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EP1316732B1 - Fluid-actuated working device - Google Patents

Fluid-actuated working device Download PDF

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Publication number
EP1316732B1
EP1316732B1 EP01128503A EP01128503A EP1316732B1 EP 1316732 B1 EP1316732 B1 EP 1316732B1 EP 01128503 A EP01128503 A EP 01128503A EP 01128503 A EP01128503 A EP 01128503A EP 1316732 B1 EP1316732 B1 EP 1316732B1
Authority
EP
European Patent Office
Prior art keywords
operating
unit
fluid
control
operating device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01128503A
Other languages
German (de)
French (fr)
Other versions
EP1316732A1 (en
Inventor
Andreas Dr. Muth
Jari Haajo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP01128503A priority Critical patent/EP1316732B1/en
Priority to DE50103560T priority patent/DE50103560D1/en
Priority to US10/294,347 priority patent/US6715400B2/en
Publication of EP1316732A1 publication Critical patent/EP1316732A1/en
Application granted granted Critical
Publication of EP1316732B1 publication Critical patent/EP1316732B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B13/0405—Valve members; Fluid interconnections therefor for seat valves, i.e. poppet valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B2013/002—Modular valves, i.e. consisting of an assembly of interchangeable components
    • F15B2013/006—Modular components with multiple uses, e.g. kits for either normally-open or normally-closed valves, interchangeable or reprogrammable manifolds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31588—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • 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
    • Y10T137/00—Fluid handling
    • Y10T137/5109—Convertible
    • 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
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/877—With flow control means for branched passages
    • Y10T137/87885—Sectional block structure

Definitions

  • the invention relates to a fluid-operated working device according to the preamble of claim 1.
  • DE-U-20105448 describes a fluid-operated parallel gripper formed fluid-operated working device out.
  • the parallel gripper is in with two working elements Shape of fluid actuated drives equipped by controlled fluid application can be actuated. Usually is actuated by upstream, electrically operated Control valves controlled.
  • the control valves used are in terms of their design to the control task to be mastered customized.
  • control valves executed as separate, external components.
  • the control valves in the form of an electro-fluidic Control unit as a direct part of the to perform fluid-operated working device.
  • control units for space and cost reasons, for example Control valves with 3/2, 5/2 and / or 5/3 valve function be combined in a suitable manner.
  • they are always specific Unit of work or a specific movement assigned depending on whether within the work unit for example linear drives or rotary drives or a different one Number of drives is used.
  • EP 0 955 473 A1 describes a working device at the beginning mentioned type, which has a microvalve battery, which contains an electro-fluidic control unit and with control electronics and a plurality of 2/2 control valves Is provided. With the micro valve battery individual work units can be coupled in connection with a specific, individual link required in each case of the existing fluid channels.
  • control unit can be flexible and preferably freely programmable Function arrays from a maximum compact multiple arrangement of control valves with identical basic function, which can also be piloted, are built in Connection with application-related different work units, which is already the one required for their operation contain function-defining linking of fluid channels, but not the associated control valves themselves.
  • application-related different work units which is already the one required for their operation contain function-defining linking of fluid channels, but not the associated control valves themselves.
  • There is a type-specific one on each work unit Coding the assigned type of work unit corresponds and that of the control electronics for the control valves required operation, so in particular the functional connection of the valve-side 2/2 basic functions, pretends.
  • the working units intended for operation with the control unit can at least partially form tools, for example mechanical or vacuum gripping tools or other tools used in handling technology can be used.
  • the control electronics can in principle be external the electro-fluidic control unit can be arranged.
  • A enables particularly compact arrangement with short connections however, a design in which the control electronics as Part of the control unit is executed.
  • a coding of the operating units can also for the Z uowski be used by sensor signals, when the working units are equipped with sensor means, which at each scheduled first and second mounting interfaces may transmit to the control electronics of the operating state of the sensor signals concerned to the control unit working unit, and in particular.
  • the control electronics can be designed to by groups Functional linkage of control valves different Get valve functionalities. For example can perform higher-quality valve functions in this way logical combination of individual 2/2 valve functions achieved or larger flow cross-sections through parallel connection or quasi-proportional valve functions Parallel connection and logical connection.
  • the switching status of the control valves can be controlled via the control electronics to the requirements of the respective work unit can be flexibly specifically tailored.
  • the control electronics expediently contain a memory, in which the data of for different work units required operating modes of the control valves available are saved. It is then particularly provided that the unit of work applied is automatic Calling up the operating mode data intended for them.
  • FIG. 1 shows an example of a possible design of a fluid-operated working device 1, which has fasteners 2, which it has, in particular detachably, with a Handling device 3 indicated by dash-dotted lines connected is.
  • a Handling device 3 indicated by dash-dotted lines connected is.
  • the working device 1 contains an electro-fluidic Control unit 4 and several detachable and thus interchangeable the control unit 4 attachable work units 5.
  • FIG. 1 shows the working device 1 with a detachably attached thereto first working unit 5, 5a.
  • 2 shows one second work unit 5, 5b, which is an alternative to the first work unit 5, 5a can be coupled to the control unit 4.
  • the work units 5 each contain at least one fluid-operated working element 6a. It can become Example of any kind of drives 6 act like this is the case in the embodiment.
  • drives 6 act like this is the case in the embodiment.
  • are possible Rotary actuators. Are in the embodiment fluid-operated drives 6 provided in the form of linear drives, in the specific case, fluid-operated working cylinders.
  • fluid actuated drive element would be an ejector device. It can be used to create vacuum, for example for supply of suction elements that are used to hold manageable Objects can be used.
  • the work unit 5 with the appropriate equipment also one Form suction pads.
  • One and the same work unit can also work at the same time equipped with several different working elements 6a his.
  • the first working unit 5, 5a is in the exemplary embodiment with two fluid-operated drives 6 as working element 6a fitted.
  • the second work unit 5, 5b only contains a fluid-operated drive 6.
  • the working units 5 are designed such that they each form a tool, for example a handling tool.
  • both work units 5 designed as a gripping tool. They contain movable ones Gripping means 7, for example gripping jaws - in the Drawing indicated by dash-dotted lines - each with at least a drive 6 are in drive connection and can be actuated by actuating the drives 6. In this way there is, for example, the possibility of the work device 1 to detect any objects and transport it to another place.
  • the control unit 4 has one side - in the exemplary embodiment on the underside - via a first assembly interface 8.
  • a complementary second assembly interface 9 is provided on each of the work units 5.
  • the second assembly interfaces 9 of the individual work units 5 are preferably identical.
  • first assembly interface 8 block-like control unit 4 with the first Fasteners 12a equipped.
  • second fastening means 12b are located on a respective one Working unit 5 in the area of the second assembly interface 9.
  • the attached work unit 5 be releasably attached to the control unit 4.
  • the first fasteners 12a as according to Double arrow 13 movable clamping means formed.
  • the control unit 4 can be activated with a plurality of electrically Control valves 14 equipped. It can happen for example solenoid valves, piezo valves or through Micro valves manufactured using micromechanical manufacturing processes act. If necessary, they can be equipped with pilot valves be equipped. They are operated with electrical Actuating signals supplied via the control unit 4 provided electrical signal conductors 15 from one Control electronics 16 are supplied.
  • the control electronics 16 is preferably part of the Control unit 4 executed and attached to or in it integrated. Compared to an also possible external This results in more compact dimensions and arrangement shorter routes. It is an immediate bus connection possible for sensor and control signals.
  • control valves 14 - are in the embodiment eight pieces available - these are similar valves each with a 2/2 valve function. Every control valve 14 has an inlet and an outlet, between which, each after switching position, a fluid connection is established or can be interrupted. It is convenient around switching valves.
  • part of the Control valves 14 - in the embodiment of four pieces of the control valves 14 - stand with a common feed channel 17 in connection to one provided on the outer surface of the control unit 4 Feed port 18 leads.
  • part of the Control valves 14 are constantly supplied with a fluid, that is an operating pressure above atmospheric pressure having.
  • compressed air is used as the fluid intended.
  • a hydraulic fluid could also be used.
  • the inlets of the other control valves 14 are in common Relief channel 22 connected to one at the External surface of the control unit 4 provided relief connection 23 leads.
  • the relief channel 22 is a ventilation channel, the one directly via the relief connection 23 can lead to the atmosphere.
  • One fluid line for one ducted exhaust air discharge or a silencer can be found here be connected.
  • the outlets of all control valves 14 each communicate with its own first fluid channel 24, which with a fixed, standardized route to the first assembly interface 8 leads and there with a first fluid connection 25 opens out.
  • the individual first fluid connections 25 with actuating fluid be pressurized or vented. It can on this way often at the first assembly interface 8 four states “operating pressure shut off”, “atmospheric pressure shut off “,” operating pressure applied “and” atmospheric pressure attached ". The states are also possible “Vacuum applied” and “Vacuum shut off” if one appropriate vacuum equipment is available.
  • the fluid-operated provided on a respective work unit 5 Drives 6 are each with one or more second fluid channels 26 in connection, which on or in the relevant work unit 5 are fixed and the second Assembly interface 9 lead, where they each with a or several second fluid connections 27 open out.
  • About the second fluid channels 26 can be fed actuating fluid or be dissipated to the respective connected drive 6 to operate with fluid power.
  • the drives 6 of the embodiment are of the so-called type double-acting working cylinder designed and included one each arranged in a cylinder housing movable drive piston 28 which with a piston rod or another force tapping part 29 coupled in motion is that act on the gripping means 7 in the embodiment can.
  • the drive piston 28 divides within the cylinder housing two working spaces from each other, of which a second Fluid channel 26 starts, which in a corresponding embodiment the work unit 5 - such as in the second work unit 5b - have a branch can.
  • the second fluid connections 27 are at the second assembly interface 9 arranged in the same distribution pattern as the first fluid connections 25 at the first assembly interface 8. At least in the embodiments is also provided that every second fluid channel 26 of the work unit 5 with at least two second fluid connections 27 for second assembly interface 9 opens, which then the are assigned to the first fluid connections 25 that the relevant one second fluid channel 26 simultaneously with two control valves 14 is connected, one of which is the feed the actuating fluid and the other the vent can control.
  • the working units 5 of the working device 1 - the working device of the exemplary embodiment contains two working units, but more than two could easily be Work units are provided - differ how already mentioned, in their fluid technology equipment. So contains the first working unit 5a two drives 6, while the second working unit 5b equipped with only one drive 6 is. Nevertheless, the work units 5 can despite their different types of fluidic equipment, so their different Type, alternatively on one and the same first mounting interface 8 of the control unit 4 installed become. All work units 5 are in this regard their respective fluid technology equipment function-specific pre-assembled. In particular, course and Design of the second fluid channels 26 each specifically matched the type of work unit 5 concerned, for example taking into account the number and type of existing fluid-operated drives 6.
  • control unit 4 can be used to to operate the alternative work units 5.
  • the only necessary adjustment on the part of the control unit 4 lies in the correspondingly coordinated activation of Control valves 14 by appropriate control by means of Control electronics 16.
  • the control electronics 16 is able to control the valves 14 actuation signals to be sent, one on the other coordinated actuation of the control valves 14 taking into account the specification of the work unit used in each case 5 enables.
  • a Variation of valve functionality can be obtained in order for example the already mentioned higher-quality valve functions to realize, for the purpose of increasing the flow, To make parallel connections, or to connect in parallel and logical combination a quasi-proportional To achieve behavior.
  • control electronics 16 contains a memory 32 in which the data for different Work units 5 required modes of operation the control valves 14 are stored in a retrievable manner. It is then only when changing the working unit 5 required for the unit of work currently in use 5 required operating data.
  • the retrieval of the work unit 5 required Operating mode data expediently becomes automatic when or after attaching a work unit 5 to the Control unit 4 triggered.
  • the individual work units can do this 5, 5a, 5b via type-specific codes 35a, 35b have the correct access to the operating data cause.
  • the codes 35a, 35b which are mechanical, for example, are optically or electronically realizable, cooperate with installed work unit 5 with on the control unit 4 provided identification means 36 which signaling are connected to the control electronics 16.
  • the same mutually cooperating codes 35a, 35b and identification means 36, or additionally provided, can also be used to cause the sensor unit 5 provided in each case according to the type of work unit used 5 from the control unit 4 and in particular the control electronics 16 can be processed specifically.
  • each fluid-operated drive is 6 equipped with sensor means 37, for example position sensor means, the via second sensor lines 39 of the relevant Work unit 5 to the second assembly interface 9 associated second sensor connections 43 lead.
  • the control electronics 16 can control the sensor signals Consider actuation of the individual control valves 14.
  • the working device stands out 1 through one of the two assembly interfaces 8, 9 defined interface, which is a separation between specifically interconnected work units 5 and the non-specific, variably linkable multiple arrangement of identical Provides 2/2 valve functions in the form of the control valves.
  • the 2/2-valve basic functions can be done electronically can be combined with one another as required.
  • the control electronics 16 expediently contains a control program that the Control valves 14 can work unit-specific, especially based on work unit-specific Data.
  • the application-specific linking of the first Fluid connections 25 tapped operating states is only within the individual work units 5 by means of there fixed predetermined course of the second fluid channels 26 to higher quality Switching functions added.
  • the work units 5 in addition to the specific Channel links also include additional functional elements can contain, in addition to the sensor means already mentioned 37, for example also fluid technology elements such as Check valves, chokes, amplifiers etc.
  • a single control unit can 4 multiple, with different types of work units 5, can be used. Also exists with corresponding Use cases the possibility of the control unit 4 or their control valves 14 outside the work area to provide the working unit 5.
  • the application-specific link the fluid channels take place within the work units 5 instead of in the control unit 4.
  • the channel guide within the work unit 5 can be in shape conventional channels or also using Fluid lines can be realized. Furthermore, the so-called Integration technology are applied in which the fluid channels are at least partially defined by grooves that are in the Transition area of attached panel body. In this way, a particular one can be particularly simple Logical connection of the second fluid channels 26 realized become.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Fluid-Pressure Circuits (AREA)

Description

Die Erfindung betrifft eine fluidbetätigte Arbeitsvorrichtung gemäß dem Oberbegriff des Patentanspruches 1.The invention relates to a fluid-operated working device according to the preamble of claim 1.

Aus der DE-U-20105448 geht eine von einem fluidbetätigten Parallelgreifer gebildete fluidbetätigte Arbeitsvorrichtung hervor. Der Parallelgreifer ist mit zwei Arbeitselementen in Gestalt von fluidbetätigten Antrieben ausgestattet, die durch gesteuerte Fluidbeaufschlagung betätigbar sind. In der Regel wird die Betätigung durch vorgeschaltete, elektrisch betriebene Steuerventile gesteuert. Die verwendeten Steuerventile sind hinsichtlich ihrer Bauart an die zu bewältigende Steuerungsaufgabe angepasst.DE-U-20105448 describes a fluid-operated parallel gripper formed fluid-operated working device out. The parallel gripper is in with two working elements Shape of fluid actuated drives equipped by controlled fluid application can be actuated. Usually is actuated by upstream, electrically operated Control valves controlled. The control valves used are in terms of their design to the control task to be mastered customized.

Bei der bekannten Arbeitsvorrichtung sind die Steuerventile als separate, externe Komponenten ausgeführt. Es wäre jedoch denkbar, die Steuerventile in Gestalt einer elektro-fluidischen Steuereinheit als unmittelbaren Bestandteil der fluidbetätigten Arbeitsvorrichtung auszuführen. Sollen auf diese Weise Arbeitsvorrichtungen mit unterschiedlichen Arbeitseinheiten, also beispielsweise verschiedenartigen Greifwerkzeugen, bereitgestellt werden, ergibt sich ein hoher baulicher Aufwand durch Verwendung entsprechend angepasster Steuereinheiten. Aus Platz- und Kostengründen können beispielsweise Steuerventile mit 3/2-, 5/2- und/oder 5/3-Ventilfunktion in geeigneter Weise kombiniert werden. Auf Grund ihrer definierten Funktion sind sie stets einer bestimmten Arbeitseinheit bzw. einem bestimmten Bewegungsvorgang zugeordnet, je nachdem, ob innerhalb der Arbeitseinheit beispielsweise Linearantriebe oder Drehantriebe oder eine unterschiedliche Anzahl von Antrieben eingesetzt wird. Infolge dieser Inflexibilität müssten, bei integrierter Bauform, die Steuerventile als spezifisch angepasster fester Teil der Arbeitsvorrichtung ausgelegt werden. Dies gilt im Übrigen auch dann wenn man aus Platzgründen eine räumliche Trennung der elektro-fluidischen Steuereinheit von der Arbeitseinheit vorsieht.In the known working device, the control valves executed as separate, external components. However, it would be conceivable, the control valves in the form of an electro-fluidic Control unit as a direct part of the to perform fluid-operated working device. Should on this way work devices with different work units, for example different types of gripping tools, are provided, there is a high structural Effort by using appropriately adapted Control units. For space and cost reasons, for example Control valves with 3/2, 5/2 and / or 5/3 valve function be combined in a suitable manner. On Because of their defined function, they are always specific Unit of work or a specific movement assigned depending on whether within the work unit for example linear drives or rotary drives or a different one Number of drives is used. As a result this inflexibility should, with integrated design, the Control valves as a specifically adapted fixed part of the working device be interpreted. Incidentally, this also applies then if you have a spatial separation of the Provides electro-fluidic control unit from the work unit.

Aus der EP 0 955 473 A1 geht eine Arbeitsvorrichtung der eingangs genannten Art hervor, die eine Mikroventilbatterie aufweist, die eine elektro-fluidische Steuereinheit enthält und mit einer Steuerelektronik und einer Mehrzahl von 2/2-Steuerventilen ausgestattet ist. Mit der Mikroventilbatterie sind einzelne Arbeitseinheiten koppelbar, in Verbindung mit einer jeweils erforderlichen spezifischen, individuellen Verknüpfung der vorhandenen Fluidkanäle.EP 0 955 473 A1 describes a working device at the beginning mentioned type, which has a microvalve battery, which contains an electro-fluidic control unit and with control electronics and a plurality of 2/2 control valves Is provided. With the micro valve battery individual work units can be coupled in connection with a specific, individual link required in each case of the existing fluid channels.

Es ist die Aufgabe der vorliegenden Erfindung, eine fluidbetätigte Arbeitsvorrichtung zu schaffen, die über einen kostengünstigen, bauteilearmen und flexiblen Aufbau verfügt.It is the object of the present invention to provide a fluid operated To create work device that has an inexpensive, Low-component and flexible structure.

Gelöst wird diese Aufgabe durch eine fluidbetätigte Arbeitsvorrichtung gemäß dem kennzeichnenden Teil des Patentanspruches 1.This task is solved by a fluid-operated working device according to the characterizing part of the claim 1.

Auf diese Weise besteht die Möglichkeit, eine fluidbetätigte Arbeitsvorrichtung unter Beibehaltung einer standardisiert aufgebauten elektro-fluidischen Steuereinheit bei Bedarf mit unterschiedlichen Arbeitseinheiten auszustatten, die sich in ihrer fluidtechnischen Ausstattung unterscheiden. Die Steuereinheit und die Arbeitseinheiten sind zwar über die aufeinander abgestimmten Montageschnittstellen fest miteinander verbindbar, gleichwohl jedoch funktionell voneinander entkoppelt. Bedingt durch die vorhandene Steuerelektronik und den standardisierten Aufbau der Steuereinheit mit einer Mehrzahl von Steuerventilen mit jeweils 2/2-Ventilfunktion kann eine steuerungstechnische optimierte Anpassung an die jeweils angesetzte Arbeitseinheit erfolgen. Man hat quasi eine Trennung von flexibler Steuerventilbaugruppe und Arbeitseinheiten mit applikationsbezogener Ausstattung. Innerhalb der Steuereinheit können flexible und vorzugsweise frei programmierbare Funktions-Arrays aus einer maximal verdichteten Vielfachanordnung von Steuerventilen mit identischer Grundfunktion, welche auch vorgesteuert sein können, aufgebaut werden, in Verbindung mit applikationsbezogenen unterschiedlichen Arbeitseinheiten, die bereits die für ihren Betrieb erforderliche funktionsdefinierende Verknüpfung von Fluidkanälen enthalten, nicht jedoch die zugehörigen Steuerventile selbst. An der jeweiligen Arbeitseinheit befindet sich eine typspezifische Kodierung, die dem jeweils zugeordneten Typ von Arbeitseinheit entspricht und die der Steuerelektronik die für die Steuerventile erforderliche Betätigungsweise, also insbesondere die funktionelle Verknüpfung der ventilseitigen 2/2-Grundfunktionen, vorgibt.In this way there is the possibility of a fluid operated Working device while maintaining a standardized built-up electro-fluidic control unit if necessary to equip different work units that are in distinguish their fluid technology equipment. The control unit and the work units are on top of each other coordinated assembly interfaces can be firmly connected to each other, nevertheless functionally decoupled from each other. Due to the existing control electronics and standardized structure of the control unit with a plurality of control valves, each with 2/2 valve function, can Optimization of control technology to suit the particular application Unit of work done. You sort of have a separation of flexible control valve assembly and work units with application-related equipment. Inside the control unit can be flexible and preferably freely programmable Function arrays from a maximum compact multiple arrangement of control valves with identical basic function, which can also be piloted, are built in Connection with application-related different work units, which is already the one required for their operation contain function-defining linking of fluid channels, but not the associated control valves themselves. There is a type-specific one on each work unit Coding, the assigned type of work unit corresponds and that of the control electronics for the control valves required operation, so in particular the functional connection of the valve-side 2/2 basic functions, pretends.

Vorteilhafte Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.Advantageous developments of the invention emerge from the subclaims out.

Die zum Betrieb mit der Steuereinheit vorgesehenen Arbeitseinheiten können wenigstens teilweise Werkzeuge bilden, beispielsweise mechanische oder mit Unterdruck arbeitende Greifwerkzeuge oder sonstige Werkzeuge, die in der Handhabungstechnik einsetzbar sind.The working units intended for operation with the control unit can at least partially form tools, for example mechanical or vacuum gripping tools or other tools used in handling technology can be used.

Die Steuerelektronik kann zwar prinzipiell extern bezüglich der elektro-fluidischen Steuereinheit angeordnet werden. Eine besonders kompakte Anordnung mit kurzen Verbindungen ermöglicht jedoch eine Bauform, bei der die Steuerelektronik als Bestandteil der Steuereinheit ausgeführt ist.The control electronics can in principle be external the electro-fluidic control unit can be arranged. A enables particularly compact arrangement with short connections however, a design in which the control electronics as Part of the control unit is executed.

Eine Kodierung der Arbeitseinheiten kann auch für die Zuordnung von Sensorsignalen genutzt werden, wenn die Arbeitseinheiten mit Sensormitteln ausgestattet sind, die bei aneinander angesetzten ersten und zweiten Montageschnittstellen den Betriebszustand der Arbeitseinheit betreffende Sensorsignale zur Steuereinheit und insbesondere zur Steuerelektronik übermitteln können.A coding of the operating units can also for the Z uordnung be used by sensor signals, when the working units are equipped with sensor means, which at each scheduled first and second mounting interfaces may transmit to the control electronics of the operating state of the sensor signals concerned to the control unit working unit, and in particular.

Die Steuerelektronik kann ausgebildet sein, um durch gruppenweise funktionelle Verknüpfung von Steuerventilen unterschiedliche Ventilfunktionalitäten zu erhalten. Beispielsweise können auf diese Weise höherwertige Ventilfunktionen durch logische Verknüpfung einzelner 2/2-Ventilfunktionen erzielt werden, oder aber größere Durchflussquerschnitte durch Parallelschaltung oder quasi-proportionale Ventilfunktionen durch Parallelschaltung und logische Verknüpfung.The control electronics can be designed to by groups Functional linkage of control valves different Get valve functionalities. For example can perform higher-quality valve functions in this way logical combination of individual 2/2 valve functions achieved or larger flow cross-sections through parallel connection or quasi-proportional valve functions Parallel connection and logical connection.

Über die Steuerelektronik kann der Schaltzustand der Steuerventile auf die Anforderungen der jeweiligen Arbeitseinheit flexibel spezifisch abgestimmt werden.The switching status of the control valves can be controlled via the control electronics to the requirements of the respective work unit can be flexibly specifically tailored.

Die Steuerelektronik enthält zweckmäßigerweise einen Speicher, in dem die Daten der für unterschiedliche Arbeitseinheiten erforderlichen Betriebsweisen der Steuerventile abrufbar gespeichert sind. Es ist dann insbesondere vorgesehen, dass die jeweils angesetzte Arbeitseinheit einen automatischen Abruf der für sie bestimmten Betriebsweisen-Daten veranlasst.The control electronics expediently contain a memory, in which the data of for different work units required operating modes of the control valves available are saved. It is then particularly provided that the unit of work applied is automatic Calling up the operating mode data intended for them.

Nachfolgend wird die Erfindung anhand der beiliegenden Zeichnung näher erläutert. In dieser zeigen:

Fig. 1
in schematischer Darstellung eine teilweise geschnittene Seitenansicht einer bevorzugten Bauform der erfindungsgemäßen fluidbetätigten Arbeitsvorrichtung im mit einem ersten Typ einer Arbeitseinheit ausgestatteten Zustand, und
Fig. 2
eine Einzeldarstellung eines weiteren Typs einer Arbeitseinheit, mit der die Arbeitsvorrichtung gemäß Fig. 1 alternativ ausgestattet werden kann.
The invention is explained in more detail below with reference to the accompanying drawing. In this show:
Fig. 1
a schematic representation of a partially sectioned side view of a preferred design of the fluid-operated working device according to the invention in the state equipped with a first type of working unit, and
Fig. 2
an individual representation of a further type of work unit with which the work device according to FIG. 1 can alternatively be equipped.

Die Fig. 1 zeigt exemplarisch eine mögliche Bauform einer fluidbetätigten Arbeitsvorrichtung 1, die über Befestigungsmittel 2 verfügt, über die sie, insbesondere lösbar, mit einer strichpunktiert angedeuteten Handhabungsvorrichtung 3 verbunden ist. Durch entsprechende Betätigung der Handhabungsvorrichtung 3 kann die Arbeitsvorrichtung 1 in gewünschter Weise bewegt und positioniert werden.1 shows an example of a possible design of a fluid-operated working device 1, which has fasteners 2, which it has, in particular detachably, with a Handling device 3 indicated by dash-dotted lines connected is. By appropriate actuation of the handling device 3 can the working device 1 in the desired Be moved and positioned in a way.

Die Arbeitsvorrichtung 1 enthält eine elektro-fluidische Steuereinheit 4 und mehrere lösbar und somit auswechselbar an die Steuereinheit 4 ansetzbare Arbeitseinheiten 5. Die Fig. 1 zeigt die Arbeitsvorrichtung 1 mit einer daran lösbar befestigten ersten Arbeitseinheit 5, 5a. Die Fig. 2 zeigt eine zweite Arbeitseinheit 5, 5b, die alternativ zur ersten Arbeitseinheit 5, 5a mit der Steuereinheit 4 koppelbar ist.The working device 1 contains an electro-fluidic Control unit 4 and several detachable and thus interchangeable the control unit 4 attachable work units 5. FIG. 1 shows the working device 1 with a detachably attached thereto first working unit 5, 5a. 2 shows one second work unit 5, 5b, which is an alternative to the first work unit 5, 5a can be coupled to the control unit 4.

Die Arbeitseinheiten 5 enthalten jeweils mindestens ein fluidbetätigtes Arbeitselement 6a. Es kann sich hierbei zum Beispiel um beliebige Arten von Antrieben 6 handeln, wie dies beim Ausführungsbeispiel der Fall ist. Möglich sind beispielsweise Drehantriebe. Beim Ausführungsbeispiel sind fluidbetätigte Antriebe 6 in Gestalt von Linearantrieben vorgesehen, im konkreten Fall fluidbetätigte Arbeitszylinder.The work units 5 each contain at least one fluid-operated working element 6a. It can become Example of any kind of drives 6 act like this is the case in the embodiment. For example, are possible Rotary actuators. Are in the embodiment fluid-operated drives 6 provided in the form of linear drives, in the specific case, fluid-operated working cylinders.

Eine andere mögliche Art eines fluidbetätigten Antriebselementes wäre eine Ejektoreinrichtung. Sie kann herangezogen werden, um Vakuum zu erzeugen, das beispielsweise zur Versorgung von Saugelementen dient, die zum Halten von handzuhabenden Gegenständen einsetzbar sind. In diesem Zusammenhang kann die Arbeitseinheit 5 bei entsprechender Ausstattung auch einen Sauggreifer bilden.Another possible type of fluid actuated drive element would be an ejector device. It can be used to create vacuum, for example for supply of suction elements that are used to hold manageable Objects can be used. In this regard, the work unit 5 with the appropriate equipment also one Form suction pads.

Ein und dieselbe Arbeitseinheit kann durchaus auch gleichzeitig mit mehreren unterschiedlichen Arbeitselementen 6a ausgestattet sein.One and the same work unit can also work at the same time equipped with several different working elements 6a his.

Die erste Arbeitseinheit 5, 5a ist beim Ausführungsbeispiel mit zwei fluidbetätigten Antrieben 6 als Arbeitselement 6a ausgestattet. Die zweite Arbeitseinheit 5, 5b enthält lediglich einen fluidbetätigten Antrieb 6.The first working unit 5, 5a is in the exemplary embodiment with two fluid-operated drives 6 as working element 6a fitted. The second work unit 5, 5b only contains a fluid-operated drive 6.

In der Regel sind die Arbeitseinheiten 5 so ausgeführt, dass sie jeweils ein Werkzeug bilden, beispielsweise ein Handhabungswerkzeug. Beim Ausführungsbeispiel sind beide Arbeitseinheiten 5 als Greifwerkzeug ausgeführt. Sie enthalten bewegliche Greifmittel 7, beispielsweise Greifbacken - in der Zeichnung strichpunktiert angedeutet -, die jeweils mit mindestens einem Antrieb 6 in Antriebsverbindung stehen und durch Betätigung der Antriebe 6 ihrerseits betätigbar sind. Auf diese Weise besteht beispielsweise die Möglichkeit, mittels der Arbeitsvorrichtung 1 beliebige Gegenstände zu erfassen und zu einem anderen Ort zu transportieren.As a rule, the working units 5 are designed such that they each form a tool, for example a handling tool. In the exemplary embodiment, both work units 5 designed as a gripping tool. They contain movable ones Gripping means 7, for example gripping jaws - in the Drawing indicated by dash-dotted lines - each with at least a drive 6 are in drive connection and can be actuated by actuating the drives 6. In this way there is, for example, the possibility of the work device 1 to detect any objects and transport it to another place.

Andere mögliche Bauformen von Werkzeugen sind beispielsweise Mess-, Schweiß- oder Prüfwerkzeuge. Other possible designs of tools are, for example Measuring, welding or testing tools.

Die Steuereinheit 4 verfügt an einer Seite - beim Ausführungsbeispiel an der Unterseite - über eine erste Montageschnittstelle 8. Eine hierzu komplementäre zweite Montageschnittstelle 9 ist an jeder der Arbeitseinheiten 5 vorgesehen. Die zweiten Montageschnittstellen 9 der einzelnen Arbeitseinheiten 5 sind vorzugsweise identisch.The control unit 4 has one side - in the exemplary embodiment on the underside - via a first assembly interface 8. A complementary second assembly interface 9 is provided on each of the work units 5. The second assembly interfaces 9 of the individual work units 5 are preferably identical.

Zur Befestigung einer Arbeitseinheit 5 an der Steuereinheit 4 wird die betreffende Arbeitseinheit 5 mit ihrer zweiten Montageschnittstelle 9 an die erste Montageschnittstelle 8 der Steuereinheit 4 angesetzt. Ein derart angesetzter Zustand geht aus Fig. 1 hervor. Im Bereich der beiden Montageschnittstellen 8, 9 ergibt sich hierbei eine zweckmäßigerweise flächige Anlage der beiden Einheiten.For fastening a work unit 5 to the control unit 4 is the relevant work unit 5 with its second assembly interface 9 to the first assembly interface 8 of the Control unit 4 attached. Such a condition can be seen from Fig. 1. In the area of the two assembly interfaces 8, 9 results in a suitably flat Creation of the two units.

Im Bereich der ersten Montageschnittstelle 8 ist die beispielsweise blockartig ausgeführte Steuereinheit 4 mit ersten Befestigungsmitteln 12a ausgestattet. Hierzu komplementäre zweite Befestigungsmittel 12b befinden sich an einer jeweiligen Arbeitseinheit 5 im Bereich der zweiten Montageschnittstelle 9. Durch Zusammenwirken der ersten und zweiten Befestigungsmittel 12a, 12b kann die angesetzte Arbeitseinheit 5 an der Steuereinheit 4 lösbar befestigt werden. Beim Ausführungsbeispiel sind die ersten Befestigungsmittel 12a als gemäß Doppelpfeil 13 bewegliche Spannmittel ausgebildet.In the area of the first assembly interface 8, for example block-like control unit 4 with the first Fasteners 12a equipped. Complementary to this second fastening means 12b are located on a respective one Working unit 5 in the area of the second assembly interface 9. By interaction of the first and second fasteners 12a, 12b, the attached work unit 5 be releasably attached to the control unit 4. In the embodiment are the first fasteners 12a as according to Double arrow 13 movable clamping means formed.

Die Steuereinheit 4 ist mit einer Mehrzahl von elektrisch aktivierbaren Steuerventilen 14 ausgestattet. Es kann sich dabei beispielsweise um Magnetventile, Piezoventile oder durch mikromechanische Fertigungsverfahren hergestellte Mikroventile handeln. Bei Bedarf können sie mit Vorsteuerventilen ausgestattet sein. Zu ihrer Betätigung werden sie mit elektrischen Betätigungssignalen versorgt, die über an der Steuereinheit 4 vorgesehene elektrische Signalleiter 15 von einer Steuerelektronik 16 zugeführt werden.The control unit 4 can be activated with a plurality of electrically Control valves 14 equipped. It can happen for example solenoid valves, piezo valves or through Micro valves manufactured using micromechanical manufacturing processes act. If necessary, they can be equipped with pilot valves be equipped. They are operated with electrical Actuating signals supplied via the control unit 4 provided electrical signal conductors 15 from one Control electronics 16 are supplied.

Die Steuerelektronik 16 ist bevorzugt als Bestandteil der Steuereinheit 4 ausgeführt und an diese angebaut oder in sie integriert. Im Vergleich zu einer ebenfalls möglichen externen Anordnung ergeben sich dadurch kompaktere Abmessungen und kürzere Leitungswege. Es ist unmittelbar eine Busanschaltung für Sensor- und Steuersignale möglich.The control electronics 16 is preferably part of the Control unit 4 executed and attached to or in it integrated. Compared to an also possible external This results in more compact dimensions and arrangement shorter routes. It is an immediate bus connection possible for sensor and control signals.

Bei den Steuerventilen 14 - beim Ausführungsbeispiel sind acht Stück vorhanden - handelt es sich um gleichartige Ventile mit jeweils einer 2/2-Ventilfunktion. Jedes Steuerventil 14 hat einen Einlass und einen Auslass, zwischen denen, je nach Schaltstellung, eine Fluidverbindung hergestellt oder unterbrochen werden kann. Es handelt sich zweckmäßigerweise um Schaltventile.In the control valves 14 - are in the embodiment eight pieces available - these are similar valves each with a 2/2 valve function. Every control valve 14 has an inlet and an outlet, between which, each after switching position, a fluid connection is established or can be interrupted. It is convenient around switching valves.

Die Einlässe eines Teils der Steuerventile 14 - beim Ausführungsbeispiel von vier Stück der Steuerventile 14 - stehen mit einem gemeinsamen Speisekanal 17 in Verbindung, der zu einem an der Außenfläche der Steuereinheit 4 vorgesehenen Speiseanschluss 18 führt. Auf diese Weise kann ein Teil der Steuerventile 14 ständig mit einem Fluid beaufschlagt werden, das einen über dem Atmosphärendruck liegenden Betriebsdruck aufweist. Beim Ausführungsbeispiel ist als Fluid Druckluft vorgesehen. Auch ein hydraulisches Fluid wäre verwendbar.The inlets of part of the control valves 14 - in the embodiment of four pieces of the control valves 14 - stand with a common feed channel 17 in connection to one provided on the outer surface of the control unit 4 Feed port 18 leads. This way, part of the Control valves 14 are constantly supplied with a fluid, that is an operating pressure above atmospheric pressure having. In the exemplary embodiment, compressed air is used as the fluid intended. A hydraulic fluid could also be used.

Die Einlässe der anderen Steuerventile 14 sind mit einem gemeinsamen Entlastungskanal 22 verbunden, der zu einem an der Außenfläche der Steuereinheit 4 vorgesehenen Entlastungsanschluss 23 führt. Bei der vorliegenden pneumatischen Bauart der Arbeitsvorrichtung 1 ist der Entlastungskanal 22 ein Entlüftungskanal, der über den Entlastungsanschluss 23 unmittelbar zur Atmosphäre ausmünden kann. Eine Fluidleitung für eine gefasste Abfuhr der Abluft oder ein Schalldämpfer kann hier angeschlossen werden.The inlets of the other control valves 14 are in common Relief channel 22 connected to one at the External surface of the control unit 4 provided relief connection 23 leads. In the present pneumatic design of the working device 1, the relief channel 22 is a ventilation channel, the one directly via the relief connection 23 can lead to the atmosphere. One fluid line for one ducted exhaust air discharge or a silencer can be found here be connected.

Die Auslässe sämtlicher Steuerventile 14 kommunizieren jeweils mit einem eigenen ersten Fluidkanal 24, der mit einem fest vorgegebenen, standardisierten Verlauf zur ersten Montageschnittstelle 8 führt und dort mit einem ersten Fluidanschluss 25 ausmündet. The outlets of all control valves 14 each communicate with its own first fluid channel 24, which with a fixed, standardized route to the first assembly interface 8 leads and there with a first fluid connection 25 opens out.

Durch entsprechende Ansteuerung der einzelnen Steuerventile 14 können die einzelnen ersten Fluidanschlüsse 25 mit Betätigungsfluid beaufschlagt oder entlüftet werden. Es können auf diese Weise an der ersten Montageschnittstelle 8 vielfach die vier Zustände "Betriebsdruck abgesperrt", "Atmosphärendruck abgesperrt", "Betriebsdruck anliegend" und "Atmosphärendruck anliegend" bereitgestellt werden. Möglich sind auch die Zustände "Vakuum anliegend" und "Vakuum abgesperrt", wenn eine entsprechende vakuumtechnische Ausstattung vorliegt.By controlling the individual control valves accordingly 14, the individual first fluid connections 25 with actuating fluid be pressurized or vented. It can on this way often at the first assembly interface 8 four states "operating pressure shut off", "atmospheric pressure shut off "," operating pressure applied "and" atmospheric pressure attached ". The states are also possible "Vacuum applied" and "Vacuum shut off" if one appropriate vacuum equipment is available.

Die an einer jeweiligen Arbeitseinheit 5 vorgesehenen fluidbetätigten Antriebe 6 stehen jeweils mit einem oder mehreren zweiten Fluidkanälen 26 in Verbindung, die an oder in der betreffenden Arbeitseinheit 5 fest verlegt sind und zur zweiten Montageschnittstelle 9 führen, wo sie jeweils mit einem oder mehreren zweiten Fluidanschlüssen 27 ausmünden. Über die zweiten Fluidkanäle 26 kann Betätigungsfluid eingespeist oder abgeführt werden, um den jeweils angeschlossenen Antrieb 6 mit Fluidkraft zu betätigen.The fluid-operated provided on a respective work unit 5 Drives 6 are each with one or more second fluid channels 26 in connection, which on or in the relevant work unit 5 are fixed and the second Assembly interface 9 lead, where they each with a or several second fluid connections 27 open out. About the second fluid channels 26 can be fed actuating fluid or be dissipated to the respective connected drive 6 to operate with fluid power.

Die Antriebe 6 des Ausführungsbeispiels sind nach Art so genannter doppeltwirkender Arbeitszylinder ausgebildet und enthalten jeweils einen in einem Zylindergehäuse angeordneten beweglichen Antriebskolben 28, der mit einer Kolbenstange oder einem anderen Kraftabgriffsteil 29 bewegungsgekoppelt ist, das beim Ausführungsbeispiel auf die Greifmittel 7 einwirken kann.The drives 6 of the embodiment are of the so-called type double-acting working cylinder designed and included one each arranged in a cylinder housing movable drive piston 28 which with a piston rod or another force tapping part 29 coupled in motion is that act on the gripping means 7 in the embodiment can.

Der Antriebskolben 28 teilt innerhalb des Zylindergehäuses zwei Arbeitsräume voneinander ab, von denen jeweils ein zweiter Fluidkanal 26 ausgeht, der bei einer entsprechenden Ausführungsform der Arbeitseinheit 5 - wie beispielsweise bei der zweiten Arbeitseinheit 5b - über eine Verzweigung verfügen kann.The drive piston 28 divides within the cylinder housing two working spaces from each other, of which a second Fluid channel 26 starts, which in a corresponding embodiment the work unit 5 - such as in the second work unit 5b - have a branch can.

Die zweiten Fluidanschlüsse 27 sind an der zweiten Montageschnittstelle 9 im gleichen verteilungsmuster angeordnet wie die ersten Fluidanschlüsse 25 an der ersten Montageschnittstelle 8. Zumindest bei den Ausführungsbeispielen ist ferner vorgesehen, dass jeder zweite Fluidkanal 26 der Arbeitseinheit 5 mit mindestens zwei zweiten Fluidanschlüssen 27 zur zweiten Montageschnittstelle 9 ausmündet, die dann derart den ersten Fluidanschlüssen 25 zugeordnet sind, dass der betreffende zweite Fluidkanal 26 gleichzeitig mit zwei Steuerventilen 14 in Verbindung steht, von denen das eine die Einspeisung des Betätigungsfluides und das andere die Entlüftung steuern kann.The second fluid connections 27 are at the second assembly interface 9 arranged in the same distribution pattern as the first fluid connections 25 at the first assembly interface 8. At least in the embodiments is also provided that every second fluid channel 26 of the work unit 5 with at least two second fluid connections 27 for second assembly interface 9 opens, which then the are assigned to the first fluid connections 25 that the relevant one second fluid channel 26 simultaneously with two control valves 14 is connected, one of which is the feed the actuating fluid and the other the vent can control.

Es besteht auf diese Weise die beispielhafte Möglichkeit, durch aufeinander abgestimmte Betätigung der beiden zugeordneten Steuerventile 14 eine 3/2-Ventilfunktion zu realisieren. Diese Möglichkeit besteht insbesondere bei der Ausführungsform gemäß Fig. 1. Verfügt ein zweiter Fluidkanal 26 gemäß Fig. 2 über mindestens eine Verzweigung, kann der zweite Fluidkanal 26 mit mehr als zwei zweiten Fluidanschlüssen 27 - beispielsweise mit vier Stück - zur zweiten Montageschnittstelle 9 ausmünden, so dass eine Verbindung mit beispielsweise vier Steuerventilen 14 der Steuereinheit 4 möglich ist, was dann noch höhere Bewegungsgeschwindigkeiten und/oder besondere Steuerfunktionen (z. B. Softstart und Softstop) zulässt. Möglich ist auch die Realisierung von beispielsweise 3/3-Ventilfunktionen.In this way there is an exemplary possibility by coordinated actuation of the two assigned Control valves 14 to realize a 3/2-valve function. This possibility exists in particular in the embodiment 1. Has a second fluid channel 26 according to FIG Fig. 2 over at least one branch, the second Fluid channel 26 with more than two second fluid connections 27 - for example with four - to the second assembly interface 9 open out, so that a connection with, for example four control valves 14 of the control unit 4 is possible, which then even higher movement speeds and / or special Control functions (e.g. soft start and soft stop). It is also possible to implement, for example 3/3-valve functions.

Die Arbeitseinheiten 5 der Arbeitsvorrichtung 1 - die Arbeitsvorrichtung des Ausführungsbeispiels enthält zwei Arbeitseinheiten, doch könnten ohne weiteres auch mehr als zwei Arbeitseinheiten vorgesehen sein - unterscheiden sich, wie schon erwähnt, in ihrer fluidtechnischen Ausstattung. So enthält die erste Arbeitseinheit 5a zwei Antriebe 6, während die zweite Arbeitseinheit 5b mit nur einem Antrieb 6 ausgestattet ist. Gleichwohl können die Arbeitseinheiten 5 trotz ihrer verschiedenartigen fluidischen Ausstattung, also ihres unterschiedlichen Typs, wahlweise alternativ an ein und derselben ersten Montageschnittstelle 8 der Steuereinheit 4 installiert werden. Sämtliche Arbeitseinheiten 5 sind dabei hinsichtlich ihrer jeweiligen fluidtechnischen Ausstattung funktionsspezifisch fest vorkonfektioniert. Insbesondere sind Verlauf und Gestaltung der zweiten Fluidkanäle 26 jeweils speziell auf den betreffenden Typ von Arbeitseinheit 5 abgestimmt, beispielsweise unter Berücksichtigung der Anzahl und Bauart der vorhandenen fluidbetätigten Antriebe 6.The working units 5 of the working device 1 - the working device of the exemplary embodiment contains two working units, but more than two could easily be Work units are provided - differ how already mentioned, in their fluid technology equipment. So contains the first working unit 5a two drives 6, while the second working unit 5b equipped with only one drive 6 is. Nevertheless, the work units 5 can despite their different types of fluidic equipment, so their different Type, alternatively on one and the same first mounting interface 8 of the control unit 4 installed become. All work units 5 are in this regard their respective fluid technology equipment function-specific pre-assembled. In particular, course and Design of the second fluid channels 26 each specifically matched the type of work unit 5 concerned, for example taking into account the number and type of existing fluid-operated drives 6.

Ein und dieselbe Steuereinheit 4 kann verwendet werden, um die alternativ angesetzten Arbeitseinheiten 5 zu betätigen. Die einzige erforderliche Anpassung seitens der Steuereinheit 4 liegt in der entsprechend abgestimmten Aktivierung der Steuerventile 14 durch entsprechende Ansteuerung mittels der Steuerelektronik 16.One and the same control unit 4 can be used to to operate the alternative work units 5. The only necessary adjustment on the part of the control unit 4 lies in the correspondingly coordinated activation of Control valves 14 by appropriate control by means of Control electronics 16.

Die Steuerelektronik 16 ist in der Lage, den Steuerventilen 14 Betätigungssignale zukommen zu lassen, die eine aufeinander abgestimmte Betätigung der Steuerventile 14 unter Berücksichtigung der Spezifikation der jeweils angesetzten Arbeitseinheit 5 ermöglicht. So kann beispielsweise durch gruppenweise funktionelle Verknüpfung einzelner Steuerventile 14 eine Variation der Ventilfunktionalität erhalten werden, um beispielsweise die schon erwähnten höherwertigen Ventilfunktionen zu realisieren, um, zum Zwecke einer Durchflussvergrößerung, Parallelschaltungen vorzunehmen, oder um durch Parallelschaltung und logische Verknüpfung ein quasi-proportionales Verhalten zu erzielen.The control electronics 16 is able to control the valves 14 actuation signals to be sent, one on the other coordinated actuation of the control valves 14 taking into account the specification of the work unit used in each case 5 enables. For example, in groups functional linkage of individual control valves 14 a Variation of valve functionality can be obtained in order for example the already mentioned higher-quality valve functions to realize, for the purpose of increasing the flow, To make parallel connections, or to connect in parallel and logical combination a quasi-proportional To achieve behavior.

Es ist insbesondere vorgesehen, dass die Steuerelektronik 16 einen Speicher 32 enthält, in dem die Daten der für unterschiedliche Arbeitseinheiten 5 erforderlichen Betriebsweisen der Steuerventile 14 in abrufbarer Weise abgespeichert sind. Es ist dann bei einem Wechsel der Arbeitseinheit 5 lediglich erforderlich, die für die momentan angesetzte Arbeitseinheit 5 erforderlichen Betriebsdaten abzurufen.In particular, it is provided that the control electronics 16 contains a memory 32 in which the data for different Work units 5 required modes of operation the control valves 14 are stored in a retrievable manner. It is then only when changing the working unit 5 required for the unit of work currently in use 5 required operating data.

Allerdings besteht auch die alternative oder zusätzliche Möglichkeit, die erforderlichen Betriebsdaten und/oder -signale über einen externen Feldbus 33 einzuspeisen, der über einen an der Steuereinheit 4 vorgesehenen Busanschluss 34 mit der Steuerelektronik 16 verbindbar ist.However, there is also the alternative or additional possibility the required operating data and / or signals to feed via an external fieldbus 33, which via a provided on the control unit 4 bus connection 34 with the Control electronics 16 is connectable.

Der Abruf der für die jeweilige Arbeitseinheit 5 erforderlichen Betriebsweisen-Daten wird zweckmäßigerweise automatisch beim oder nach dem Ansetzen einer Arbeitseinheit 5 an die Steuereinheit 4 ausgelöst. Hierzu können die einzelnen Arbeitseinheiten 5, 5a, 5b über typspezifische Kodierungen 35a, 35b verfügen, die den zuordnungsrichtigen Abruf der Betriebsdaten veranlassen.The retrieval of the work unit 5 required Operating mode data expediently becomes automatic when or after attaching a work unit 5 to the Control unit 4 triggered. The individual work units can do this 5, 5a, 5b via type-specific codes 35a, 35b have the correct access to the operating data cause.

Die Kodierungen 35a,35b, die beispielsweise mechanisch, optisch oder elektronisch realisierbar sind, kooperieren bei installierter Arbeitseinheit 5 mit an der Steuereinheit 4 vorgesehenen Identifikationsmitteln 36, welche signaltechnisch mit der Steuerelektronik 16 verbunden sind.The codes 35a, 35b, which are mechanical, for example, are optically or electronically realizable, cooperate with installed work unit 5 with on the control unit 4 provided identification means 36 which signaling are connected to the control electronics 16.

Die gleichen miteinander kooperierenden Kodierungen 35a, 35b und Identifikationsmittel 36, oder zusätzlich vorgesehene, können auch Verwendung finden, um zu veranlassen, dass von der jeweils angesetzten Arbeitseinheit 5 gelieferte Sensorsignale entsprechend dem Typ der jeweils angesetzten Arbeitseinheit 5 von der Steuereinheit 4 und insbesondere der Steuerelektronik 16 spezifisch verarbeitet werden.The same mutually cooperating codes 35a, 35b and identification means 36, or additionally provided, can also be used to cause the sensor unit 5 provided in each case according to the type of work unit used 5 from the control unit 4 and in particular the control electronics 16 can be processed specifically.

Beim Ausführungsbeispiel ist jeder fluidbetätigte Antrieb 6 mit Sensormitteln 37 ausgestattet, beispielsweise Positionssensormittel, die über zweite Sensorleitungen 39 der betreffenden Arbeitseinheit 5 zu der zweiten Montageschnittstelle 9 zugeordneten zweiten Sensoranschlüssen 43 führen. Letztere stehen bei angesetzter Arbeitseinheit 5 mit ersten Sensoranschlüssen 42 in Signalverbindung, die an der ersten Montageschnittstelle 8 vorgesehen sind und über erste Sensorleitungen 38 mit der Steuerelektronik 16 verbunden sind.In the exemplary embodiment, each fluid-operated drive is 6 equipped with sensor means 37, for example position sensor means, the via second sensor lines 39 of the relevant Work unit 5 to the second assembly interface 9 associated second sensor connections 43 lead. Latter stand with attached work unit 5 with first sensor connections 42 in signal connection that at the first assembly interface 8 are provided and via first sensor lines 38 are connected to the control electronics 16.

Die Steuerelektronik 16 kann die Sensorsignale bei der gesteuerten Betätigung der einzelnen Steuerventile 14 berücksichtigen. The control electronics 16 can control the sensor signals Consider actuation of the individual control valves 14.

Zusammengefasst zeichnet sich die beispielsgemäße Arbeitsvorrichtung 1 durch eine von den beiden Montageschnittstellen 8, 9 definierte Schnittstelle aus, die eine Trennung zwischen spezifisch verschalteten Arbeitseinheiten 5 und der unspezifischen, variabel verknüpfbaren Vielfachanordnung identischer 2/2-Ventilfunktionen in Gestalt der Steuerventile vorsieht. Die 2/2-Ventil-Grundfunktionen können auf elektronischem Wege beliebig miteinander kombiniert werden. Die Steuerelektronik 16 enthält zweckmäßigerweise ein Steuerungsprogramm, das die Steuerventile 14 arbeitseinheitsspezifisch ansteuern kann, insbesondere auf Basis arbeitseinheitsspezifisch vorgegebener Daten.In summary, the working device according to the example stands out 1 through one of the two assembly interfaces 8, 9 defined interface, which is a separation between specifically interconnected work units 5 and the non-specific, variably linkable multiple arrangement of identical Provides 2/2 valve functions in the form of the control valves. The 2/2-valve basic functions can be done electronically can be combined with one another as required. The control electronics 16 expediently contains a control program that the Control valves 14 can work unit-specific, especially based on work unit-specific Data.

Innerhalb der Steuereinheit 4 ist mithin eine einfache Ventilanordnung, beispielsweise eine einfache Aneinanderreihung von 2/2-Steuerventilen, möglich, so dass auf komplexe Ventilbauformen verzichtet werden kann. Die an der ersten Montageschnittstelle 8 von den dortigen ersten Fluidanschlüssen 25 abgreifbaren Ventilfunktionalitäten ergeben sich allein durch die aufeinander abgestimmte Betriebsweise einzelner oder mehrerer Steuerventile 14.There is therefore a simple valve arrangement within the control unit 4, for example, a simple string of 2/2 control valves, possible, so that on complex valve designs can be dispensed with. The one at the first assembly interface 8 from the first fluid connections 25 there tapped valve functionalities result solely from the coordinated mode of operation of one or more Control valves 14.

Die applikationsspezifische Verknüpfung der an den ersten Fluidanschlüssen 25 abgreifbaren Betriebszustände wird erst innerhalb der einzelnen Arbeitseinheiten 5 mittels des dort fest vorgegebenen Verlaufes der zweiten Fluidkanäle 26 zu höherwertigen Schaltfunktionen ergänzt. In diesem Zusammenhang ist zu erwähnen, dass die Arbeitseinheiten 5 neben den spezifischen Kanalverknüpfungen auch zusätzliche Funktionselemente enthalten können, und zwar, neben den schon erwähnten Sensormitteln 37, beispielsweise auch fluidtechnische Elemente wie Rückschlagventile, Drosseln, Verstärker usw.The application-specific linking of the first Fluid connections 25 tapped operating states is only within the individual work units 5 by means of there fixed predetermined course of the second fluid channels 26 to higher quality Switching functions added. In this context it should be noted that the work units 5 in addition to the specific Channel links also include additional functional elements can contain, in addition to the sensor means already mentioned 37, for example also fluid technology elements such as Check valves, chokes, amplifiers etc.

Durch die vorhandene Schnittstelle ist eine Aufteilung in arbeitseinheitsspezifische bzw. werkzeugspezifische Bereiche und unspezifische Bereiche möglich, was die Anwendung einer baulich immer gleichen, funktional jedoch programmierbaren Ventilanordnung für unterschiedlichste Typen von Arbeitseinheiten 5 gestattet.Due to the existing interface, a division into work unit-specific or tool-specific areas and nonspecific areas possible what the application of a structurally always the same, but functionally programmable Valve arrangement for different types of work units 5 allowed.

Durch die geschilderte Bauform kann eine einzige Steuereinheit 4 mehrfach, mit unterschiedlichen Bauarten von Arbeitseinheiten 5, verwendet werden. Auch besteht bei entsprechenden Anwendungsfällen die Möglichkeit, die Steuereinheit 4 bzw. deren Steuerventile 14 außerhalb des Arbeitsbereiches der Arbeitseinheit 5 vorzusehen.Due to the design described, a single control unit can 4 multiple, with different types of work units 5, can be used. Also exists with corresponding Use cases the possibility of the control unit 4 or their control valves 14 outside the work area to provide the working unit 5.

Man kann flexible, frei programmierbare Funktionsmuster aus einer maximal verdichteten Vielfachanordnung identischer Ventil-Grundfunktionen aufbauen. Die anwendungsspezifische Verknüpfung der Fluidkanäle findet dabei innerhalb der Arbeitseinheiten 5 statt und nicht in der Steuereinheit 4.One can choose flexible, freely programmable functional models a maximum condensed multiple arrangement of identical basic valve functions build up. The application-specific link the fluid channels take place within the work units 5 instead of in the control unit 4.

Die Kanalführung innerhalb der Arbeitseinheit 5 kann in Gestalt konventioneller Kanäle oder auch unter Verwendung von Fluidleitungen realisiert werden. Ferner kann die so genannte Integrationstechnik angewandt werden, bei der die Fluidkanäle zumindest teilweise von Nuten definiert werden, die sich im Übergangsbereich aneinander angesetzter Plattenkörper befinden. Auf diese Weise kann besonders einfach eine bestimmte logische Verknüpfung der zweiten Fluidkanäle 26 realisiert werden.The channel guide within the work unit 5 can be in shape conventional channels or also using Fluid lines can be realized. Furthermore, the so-called Integration technology are applied in which the fluid channels are at least partially defined by grooves that are in the Transition area of attached panel body. In this way, a particular one can be particularly simple Logical connection of the second fluid channels 26 realized become.

Claims (19)

  1. Fluid-actuated operating device with an electro-fluidic control unit (4) which has a first mounting interface (8) and at least one interchangeable operating unit (5) containing a fluid-actuated operating element (6a) and having a second mounting interface (9) provided for releasable attachment to the first mounting interface (8), wherein the control unit (4) contains a multiplicity of electrically actuable control valves (14) each with 2/2 valve functions, which are provided for fluidic driving of the operating unit (5) used and which are actuable by means of the control electronics (16) in different coordinated manners so as to be able to operate alternatively operating units (5, 5a, 5b) with different fluidic equipment coupled to the control unit (4), characterised by a type-specific coding (35a,35b) provided on each operating unit (5, 5a, 5b) which, with an operating unit (5, 5a, 5b) attached to the control unit or in the course of attaching this operating unit (5, 5a, 5b), the control electronics (16) can preset for the mode of actuation required for the control valves (14).
  2. Operating device according to claim 1, characterised in that the operating units (5, 5a, 5b) which may be attached alternatively to the control unit (4) are permanently prefabricated with specific functions in respect of their respective fluidic equipment.
  3. Operating device according to claim 1 or 2, characterised in that the operating units (5, 5a, 5b) at least partly form tools, for example handling tools such as mechanical grippers, suction grippers, etc.
  4. Operating device according to any of claims 1 to 3, characterised in that the control electronics (16) are designed as a direct part of the control unit (4).
  5. Operating device according to any of claims 1 to 4, characterised in that the control electronics (16) are designed so as to obtain, through functional linking of control valves (14) in groups, different valve functionality, for example higher-value valve functions, parallel connections or quasi-proportional valve functions.
  6. Operating device according to any of claims 1 to 5, characterised in that the control electronics (16) contain a memory (32) in which the data for the operating modes of the control valves (14) required for different operating units (5, 5a, 5b) may be stored so as to be retrievable.
  7. Operating device according to claim 6, characterised by automatically triggered retrieval by each operating unit (5, 5a, 5b) of the operating mode data intended for it.
  8. Operating device according to any of claims 1 to 7, characterised by first fluid connections (25) provided at the first mounting interface (8) and connected to the control valves (14) via first fluid passages (24) of the control unit (4), to which are assigned-arranged in the same distribution pattern - second fluid connections (27) of the respectively attached operating unit (5, 5a, 5b), which are connected via second fluid passages (26) of the operating unit (5, 5a, 5b) to the fluid-actuated operating element or elements (6a) belonging to the latter.
  9. Operating device according to any of claims 1 to 8, characterised in that the control valves (14) are connected, via first fluid passages (24) with a firmly preset standardised layout, to first fluid connections (25) provided in the area of the first mounting interface (8) and communicating with first fluid connections (25) provided in the area of the second mounting interface (9) of the respectively attached operating unit (5, 5a, 5b) and belonging to second fluid passages (26) of the attached operating unit (5, 5a, 5b) which have an application-specific design corresponding to the specific structure of the operating unit (5, 5a, 5b) concerned.
  10. Operating device according to any of claims 1 to 9, characterised in that each operating unit (5, 5a, 5b) is equipped with sensor means (37) which, with first and second mounting interfaces (8, 9) attached to one another, can transmit sensor signals to the control unit (4) and in particular to the control electronics (16).
  11. Operating device according to claim 10, characterised in that the control electronics (16) can specifically process the sensor signals obtained with the aid of a coding (35a, 35b) of the operating units (5, 5a, 5b) corresponding to the type of the attached operating unit (5, 5a, 5b).
  12. Operating device according to any of claims 1 to 11, characterised by at least two operating units (5, 5a, 5b) of different types, which may be attached alternatively to the control unit (4).
  13. Operating device according to any of claims 1 to 12, characterised in that one part of the control valves (14) is provided for constant pressurisation with fluid under an operating pressure lying above atmospheric pressure or with vacuum, and another part of the control valves (14) is provided with atmospheric pressure for constant pressurisation.
  14. Operating device according to claim 13, characterised in that one part of the control valves (14) is connected to a common feed passage (17) and another part of the control valves (14) is connected to a common vent passage (23).
  15. Operating device according to any of claims 1 to 14, characterised in that the control valves (14) are at least partly in the form of solenoid valves, piezoelectric valves or miniature valves.
  16. Operating device according to any of claims 1 to 15, characterised by fastening means (12a, 12b) provided on the control unit (4) and on each operating unit (5, 5a, 5b) for reciprocal mechanical fixing when attached to one another.
  17. Operating device according to any of claims 1 to 16, characterised by a bus connection (34) connected to the control electronics (16) for connecting to a field bus (33).
  18. Operating device according to any of claims 1 to 17, characterised in that at least one operating element (6a) is formed by a fluid-actuated drive (6).
  19. Operating device according to any of claims 1 to 18, characterised in that at least one operating element (6a) is formed by an ejector unit used to create vacuum.
EP01128503A 2001-11-29 2001-11-29 Fluid-actuated working device Expired - Lifetime EP1316732B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP01128503A EP1316732B1 (en) 2001-11-29 2001-11-29 Fluid-actuated working device
DE50103560T DE50103560D1 (en) 2001-11-29 2001-11-29 Fluid operated working device
US10/294,347 US6715400B2 (en) 2001-11-29 2002-11-14 Fluid power operative instrumentality

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP01128503A EP1316732B1 (en) 2001-11-29 2001-11-29 Fluid-actuated working device

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EP1316732A1 EP1316732A1 (en) 2003-06-04
EP1316732B1 true EP1316732B1 (en) 2004-09-08

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US (1) US6715400B2 (en)
EP (1) EP1316732B1 (en)
DE (1) DE50103560D1 (en)

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EP1316732A1 (en) 2003-06-04
US20030097923A1 (en) 2003-05-29
DE50103560D1 (en) 2004-10-14
US6715400B2 (en) 2004-04-06

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