepneumatic cylinder 13 are accelerated or slowed down, and in this way there is a change in the kinematic energy of the piston, which makes the deceleration of the piston to an exact position more difficult. - A further example of the learning mode can on using
corresponding sensors 137, in particular microsensors, reduce the stress on and thereby the wear of the displacement unit. Thus for example, as shown in FIG. 1, a vibration sensor designed as a signalling and monitoringmember 16 can be provided on upper side 31 at tool carrier 20, which transmits its data wirelessly or by line to thecontrol module 9 or to thecontrol unit 134. A vibration sensor or force sensor can also be arranged on the displacement unit 1 for example oncomponent 3 and/orcomponent 4. - If for example after the initiating mode the first cycle of the displacement unit1 is performed and as shown in FIG. 1, a gripper with an
assembly part 2 drives too “hard” onmount 32 for theassembly part 2, the vibration sensor transmits the value of the vibration to thecontrol module 9 or thecontrol unit 134. The latter evaluate the measurement value and, on exceeding a specific predeterminable target value, for example by means of calculating algorithms such as fuzzy logic, neuronal networks or genetic algorithms, calculate a new end position of the gripper, which on reaching theassembly part 2 is no longer placed “so hard” into the mount, which is achieved preferably by the end position damping described below. The relative number of cycles between two consecutive adjustments of the positions of thecomponents fluid control valves 10 accordingly. - It is also possible however to detect wear by measuring pressure and thus establish maintenance prognoses. Thus for example, on initiation, the pressure in the air inlet line of the
pneumatic cylinder 13 is determined by a pressure sensor and stored in thememory 131. The actual pressures are detected cyclically. Due to wear, for example in the region of thepiston 36 and thecylindrical pipe 15, or thelinear guide 119 designed as a guidingdevice 6 illustrated in FIG. 6, the sliding friction is reduced, which results in a reduction of frictional forces and thereby directly to a reduction in pressure. This drop in pressure thus signals the degree of wear of the elements concerned, and can, as already described, be used as parameters for the modes of the displacement unit 1. - By means of the monitoring mode an exact maintenance and up-keeping of the displacement unit1 can be performed. The
microprocessor 127 counts for example the absolute number of performed cycles and the relative cycle number between two consecutive corrections of the parameters on the basis of the learning mode. If the relative cycle number drops so far that it falls below a predeterminable minimum cycle number, themicroprocessor 127 sends a repair signal either directly to thecontrol unit 134 or via theexternal interface 129 to external input andoutput devices 79. The repair signal is set in a relation to the absolute cycle number and a maintenance plan for the future can be developed therefrom. - Of course, the wear can also be determined directly for example by surface roughness measurements and/or by continual measuring of the objects, for example the
piston 36 or the sealing rings. Mainly in the control and learning mode, specific displacement modes for the displacement unit 1 such as a for example “normal drive”, “slow drive” or “rapid drive” can be predetermined by positioning paths and speed profiles 140. - The functions of the displacement unit1 are now explained with reference to a control shown in FIG. 8 for variable speeds and end position damping of a
piston 36 in a predeterminable position. - The starting point here is the available displacement time of a displacement unit1 resulting from the cycle time of an assembly system, in particular a double
acting pneumatic cylinder 13. The latter should be 70 ms, for example. As illustrated better in FIG. 9 thespeed profile 140 is formed therefrom. Thepneumatic cylinder 13 is charged with compressed air on oneside 142 at the time point or atposition 141. The compressed air comes from acompressed air supply 143, which is connected to an electrically operated 4/2valve 144 serving as pressurefluid control valve 10. The electrically operated 4/2-way-valve 144, i.e. thedrive 145 designed as a coil, is connected by acontrol line 49 and thedriver 132 to themicroprocessor 127, which via theinterface 129, theevaluation unit 130 and thebus line 136 receives the starting signal from thecontrol unit 134 or acontrol module 9 of a different displacement unit 1. - By means of this starting signal, the 4/2-way-
valve 144 is actuated and aline 146 put under pressure. Arestrictor return valve 147 designed as a pressurefluid control valve 10 is released in flow direction to thepneumatic cylinder 13 and the compressed air reaches an electrically operated 3/2-way-valve 148 unrestrictedly. Adrive 149 of this valve is connected by aseparate control line 49 or via thecontrol line 49 of the 4/2-way-valve 144 to themicroprocessor 127 and is inactivated on the advance of thepiston 36, so that a free passage of the compressed air is provided toside 142. - At the same time (as the time point or position141) with the starting pulse at the 4/2-way-valve 144 a pulse is sent via a
control line 49 to a further 3/2-way-valve 150, for example just bymicroprocessor 127 and not by thecontrol unit 134, which is connected to theside 151 of thepneumatic cylinder 13 and in this activated state theside 151 is completely vented by means of asound damper 152. Thepiston 36 can now be accelerated with full pressure onside 142 and at a giventime point 153 in themicroprocessor 127 or in thecontrol unit 134 reachesposition 154. Attime point 153 the pulse from themicroprocessor 127 to the additional 3/2-way-valve 150 is switched off, whereby the latter is moved back, for example by spring force, into its position of rest and the venting of compressed air from theside 151 is performed no longer bysound damper 152 but by counter pressure by a furtherrestrictor return valve 155, as a result of which the piston speed is reduced untilposition 156 is reached. - At
position 156 either a holding time begins not shown in FIG. 9, during which an additional displacement unit 1 arranged for example on thepiston rod 38, completes its task, or the return motion of thepiston 36 is performed. For this the pulse on thedrive 145 of the 4/2-way-valve 144 is removed, whereby the latter adopts a position of rest due to the spring force. In the latter the air flows into aline 157 in the direction ofside 151. Air freely flows throughthrottle return valve 155 in the direction of the second 3/2-way-valve 150, thedrive 149 of which is not actuated and thus compressed air reaches theside 151. - At the same time at position156 a pulse is sent by the
microprocessor 127 to thedrive 149 of the first 3/2-way-valve 148 and activates the latter, as a result of which theside 142 is completely vented by asound damper 152. Thepiston 36 now moves at maximum speed fromposition 156 toposition 158. On reachingposition 158 the pulse, i.e. the voltage on thedrive 149 of the first 3/2-way-valve 148 is removed, as a result of which the latter is returned by spring force into its position of rest, and frees the path in the direction of the firstthrottle return valve 147, whereby the compressed air emerging fromside 142 is throttled and thepiston 36 is braked. Both inposition 141 and inposition 156—as shown in FIG. 6—securingdevices 122 for example in the form of switchable end stops can be arranged, which themselves can act as signalling andmonitoring members 16 or comprise additional signalling andmonitoring members 16. If one is arranged atposition 141, for example a pulse is sent via aseparate control line 49 or a central connectingline 135 to themicroprocessor 127, which conveys this signal via theevaluation unit 130 and theinterface 129 to thecontrol unit 134 and processes its into a pulse, in which it ends the program stored in thememory 131. - Of course, instead of the time control there can be a displacement measurement in the
drive unit 5 and according to predeterniinable positions the described pulses can be generated and distributed. The pressurefluid control valves 10, i.e. the 4/2-way-valve 144, the 3/2-way-valves throttle return valves fluid control valves 10. - One problem with the individual modes is creating a reference parameter which forms the starting point for joining the
individual control modules 9 of displacement units 1. A reference parameter of this kind can for example be the speed of apneumatic cylinder 13 and thus the cycle time of a displacement unit 1. In this case after the initiating mode the cycle time of each individual displacement unit 1 can be determined and sent into the central.control unit 134. There a comparison of all cycle times of the displacement units 1 is performed and the “slowest” displacement unit 1 is determined, i.e. the greatest pulse time of the displacement unit 1 is established. To this cycle time the cycle times of the other displacement units 1 are adjusted for example by means of the learning mode. - In the jointly described FIGS. 10 and 11 the sequence of the initiating mode is shown in combination with the learning mode for optimising reference valves with respect to the cycle time. if an assembly system is to be composed of several not shown displacement units1,
method step 159 is commenced. In the latter there is a selection of a physical target variable in thecentral control unit 134 shown in FIG. 7 or in thecontrol module 9 to be optimized from a specific number of such physical target variables. The latter can for example be the maximum speed, the minimum impactor the necessary speed. The necessary speed of a displacement unit 1 is oriented to each displacement unit 1 which takes the greatest time for a specific assembly step to be performed thereby for procedural reasons. As this slowest displacement unit 1 determines the cycle time of the entire assembly system, it is not necessary that other displacement units 1, which are “faster” than the “slowest” displacement unit 1 perform the assembly steps to be performed thereby in their minimum possible individual cycle time. - If the individual cycle times, i.e. the individual speeds of the various displacement units1 are adjusted to those of the “slowest” displacement unit 1, unnecessary wear can be avoided in the potentially faster displacement units 1. After
method step 159,sequence 160 is performed. In the latter the connection between thecentral control unit 134 and thefirst control module 9 of the first displacement unit 1 is formed by means of thebus line 136. After this,procedure 161 is performed. In the latter the potential reference values of the displacement unit 1 determined in thecontrol module 9 especially in thememory 131, for example maximum displacements in x and y direction, are sent to thecentral control unit 134 automatically by producing the connection insequence 160. After this followsmethod step 162, in which the actual reference values of thecontrol module 9 of the displacement unit 1 adjusted to the corresponding assembly situation of the displacement unit 1 are pregiven at thecentral control unit 134 or at an external input andoutput device 79. Once themethod step 162 has been completed,sequence 163 is performed which is formed by the learning mode. - The latter is illustrated in more detail in FIG. 11. The learning mode begins with
procedure 164, in which thecontrol module 9 programmed with reference values is started manually and externally, followed bymethod step 165. In the latter the pressurefluid control valves 10 of the displacement unit 1 are actuated according to the entered actual reference values. Once the pressurefluid control valves 10 have ended their prespecified sequences and thus the displacement unit 1 has reached its reference position according to the reference values, insequence 166 the actual values are detected, i.e. the actual positions of thecomponents method step 165 and thus a further actuation of the pressurefluid control valves 10 and a change of position of thecomponents procedure 167, i.e. the actual values correspond with the reference values, the actual target variable of the displacement unit 1 is stored in thesequence 168. Which target variable should be stored from a possible number of actual target variables is determined by the selection made inmethod step 159 of the physical target variable to be optimized. - After completing the learning mode of the individual displacement units1 in
method step 169, it is queried whether themethod step 159, thesequence 160, theprocedure 161, themethod step 162 and thesequence 163 has been performed for allcontrol modules 9 of all displacement units 1. If this is not the case, there is a return to the beginning ofsequence 160, whereby the previously described sequence is carried out for afurther control module 9 of a further displacement unit 1. However, if allcontrol modules 9 of displacement units 1 are initialed in this way or the latter have learnt their optimum settings, inprocedure 170 the common target value of all displacement units 1 is detected from the amount of actual target values of individual displacement units 1 detected and stored in thesequence 163. - Said target value can for example, as already indicated, be the pulse time of the “slowest” displacement unit1, which determines the necessary speed for all displacement units 1. In
procedure 171 beginning with the first displacement unit 1, a comparison of the actual-target variable is made with the target value. If the latter do not correspond,method step 172 is performed, which is formed for example bysequence 163 i.e. by the learning mode. After completing the learning mode, i.e. after endingsequence 163, and adjusting the actual values of the displacement unit 1 to thetarget value procedure 171 is carried out, i.e. a comparison of the actual target variable of the first displacement unit 1 with the target value. If these two do not coincide, there is a return to the beginning ofmethod step 172, i.e. to the learning mode. If the comparison is successful however, i.e. the latter coincide, it is queried insequence 173 whether all actual target variables of allcontrol modules 9 of all displacement units 1 have been compared and adjusted by means ofprocedure 171 with the target value. - If this is not the case there is a return to the beginning of
procedure 171, where now the actual target variable of an additional displacement unit 1 is compared with the target value. If the actual target variable corresponds with the target value, which are compared inprocedure 171, the process continues to the beginning ofsequence 173. However, if insequence 173 it is found that all actual target variables ofcontrol modules 9 of all displacement units 1 have been compared with the target value,procedure 174 is commenced, i.e. the control mode or the monitoring mode commences for example and the assembly system is started. - It should also be mentioned that method steps159, 162, 165, 169, 172 and/or
sequences procedures central control unit 134 and in anindividual control module 9 of a displacement unit 1 or inseveral control modules 9 of several displacement units 1. - In the jointly described FIGS. 12 and 13 a further embodiment of the displacement unit1 according to the invention is shown. The latter is basically the same as the displacement unit 1 shown in FIGS. 4 and 5. The displacement unit 1 comprises adjacent to the
outer surface 41 signalling andmonitoring members 16 and pressurefluid control valves 10. The signalling andmonitoring members 16, which can haveseparate control modules 9 andlogic elements 139, preferably have contactingopenings 175 arranged symmetrically about thecentral plane 106, which forms a line connection to abus line 136, comprising twoindividual conductors 176, which forms the electricdistribution bus bar 72. Thebus line 136 can however also be designed as a 3-conductor system, one conductor of which is designed as an emergency off conductor by means of which the power supply of allactuators 138 is interrupted. In this case the signalling and monitoringmember 16 comprises aninitiator element 177, anelectronic module 178 forminglogic element 139 connecting the latter and connectinglines 179 from theelectronic module 178 to the contactingopenings 175 via which the received signals are transmitted from theinitiator element 177 to thebus line 136. - The pressure
fluid control valves 10 also have the contactingopenings 175 by which the latter are supplied with power via thebus line 136. Thebus line 136 has a circular cross section, whereby it is possible to change both the pressurefluid control valves 10 and the signalling andmonitoring members 16 in their position along the displacement unit 1. It is also possible however to integrate thebus line 136 intolines 50, in particular into apneumatic pipe 51 for the pressurefluid control valves 10. - Finally, it should be noted that individual parts have been enlarged disproportionately in the drawings in order to improve understanding of the invention. Furthermore, individual parts of the previously described combinations of the individual embodiments can be combined with other individual features from other embodiments.
Claims (41)
1-43. (canceled).
44. A displacement unit for a manipulation system, which comprises
(a) components which are adjustable relative to each other,
(b) a guiding device for guiding at least one of the components, and
©) a control unit having
(1) a pressure fluid control valve for actuating one of the components by the pressure fluid, and
(2) a control module cooperating with the pressure fluid control valve and comprising a logic unit, the control module being connectable to a central control unit by an interface,
(3) the pressure fluid control valve and the control module being integrated into one of the components.
45. Displacement unit according to claim 44 , comprising at least one signaling and monitoring element connected to, and cooperating with, said control unit and in one of said components.
46. Displacement unit according to claim 45 , wherein said signaling and monitoring element is a limit switch, a proximity switch, a displacement measuring system, a position detection system, a vibration sensor, or force sensor.
47. Displacement unit according to claim 45 , wherein at least one signaling and monitoring element comprises said control module.
48. Displacement unit according to claim 44 , wherein at least one of said components comprises at least one fixing device for said at least one signaling and monitoring element.
49. Displacement unit according to claim 44 , wherein one of said components comprises an electric distribution bus bar.
50. Displacement unit according to claim 49 , wherein signaling and monitoring elements and said pressure fluid control valve and said control module are arranged displaceably on said electrical distribution bus bars.
51. Displacement unit according to claim 49 , wherein said distribution bus bar comprises control lines integral into one of said components.
52. Displacement unit according to claim 44 , wherein one of said components comprises a pressure fluid distributor bar.
53. Displacement unit according to claim 52 , wherein said distributor bar comprises pressure fluid lines integrated into one of said components.
54. Displacement unit according to claim 52 , wherein said pressure fluid control valve is arranged in said distributor bar.
55. Displacement unit according to claim 44 , wherein one of said components comprises at least one interface to cooperate by control lines and fluid lines with at least one control unit of an additional displacement unit.
56. Displacement unit according to claim 55 , wherein connection openings for said pressure fluid and inputs and outputs for signals of said control unit are arranged at a mechanical interface, the connection openings being connectable by a coupling device with said at least one control unit of said additional displacement unit.
57. Displacement unit according to claim 44 , wherein said interface comprises inputs and outputs for signals and comprises a plug-in coupling device, said control unit being connectable by said coupling device to a bus line configured as central connecting line leading to said central control unit.
58. Displacement unit according to claim 44 , wherein said interface comprises connection openings for said pressure fluid and comprises a plug-in coupling device, said control unit being connectable by said coupling device to a fluid line.
59. Displacement unit according to claim 44 , wherein said interface comprises inputs and outputs for signals and comprises a plug-in coupling device, said control unit being connectable by said coupling device to a bus line configured as central connecting line, leading an external input and output device.
60. Displacement unit according to claim 44 , wherein said control unit comprises a memory for storing individual motions of the components.
61. Displacement unit according to claim 44 , wherein said control unit comprises a control power source.
62. Displacement unit according to claim 44 , wherein said control unit comprises an interface for an external power source.
63. Displacement unit according to claim 44 , wherein said logic unit consists of at least one logic element which processes logic and bus information in order to determine and monitor the positions of one of said components of said displacement unit.
64. Displacement unit according to claim 63 , wherein said logic element is a microprocessor connected by control lines and conductor lines with said interface.
65. Displacement unit according to claim 64 , wherein said microprocessor is connected by control lines and conductor lines with an evaluation unit and a driver and a D/A converter and a memory for storing individual motions of the components.
66. Displacement unit according to claim 63 , wherein said logic element is an electronic module.
67. Displacement unit according to claim 63 , wherein signaling and monitoring elements connected to, and cooperative with, said control unit comprise said logic element.
68. Displacement unit according to claim 44 , wherein said pressure fluid control valve is a servo valve.
69. Displacement unit according to claim 44 , comprising a pressure fluid drive for adjusting the components.
70. Displacement unit according to claim 69 , wherein said drive comprises at least one transmission element connected with one of the said components.
71. Displacement unit according to claim 69 , wherein said drive comprises a cylinder pipe and end face closing elements positioned so as to be adjustable relative to one another.
72. Displacement unit according to claim 65 , wherein said pressure fluid control valve is comprised of valve cartridges arranged in a guide mechanism of said drive.
73. Displacement unit according to claim 44 , wherein said pressure fluid control valve comprises said control module.
74. Displacement unit according to claim 44 , wherein a first one of said components is arranged to move relatively to a frame-shaped second one of said components so as to be relatively displaceable by means of said guide device.
75. Displacement unit according to claim 74 , wherein said first component is secured by a securing device arranged detachably on said second component in at least one direction of movement.
76. Displacement unit according to claim 75 , wherein said securing device is a damping mechanism, a braking device or an arresting device.
77. Displacement unit according to claim 44 , wherein said control unit comprises an input device.
78. Displacement unit according to claim 77 , wherein the input device comprises a touch screen combined with a display element.
79. Displacement unit according to claim 78 , wherein said display element is a display light-emitting diode.
80. Displacement unit according to claim 44 , wherein said control unit comprises an output device.
81. Displacement unit according to claim 44 , comprising wireless means for transmitting data from said control unit to said central control unit.
82. Displacement unit according to claim 44 , comprising a local positioning system for detecting the position of one of said components.
83. Displacement unit according to claim 44 , comprising a data glove connected by inputs and outputs to said control unit or said central control unit.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/878,942 US20040234385A1 (en) | 1997-08-18 | 2004-06-28 | Smart axes and related method |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT0138497A AT410291B (en) | 1997-08-18 | 1997-08-18 | MOVING UNIT |
ATA1384/97 | 1997-08-18 | ||
US09/485,947 US6839957B1 (en) | 1997-08-18 | 1998-08-18 | Displacement unit |
US10/878,942 US20040234385A1 (en) | 1997-08-18 | 2004-06-28 | Smart axes and related method |
Related Parent Applications (2)
Application Number | Title | Priority Date | Filing Date |
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PCT/AT1998/000194 Division WO1999009462A1 (en) | 1997-08-18 | 1998-08-18 | Smart axes and related method |
US09/485,947 Division US6839957B1 (en) | 1997-08-18 | 1998-08-18 | Displacement unit |
Publications (1)
Publication Number | Publication Date |
---|---|
US20040234385A1 true US20040234385A1 (en) | 2004-11-25 |
Family
ID=3512719
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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US09/485,947 Expired - Fee Related US6839957B1 (en) | 1997-08-18 | 1998-08-18 | Displacement unit |
US10/878,942 Abandoned US20040234385A1 (en) | 1997-08-18 | 2004-06-28 | Smart axes and related method |
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Application Number | Title | Priority Date | Filing Date |
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US09/485,947 Expired - Fee Related US6839957B1 (en) | 1997-08-18 | 1998-08-18 | Displacement unit |
Country Status (7)
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US (2) | US6839957B1 (en) |
EP (2) | EP1204009A3 (en) |
AT (2) | AT410291B (en) |
AU (1) | AU8718498A (en) |
DE (2) | DE59805917D1 (en) |
ES (1) | ES2185197T3 (en) |
WO (1) | WO1999009462A1 (en) |
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US9672967B1 (en) * | 2016-03-23 | 2017-06-06 | Honda Motor Co., Ltd. | Electromagnetic cart lock |
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AT410291B (en) * | 1997-08-18 | 2003-03-25 | Walter Sticht | MOVING UNIT |
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AT501935A1 (en) | 2005-05-20 | 2006-12-15 | Sticht Fertigungstech Stiwa | FLUIDICALLY OPERATED DRIVE AND METHOD FOR CONTROLLING THEREOF |
DE102005038357A1 (en) * | 2005-08-11 | 2007-02-15 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Packaging machine with at least one pneumatic drive |
DE102005060530A1 (en) * | 2005-12-17 | 2007-06-21 | Zf Friedrichshafen Ag | Ventilation of a switching element |
DE102006016709A1 (en) | 2006-04-08 | 2007-10-11 | Festo Ag & Co. | Device for monitoring and / or regulating the movement of a fluidic component in a fluidic system |
DE102008046562A1 (en) * | 2008-09-10 | 2010-03-11 | Siemens Aktiengesellschaft | Hydraulic linear drive, has piston adjustably supported in cylinder, piezoelectric actuator and/or magnetostrictive actuator provided for driving pumping mechanism, and check valve arranged at inlet of cylinder |
TWI403720B (en) * | 2009-05-11 | 2013-08-01 | Ind Tech Res Inst | Resilience and displacement measuring device and method |
DE102014004198A1 (en) * | 2013-10-25 | 2015-04-30 | Wagner Werkzeugsysteme Müller Gmbh | Turning workpiece carrier with fixable rotary position |
DE102014225872A1 (en) * | 2014-12-15 | 2016-06-16 | Robert Bosch Gmbh | Hydraulic cylinder with a measuring device |
US11479309B2 (en) * | 2016-12-22 | 2022-10-25 | Superior Industries, Inc. | Plant chassis leveling apparatus, systems and methods |
CN108971932A (en) * | 2018-09-18 | 2018-12-11 | 慈溪市易格模具有限公司 | A kind of intelligent fixture system |
DE102019208546A1 (en) * | 2019-06-12 | 2020-12-17 | Continental Reifen Deutschland Gmbh | Tire building system and method for building a tire |
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Also Published As
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ATE225954T1 (en) | 2002-10-15 |
AT410291B (en) | 2003-03-25 |
EP1204009A2 (en) | 2002-05-08 |
DE59805917D1 (en) | 2002-11-14 |
EP1004063B1 (en) | 2002-10-09 |
EP1004063A1 (en) | 2000-05-31 |
ATA138497A (en) | 2002-08-15 |
ES2185197T3 (en) | 2003-04-16 |
WO1999009462A1 (en) | 1999-02-25 |
EP1204009A3 (en) | 2005-06-29 |
DE29824557U1 (en) | 2001-07-12 |
AU8718498A (en) | 1999-03-08 |
US6839957B1 (en) | 2005-01-11 |
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