CN104204542A - Method for operating a vacuum gripping device, vacuum control device and manipulator - Google Patents
Method for operating a vacuum gripping device, vacuum control device and manipulator Download PDFInfo
- Publication number
- CN104204542A CN104204542A CN201280066673.6A CN201280066673A CN104204542A CN 104204542 A CN104204542 A CN 104204542A CN 201280066673 A CN201280066673 A CN 201280066673A CN 104204542 A CN104204542 A CN 104204542A
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- China
- Prior art keywords
- vacuum
- fluid
- control valve
- treatment device
- pressure
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04F—PUMPING OF FLUID BY DIRECT CONTACT OF ANOTHER FLUID OR BY USING INERTIA OF FLUID TO BE PUMPED; SIPHONS
- F04F5/00—Jet pumps, i.e. devices in which flow is induced by pressure drop caused by velocity of another fluid flow
- F04F5/44—Component parts, details, or accessories not provided for in, or of interest apart from, groups F04F5/02 - F04F5/42
- F04F5/48—Control
- F04F5/52—Control of evacuating pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
Abstract
The invention relates to a method for operating a vacuum gripping device (1) which comprises a vacuum gripper (4), a processing device (32), a sensor device (33) for providing a fluid-related and/or vacuum-related sensor signal, and a fluid control valve (24; 45, 46) which can be actuated by the processing device (32) in order to provide a vacuum to the vacuum gripper (4), wherein the processing device (32) is configured for processing the sensor signal and for actuating the fluid control valve (24; 45, 46), having the following steps: outputting of a control signal to the fluid control valve (24; 45, 46), determining of a change speed for the sensor signal which is output by the sensor device (33), and provision of a status signal to an external communications system (15) which is configured for communication with a machine controller (13), in order to bring about a change in a movement state of the vacuum gripper (4) by way of the status signal when the determined change speed corresponds to a predefinable minimum value or lies in a predefinable value interval.
Description
Technical field
The present invention relates to a kind of for moving the method for vacuum gripping device, this vacuum gripping device comprises that a vacuum picker, a treatment device, one are for providing sensor device and the control valve for fluids that can be manipulated by described treatment device based on fluid and/or the sensor signal based on vacuum, be used for providing fluid stream, preferably vacuum, especially vacuum and superpressure be to described vacuum picker, wherein, described treatment device is configured to process described sensor signal and for manipulating described control valve for fluids.The invention still further relates to a kind of vacuum control unit and a kind of manipulator.
Background technique
Known a kind of vacuum generator device from DE 10 2,007 061 820 A1, it has an injector device, and the air intake passage that this injector device and is connected on air-breathing grabber is connected.On this air intake passage, connect a pressure-detecting device, it is communicated with a control electronic equipment.This device allows the method for carrying out, and in the method, detects pumpdown time and/or the period of exhaust of described air intake passage, and compares with at least one reference time value, in order to produce the diagnostic signal of an electricity according to comparative result.
DE 10 007 058 114 A1 disclose a kind of vacuum generator device and a kind of method that is suitable for moving it.One injector device is connected on an air supply passage with its entrance, and this air supply passage can be blocked alternatively or be discharged by an electronic regulating unit, in order to described injector device is turn-offed alternatively or to be connected.In the case of the injector device of connecting, in an air intake passage, produce negative pressure.Described injector device is so moved, and makes described negative pressure switch value and swinging between switch value on once.By with the comparison of a reference time value, know duration of operation of described injector device, in order to generate a diagnostic signal, this diagnostic signal deducibility goes out existing leakage.
Summary of the invention
Task of the present invention is, proposes a kind ofly for moving method and a kind of vacuum control unit and a kind of manipulator of vacuum gripping device, and they compared with prior art can be realized and operate quickly workpiece.
According to a first aspect of the invention, the method that this task starts described type for article utilizes the feature of claim 1 to solve.The following step is set in the case: export a control signal at a manipulation time point to described control valve for fluids by described treatment device; Know that one for the pace of change by described sensor device and a sensor signal of exporting explicitly based on fluid and/or the physical values based on vacuum; And provide a state signal to the communication system of an outside, this outside communication system is configured to carry out communication with an equipment control device, in order to work as known pace of change corresponding to one can be default minimum value or be arranged in one can be default value interval time, cause the variation of the motion state of described vacuum picker by described state signal.
By considering the pace of change for described sensor signal, just can realize one in the stage early of the process of crawl foretells reliably, whether complete described crawl process, wherein, described sensor signal has represented the variation of the force value in a physical values, especially described vacuum picker.Typically, utilizing after described vacuum picker completed the crawl of workpiece, described vacuum picker is set and the motion of the workpiece that receives thereon, for example, in order to described workpiece is displaced to the second place from the first place.In the method according to the invention described state signal can in the case of know described pace of change and predeterminable minimum value or predeterminable value interval consistent, and therefore the time point early during described crawl process carries out, wherein, utilize described state signal to inform to described equipment control device, can carry out now the motion of described vacuum picker.Between the output of described state signal and the actual beginning of the motion of described vacuum picker, have one especially by the data transmission period between described treatment device, described equipment control device and the final controlling element of attaching troops to a unit, processing time by described state signal in described equipment control device and by the determined time interval of machinery inertial of described final controlling element, this time interval may also be referred to as the dead time.In the method according to the invention, by the dead time of this intrinsic existence completing for described crawl process, because can be with high reliability prophesy at the time point once early, whether described crawl process fruitfully finishes, and only under foretold performance, exports described state signal.Therefore, described time interval starts to be shortened from the manipulation time point for described control valve for fluids, until the actual motion of described vacuum picker.
Favourable improvement project of the present invention is recorded in the dependent claims.
In a modification of the present invention scheme, be arranged to, know an idling pressure value at a time point by described treatment device, do not abut on a workpiece in vacuum picker described in this time point.Can check thus, described control valve for fluids is correctly worked and/or possibly in the fluid line between described control valve for fluids and described vacuum picker and/or directly have a fault in described vacuum picker, wherein, described control valve for fluids is provided for providing vacuum in described vacuum picker.This can be for example by described idling pressure value and one predeterminable, be stored in relatively knowing of idling pressure extreme value in described treatment device.In the situation that existence exceedes described idling pressure extreme value, especially after one correspondingly manipulates described control valve for fluids through after predeterminable stand-by period, can exemplarily prevent the importing of described crawl process by described treatment device.When cause not reaching required while for example reducing from the pressure of an ambient pressure in described vacuum picker due to disapproving of described vacuum gripping device, there will be described mistake, wherein, described for example disapprove got dirty by the sucker in described vacuum picker or impaired in a given time interval, and/or the aspirating air pipe of going to described vacuum picker gets dirty or impaired, and/or suction filter get dirty cause.Do not consider in this case in described vacuum picker, to adjust vacuum in the time that described vacuum picker contacts with described workpiece, this vacuum is suitable for capturing reliably described workpiece.Correspondingly also output status signal not, it can cause the motion of described vacuum picker.
Suitable, during a vacuum crawl process, know a minimum pressure values by described treatment device, in the time that described vacuum picker abuts on described workpiece, adjust this minimum pressure values.Described minimum pressure values is especially corresponding to the pressure minimum adjusting in described vacuum picker during described crawl process, and this pressure minimum especially depends on the function of the state of described vacuum picker, the characteristic that needs the workpiece capturing, described control valve for fluids and described fluid line, the state of the fluid line between described control valve for fluids and described vacuum picker especially.Described minimum pressure values and a pressure minimum extreme value predeterminable, that be stored in described treatment device are compared.If be not less than described pressure minimum extreme value during described crawl process, do not adjust the minimum pressure values that is less than described predeterminable pressure minimum extreme value, the required snatching force that must result between described vacuum picker and described workpiece does not reach set level.Correspondingly can be arranged to for this situation, the motion of the described vacuum picker that slows down and/or described workpiece is brought in a noncritical position as far as possible rapidly, especially put down, and/or by described treatment device, one error reporting is outputed on described equipment control device, in order to interrupt other crawl process or to provide information to the user of described vacuum gripping device.
Advantageously, interval according to described idling pressure value and/or mate according to described minimum pressure values for the minimum value of the pace of change of described sensor signal or value.Thus can be especially in a predeterminable interval, adversely affect the factor of described crawl process about consideration the achievement of described crawl process in prophesy, the for example wearing and tearing of described vacuum picker and/or described fluid valve, and/or be conducive to the factor of described crawl process, vacuum picker that for example occur by wearing and tearing, described and favourable the mating geometrically of at least short time that needs the workpiece capturing.The behavior of described treatment device can be mated with the variation in described grasping system all the time thus, described grasping system is mainly made up of described fluid valve, described vacuum picker and described workpiece.
In another kind of structural scheme of the present invention, be arranged to, on described idling pressure value is positioned at the default idling pressure extreme value of an energy and/or when described minimum pressure values is positioned on the default pressure minimum extreme value of an energy, reported to the police by described treatment device output one.Should avoid thus following crawl process, in these crawl processes, can predict, not adjust desirable crawl achievement.
Preferably, only have when be longer than the default value of the default interval minimum value default with described energy of minimum time of an energy or described energy for the pace of change of described sensor signal interval consistent, and/or when from export at described manipulation time point that described control signal starts to time described control valve for fluids by described treatment device one can be default time interval in, while having reached a minimum value for described sensor signal, just provide described state signal by described treatment device.Avoid thus, existed the positive evaluation of carrying out described crawl process described default pace of change, this evaluation can cause for providing of state signal in described vacuum picker is provided described in importing in the case of shorter.One-tenth arranged according to the present invention, only has when meet or exceed the described predeterminable value for described pace of change within predeterminable time lag time, and a state signal is just provided.The described time lag preferably relates to the time window of a variation, this time window is opened in the time reaching described default minimum value for the first time, if and described pace of change closes during again lower than described default minimum value again, or cause providing of described status report in the time reaching the described predeterminable time lag.Additionally or as an alternative can be arranged to, except observing described pace of change, also within predeterminable time lag, observe for the reaching of the minimum value of described sensor signal, in order to the same reliable prophesy realizing about the achievement of described crawl process thus.
According to second aspect, task of the present invention utilizes the feature of claim 7 to solve.In the case, one vacuum control unit is set, it has a fluid interface for fluid supply, have one for providing fluid and/or vacuum to the fluid output on a customer, there is a treatment device, its for the treatment of at least one based on fluid and/or the sensor signal based on vacuum and for described control signal is provided, and there is a control valve for fluids that can be manipulated by described control signal, it is connected with described fluid interface or with described fluid interface and described fluid output, and/or there is a vacuum control valve, it is connected with described fluid interface and described fluid output, on described fluid output, provide in short time fluid and/or vacuum to can realize.
According to the present invention, described treatment device is configured to know that one for the pace of change by described sensor device and a sensor signal of exporting explicitly based on fluid and/or the physical values based on vacuum as follows, and for the communication system of a state signal to an outside is provided, this outside communication system is as carrying out communication with an equipment control device, minimum value that can be default in known pace of change and or one can be default value interval consistent, can preset the variation of the motion state of described vacuum picker by means of described state signal.Utilize this treatment device being included in a vacuum control unit, can realize for the crawl process of described workpiece and/or put down the optimization of process, described workpiece should be captured by a vacuum picker, and this vacuum picker utilizes the low pressure being provided by described vacuum control unit and superpressure if desired to load.Described vacuum control unit can be by means of the pace of change for described sensor signal at a time point early and before reaching significantly the pressure minimum in made every effort to described vacuum picker, just realize ordinatedly a best motion control for the manipulator that can be manipulated by described equipment control device with an equipment control device, the described manipulator described vacuum picker of carrying and move.
Advantageously, described vacuum picker is equipped with a sensor device that is especially configured to pressure transducer, and it is configured to provide the described sensor signal based on vacuum to described treatment device.Therefore carry out on-the-spot directly knowing of the vacuum in described vacuum picker, guaranteed thus the pinpoint accuracy of the measured value of knowing of at least one feature of the vacuum producing for need.
Suitable, described treatment device is equipped with one for knowing the pressure transducer of the hydrodynamic pressure on described fluid interface, and described treatment device is configured to change to the control signal on described vacuum control valve by means of known hydrodynamic pressure.Integrated by described pressure transducer in described vacuum control unit, can realize a special compact structure form, because can give up the coupling device for the pressure transducer of an outside, for example, for the socket of signal cable.In addition, do not need the arrangement expending of the output signal of described pressure transducer, but the output signal of described pressure transducer is delivered on described treatment device in shorter distance.Particularly preferably be, described pressure transducer is directly electrically connected with a circuit board, constructs described treatment device on this circuit board.
In a kind of favourable improvement project of the present invention, be arranged to the vacuum generator of fluidly polishing, a sparger especially between described fluid interface and described fluid output.Can directly in described vacuum control unit, produce thus required vacuum.Particularly advantageously, optionally providing of the vacuum on described fluid output and superpressure can be realized by the switching of described vacuum control valve separately.In the case, described vacuum control valve the pressurized air providing on described fluid interface is provided, thereby provides vacuum at described fluid output to described vacuum generator, especially described sparger in first switching position.In second switch position by fluid interface described in described vacuum control valve locking.In the 3rd switching position, on described fluid output, occur in the compressed-air actuated direct transmission providing on described fluid interface, thereby the superpressure of the vacuum picker that can connect there loads.
Can be arranged to as an alternative, one second fluid interface is set on described vacuum control unit, it is configured to provide a second fluid on described control valve for fluids and/or described vacuum control valve, and described control valve for fluids and/or described vacuum control valve be configured to optionally to discharge described first or described second fluid interface and described fluid output between the connection of connection and being connected for inaccessible and described fluid output.In the time that not only pressurized air but also vacuum are provided on described vacuum control unit, this structure of described control valve for fluids and/or described vacuum control valve is favourable.Therefore provided vacuum, the pressurized air providing and the switching between the locking of described fluid output are if desired provided for described control valve for fluids and/or described vacuum control valve.
According to a third aspect of the invention we, described task solves by the feature of claim 12.In the case, one manipulator is set, it has a movable control arm and and is arranged on the vacuum picker on this operating arm, be used for catching, move and put down workpiece, wherein, described vacuum picker fluid is connected according to vacuum control unit of the present invention and with an equipment control device with one communicatively, and described equipment control device is configured to manipulate described control arm and for carrying out communication with described vacuum control unit via the communication system of an outside.In addition be arranged to, described equipment control device arranges as follows, and the variation of the motion state of described control arm is carried out according to the state signal of described vacuum control unit.
Brief description of the drawings
Favourable mode of execution of the present invention is shown in the drawings.Wherein:
Fig. 1 shows the schematic diagram of a vacuum gripping device,
Fig. 2 shows one for manipulating the fluid control device of built modular of the vacuum gripping device shown in Fig. 1,
Fig. 3 shows the pneumatic wiring diagram of the first mode of execution of a vacuum control equipment,
Fig. 4 shows the pneumatic wiring diagram of the second mode of execution of a vacuum control equipment, and
Fig. 5 shows the temporal flow chart for moving a vacuum gripping device.
Embodiment
In Fig. 1, schematically shown a vacuum gripping device 1, it for example can be for the object of mobilizing board shape 2.This vacuum gripping device 1 exemplarily comprise on multiple frameworks 3 that are arranged on a common dimensionally stable, the vacuum picker 4 of constructing at least partly pliable and toughly.Described framework 3 is arranged on the linear regulator 5 of two orientations that are parallel to each other at this, and wherein, this linear regulator can be adjustment device, an especially pneumatic linear actuator electricity or fluid.Each vacuum picker in described vacuum picker 4 is connected communicatively with service 6 fluids, this service is configured to provide one to be flowed by described vacuum picker 4 and the fluid in workpiece 2 cavity that limit, that be not shown specifically of attaching troops to a unit from one, or a fluid stream is provided in this cavity.First described vacuum picker 4 can for example be set on the surface of described workpiece 2, in order to cause vacuumizing of described cavity via described service afterwards in next step, construct thus the confining force between described vacuum picker 4 and described workpiece 2.In the case of enough negative pressure of the enough seal actions between described vacuum picker 4 and described workpiece 2 and described cavity load, described workpiece 2 can be promoted and/or declines by means of described linear regulator 5 thus.Pressure piping 7,8 is set in the situation that described linear regulator 5 is exemplarily configured to pneumatic linear actuator, pressurized air can be transmitted to described linear regulator 5 via them, in order to produce desirable lifting process or decline process.
In next step, the cavity of each vacuum picker 4 is carried out exhaust or utilizes if desired superpressure to load, to can cause the rapid dismounting of described confining force and described workpiece 2 can be put down rapidly.
Described service 6 as described in pressure piping 7 be connected with a fluid control device 9 with 8, this fluid control device is made up of multiple modules that are shown specifically in Fig. 2 10,11,12.Preferably, described module 10,11,12 is mutually arranged in rows and is mutual in connection electricity and fluid connects.Described fluid control device 9 exemplarily comprises a vacuum module 10 and two pressurized air modules 11 and a control module 12.Described vacuum picker 4 is connected with described vacuum module 10 via described service 6.Described two linear regulators 5 are connected with the pressurized air module 11 of the described lifter motion of supervisor or descending motion via described pressure piping 7,8.Described control module 12 is provided for coordinating the function of other module 10,11, and the communication system of described module 10,11 and the in parallel of described control module 12 or the inside between described module 10,11 and described control module 12 can be for example set for this reason.In addition, described control module 12 is also for conversion and control order, and described control command is provided in described control module 12 via a communication system 15 by an equipment control device 13.
A kind of modular preferred embodiment of a fluid control device 12 as can be seen from Fig. 2.This control module 12 comprises the communication interface 16 of an outside, communication interface 17 and two outside fluid interfaces 18,19 and two inner fluid interfaces 20,21 of an inside.On described two outside fluid interfaces 18,19, can for example connect pressurized air and vacuum, like this, the fluid interface 20,21 of described inside is exemplarily for being transported to described module 10,11 by pressurized air and vacuum.The communication interface 16 of described outside is for connecting the communication system 15 of an outside, and it exemplarily arranges the control command between described equipment control device 13 and described control module 12 and a transmission for sensing data according to Profibus agreement.The communication interface 17 of described inside is provided for control command to be delivered to described module 10,11 and for providing the sensor signal of described module 10,11 and/or state signal to described control module 12 from described control module 12, and can for example be configured to according to the data transmission of I/O-Link agreement.Alternatively, the corresponding communication interface 17 in the communication interface 17 of the inside in described control module 12 and described module 10,11 is configured to parallel bus system, is configured to I/O-Link or is configured to wiring in parallel, especially multi-electrode.
One the first mode of execution shown in Fig. 3 that is configured to the vacuum module 10 of vacuum control equipment 22 comprises that a fluid interface 23, a control valve 24, a sparger 25, an exhaust silencer 28, are arranged in air-breathing interface 29, a fluid line 30, a fluid output 31, a treatment device 32 and on described sparger 28 and are configured to the sensor device of pressure transducer 33.Described fluid interface 23 is configured to one to the pressurized air supply in described vacuum control equipment 22 and is arranged on a sidewall of described vacuum module 10, thereby it can be brought into one and is adjacent in the connection of connection of the fluid interface 20 of the corresponding inside of the module 10,11,12 of arranging.Described fluid interface 23 is with a control valve 24 in being connected, and this control valve is configured to provided pressurized air be optionally transported on described sparger 25 or be directly transferred on described fluid output 31.Described control valve 24 is exemplarily configured to 3/3 path valve and can be manipulated by electromagnetic ground.For this reason, be provided with the treatment device 32 being arranged in described vacuum control equipment 22, its connection interface 17 via described inside and described control module 12 are in being connected of electric connection.Described control valve 24 can be provided for one the pressurized air of described sparger 23 and supply with in first switching position shown in Fig. 3, thereby at described air-breathing interface 29 and therefore also apply a negative pressure on described fluid output 31, utilize this negative pressure the vacuum picker shown in Fig. 14 can be inhaled regularly on described workpiece 2.In the second switch position of described control valve 24, the pressure-loaded of described vacuum picker 4 is set, for putting down rapidly described workpiece 2.In the 3rd switching position of described control valve 24, the connection between described fluid interface 23 and described fluid output 31 is blocked.Described treatment device 32 electricity ground are connected with described pressure transducer 33, described pressure transducer itself with the fluid line 30 guiding to described fluid output 31 in the fluid of connection is connected.Can know the actual hydrodynamic pressure being applied on described fluid output 31 by means of described pressure transducer 33, to can carry out the favourable manipulation of described control valve 24.In a unshowned mode of execution, described treatment device is configured to the constituent element separating in the structure of described vacuum control equipment or is integrated in described control module.
Be implemented as in second mode of execution of vacuum module 10 of vacuum control equipment 42 at one shown in Fig. 4, for the identical parts of function use as described in identical name vacuum control equipment 22 in the situation that.This vacuum control equipment 42 comprises a treatment device 32, a pressure transducer 33 and a fluid output 31 equally.Different from described vacuum control equipment 22, two fluid interfaces 43,44 are set the in the situation that of this vacuum control equipment 42, their are with accomplishing that the pressurized air in described vacuum control equipment 42 supplies with or vacuum feed.Described two fluid interfaces 43,44 are equipped with respectively a control valve 45,46 that is configured to 2/2 path valve, and wherein, each in described control valve 45,46 electrically connects with described treatment device 32.Described treatment device 32 can manipulate described control valve 45,46 as follows, and the negative pressure providing by the pressurized air providing on described fluid interface 43 or on described fluid interface 44 is alternatively provided on described fluid output 31.Additionally can be arranged to, two control valves 45,46 are linked in each locked position by described treatment device 32, thereby between described fluid interface 43,44 and described fluid output 31, do not have fluid stream.
Learn from the temporal flow chart for moving a vacuum gripping device 1 shown in Fig. 5, can carry out the favourable manipulation at the vacuum control equipment 42 shown in Fig. 4 in any mode.
At the abscissa plot on X axis of this chart time t, at y coordinate plot on X axis pressure p.
At time point t0, two control valves 45,46 are linked in locked position, also do not apply superpressure thereby neither apply vacuum on described fluid output 31.Correspondingly, the pressure being measured by described pressure transducer 33 equals ambient pressure p0.
At time point t1, the beginning that it is also known as the first manipulation time point and can be considered as the manipulation cycle of extending time Shangdi between t1 and t10, by described go out treatment device 32 export a control signal to described control valve 46, in order to cause the vacuum load of described fluid output 31.Described control signal marks in the row B of Fig. 5 as the bar frame of black, and it starts at time point t1.Due to inertia electricity and/or machinery and/or fluid, delay between described control signal is by the actual change of the pressure on output and the described fluid output of described treatment device 32 on time of occurrence, thereby under present case, there is described working lipe of point at time point t2, this working lipe point for example there is practically a predeterminable pressure changes delta p1.This time difference t2-t1 by described treatment device 32 by evaluate the electric sensor signal of described pressure transducer 33 and know and as retard time td1 store.
Start until time point t3 can especially determine an idling pressure value by means of a pressure transducer 14 being arranged in described vacuum picker 4 from time point t2, wherein, at time point t3, described vacuum picker 4 covers are installed on the workpiece of described plate shape.Once described control valve 46 is linked in circulation position and has overcome the fluid inertia between described control valve 46 and described vacuum picker 4, and contact the workpiece 2 of described plate shape in described vacuum picker 4 before, especially from time point t2, adjust described idling pressure.This idling pressure value has provided following message, and described control valve 46 and/or the service 6 and/or the described vacuum picker 4 that are arranged between described control valve 46 and described vacuum picker 4 may be damaged or stop up.The idling pressure extreme value that described idling pressure value and is stored in described treatment device 32 compares.Only have when described idling pressure value is lower than described idling pressure extreme value, while having occurred to reduce lower than the pressure of described idling pressure extreme value, the continuation of described crawl process is just set in described vacuum picker.Otherwise, described crawl process interrupted by described treatment device 32 and the equipment control device 13 that connects with it and export if desired an error signal.Can be arranged to as an alternative, an error signal is only shown, in order to allow user to decide, whether should or should not continue described crawl process.
Described vacuum picker 4 comes in contact at time point t3 and described workpiece 2, thereby carries out the rapid structure of the vacuum in the cavity being limited by described vacuum picker 4 and described workpiece 2 and therefore also carry out the structure of the confining force between described vacuum picker 4 and described workpiece 2.
From time point t3, described treatment device 32 knows that occurred pressure changes continuously, i.e. the time-derivative of pressure or rate of pressure change.Exemplarily can be arranged to, after one endurance of experience, export a state signal by described treatment device 32, wherein, within the described endurance, described rate of pressure change has exceeded a predeterminable level reliably, and described state signal is shown in the row D of Fig. 5.This is exemplarily this situation at time point t4.Additionally can check, whether at a predeterminable time point or after having passed through a predeterminable time interval, current exemplary be the time interval between t3 and t4, except maintaining or exceeding a predeterminable extreme value for described rate of pressure change, also reach a predeterminable stress level, in order to the prophesy of confirming thus to carry out about the success of described crawl process.Can in described treatment device 32, store thus a corresponding extreme value.If described rate of pressure change and the stress level made every effort to are if desired corresponding to a predefined value, described treatment device 32 can be exported described state signal.
Described state signal can for example be delivered to described control module 12 and be delivered to described equipment control device 13 via the communication system 15 of described outside therefrom via the communication system of described inside.Can in described equipment control device 13, for example trigger the manipulation of described linear regulator 5 by means of described state signal.Poor between same once-existing between by described equipment control device 13 output corresponding manipulation signals and the actual motion of described linear regulator 5, in this time difference, there is another pressure drop in described vacuum picker, improved thus described confining force.Due to set described rate of pressure change and the observation of required stress level after predeterminable time interval if desired, feasible is, described state signal is just exported at a time point, between described vacuum picker 4 and described workpiece 2, also there is not enough confining forces at this time point, because until the actual acceleration of described workpiece 2, described confining force has reached enough levels.
In contrast, as needing a longer stand-by period for predeterminable reaching of stress level of triggering a similar state signal, because compared with rate of pressure change, until an obvious more late time point can be made conclusion reliably as follows, whether described workpiece 2 is maintained reliably by described vacuum picker 4.The time point that can export a state signal based on pressure utilizes t5 to represent in Fig. 5.Obviously, show that by the analysis of described rate of pressure change one for promoting the time advantage of described workpiece 2, thereby can move efficiently a corresponding vacuum gripping device 1.
In addition, can be arranged to for the diagnosis of described vacuum gripping device 1, know described minimum pressure values, in order to detect other fault in possible damage or the described vacuum picker 1 of described vacuum picker 4.Preferably, once described rate of pressure change is during the building process for vacuum, during the pressure decreased in described vacuum picker 4, lower than a predeterminable value, while especially disappearing, know described minimum pressure values.Exemplarily described minimum pressure values a bit reaches a pressure minimum extreme value in the crawl process shown in Fig. 5 before t6.This pressure minimum extreme value is exemplarily stored in described treatment device.If described minimum pressure values is positioned on described pressure minimum extreme value, result from the faultless function of described vacuum gripping device 1.If described minimum pressure values is not less than described pressure minimum extreme value, must result from the wrong function of described vacuum gripping device 1.Exemplarily can be arranged to, described vacuum gripping device 1 is exported an error signal and is not started other crawl process after the following crawl cycle, in the described crawl cycle, can determine for the first time that described minimum pressure values is not less than described pressure minimum extreme value.
Additionally or as an alternative can be arranged to, adopt td1 retard time of knowing in the time that the low pressure of described fluid output loads beginning, for putting down reliably and promptly described workpiece 2.In the time putting down described workpiece 2, there are the following problems, i.e. the motion of described vacuum picker 4 should only have in the time that described workpiece 2 puts down reliably and just carries out.In order to ensure this point, from known in the state of the art, after giving described vacuum picker 4 exhausts or pressure-loaded, be set a stand-by period, within waiting time, do not carry out the motion of described vacuum picker 4.Waiting time must so be selected, and makes to consider all electricity of there will be between described processing device 32, described control valve 45,46, described fluid output 31 and described vacuum picker 4, machinery and inertia fluid.In order to shorten the described stand-by period, in the situation that giving described vacuum picker 4 exhausts or pressure-loaded, considered described retard time of td1 by described treatment device 32, in the case of the vacuum load of described vacuum picker 4, known by described treatment device 32 this retard time, wherein, the cut-out that the exhaust of described vacuum picker or pressure-loaded are exemplarily synchronized with vacuum at time point t6 by described treatment device 32 is carried out.Described retard time is visible as time point t6 and the pressure in described vacuum picker raises between starting at time point t7 time difference in Fig. 5, utilize described retard time, described treatment device 32 provides an information, can determine more accurately time point t8 by means of this information, this time point carry out vacuum in described vacuum picker 4 significantly, remove especially completely.Therefore can shorten from the exhaust of described vacuum picker 4 or pressure-loaded until the time period of the relative movement between described vacuum picker 4 and described workpiece 2.
Additionally or as an alternative, described treatment device 32 also can be monitored the pressure signal of described pressure transducer 33, in order in the case of reaching a predeterminable pressure minimum, especially ambient pressure, provide a state signal to described equipment control device 13, can import the motion of described linear regulator 5 by means of described state signal.In favourable mode, the in the situation that of described vacuum picker 4 exhausts or pressure-loaded, can know one retard time td2, this retard time is as drawing in the time difference of putting t6 for the switching time of described control valve 45, the current pressure-loaded for described vacuum picker 4 and for example exemplarily reach between a predeterminable pressure minimum at time point t8 in described vacuum picker 4.Described retard time, td2 can be considered by described treatment device 32 equally, in order to carry out described state signal at a time point as far as possible early to the output on described equipment control device 13, and can there is not following danger, be that described vacuum picker 4 is mentioned by described workpiece 2 at a time point, also have a considerable confining force at this time point.
Claims (12)
1. for moving the method for vacuum gripping device (1), described vacuum gripping device comprises that a vacuum picker (40), a treatment device (32), one are for providing the sensor device (33) and based on fluid and/or the sensor signal based on vacuum can be by the control valve for fluids (24 of described treatment device (32) manipulation; 45,46), described control valve for fluids is used for providing vacuum to described vacuum picker (4), and wherein, described treatment device (32) is configured to process described sensor signal and for manipulating described control valve for fluids (24; 45,46), described method has following steps: at a manipulation time point (t1; T6) export a control signal to described control valve for fluids (24 by described treatment device (32); 45,46) on; Know that one for the pace of change with a sensor signal of exporting explicitly based on fluid and/or the physical values based on vacuum by described sensor device (33); And provide on the communication system of a state signal to an outside (15), the communication system of described outside is configured to and an equipment control device (13) communication, in order to work as known pace of change corresponding to one can be default minimum value or in one can be default value interval in time, cause the variation of the motion state of described vacuum picker (4) by described state signal.
2. in accordance with the method for claim 1, it is characterized in that, know an idling pressure value at a time point by described treatment device (32), do not abut on a workpiece (2) in vacuum picker (4) described in this time point.
3. according to the method described in claim 1 or 2, it is characterized in that, during a vacuum crawl process, know a minimum pressure values by described treatment device (32), in the time that described vacuum picker (4) abuts on described workpiece (2), adjust described minimum pressure values.
4. according to the method described in claim 2 or 3, it is characterized in that, interval according to described idling pressure value and/or mate according to described minimum pressure values for the minimum value of the pace of change of described sensor signal or value.
5. according to the method described in claim 2,3 or 4, it is characterized in that, on described idling pressure value is positioned at the default idling pressure extreme value of an energy and/or when described minimum pressure values is positioned on the default pressure minimum extreme value of an energy, reported to the police by described treatment device (32) output one.
6. according to method in any one of the preceding claims wherein, it is characterized in that, only have when be longer than for the pace of change of described sensor signal one can be default the interval minimum value default with described energy of minimum time or the default value of described energy interval consistent, and/or work as from by described treatment device (32) at described manipulation time point (t1; T6) export described control signal to described control valve for fluids (24; 45,46) when upper, start one can be default time interval in, while having reached a minimum value for described sensor signal, just provide described state signal by described treatment device (32).
7. vacuum control unit, has a fluid interface (18,19 for fluid supply; 23; 43,44); Have one for providing fluid and/or vacuum to the fluid output (31) on a customer; Have a treatment device (32), it is configured to process at least one based on fluid and/or the sensor signal based on vacuum and for described control signal is provided; And there is a control valve for fluids (24 that can be manipulated by described control signal; 45,46), described control valve for fluids and described fluid interface (18,19; 23; 43,44) or with described fluid interface (18,19; 23; 43,44) be connected with described fluid output (31); And/or there is a vacuum control valve (46), it is connected with described fluid interface (44) and described fluid output (31), on described fluid output (31), provide in short time fluid and/or vacuum in order to realize, it is characterized in that, described treatment device (32) is configured to know that one for by described sensor device (14 as follows; 33) with the pace of change of a sensor signal of exporting explicitly based on fluid and/or the physical values based on vacuum, and for the communication system of a state signal to an outside (15) is provided, the communication system of described outside is used as and an equipment control device (13) communication, minimum value that can be default in known pace of change and or one can be default value interval consistent, can preset the variation of the motion state of described vacuum picker (4) by means of described state signal.
8. according to vacuum control unit claimed in claim 7, it is characterized in that, described vacuum picker (4) is equipped with a sensor device (14) that is especially configured to pressure transducer, and it is configured to provide the described sensor signal based on vacuum to described treatment device (32).
9. according to the vacuum control unit described in claim 7 or 8, it is characterized in that, described treatment device (32) is equipped with one for knowing the pressure transducer (33) of the hydrodynamic pressure on described fluid interface (31), and described treatment device (32) is configured to change to described control valve for fluids (24 by means of known hydrodynamic pressure; 45) control signal and/or on described vacuum control valve (46).
10. according to the vacuum control unit described in claim 7,8 or 9, it is characterized in that the vacuum generator (25) of fluidly polishing, a sparger especially between described fluid interface (23) and described fluid output (31).
11. according to the vacuum control unit described in any one in claim 7 to 10, it is characterized in that, one second fluid interface (43) is set, it is configured to provide a second fluid upper to described control valve for fluids (45) and/or described vacuum control valve (46), and described control valve for fluids (45) and/or described vacuum control valve (46) be configured to optionally to discharge described first or described second fluid interface (43,44) and described fluid output (31) between the connection of connection and being connected for obturation and described fluid output (31).
12. manipulators, there is a control arm (3 that can move, 5) and one is arranged on the vacuum picker (4) on described control arm, described vacuum picker is used for catching, moves and puts down workpiece (2), wherein, described vacuum picker (4) fluid communicatively with one according to the vacuum control unit (22 described in any one in claim 7 to 11; 42) connect; And there is an equipment control device (13), its be configured to manipulate described control arm (3,5) and for described vacuum control unit (22; 42) carry out communication via the communication system (15) of an outside, it is characterized in that, described equipment control device (13) arranges as follows, makes according to described vacuum control unit (22; 42) state signal carries out the variation of the motion state of described control arm (3,5).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011118173.7A DE102011118173B4 (en) | 2011-11-10 | 2011-11-10 | Method for operating a vacuum gripper, vacuum controller and manipulator |
| DE102011118173.7 | 2011-11-10 | ||
| PCT/EP2012/004642 WO2013068115A1 (en) | 2011-11-10 | 2012-11-08 | Method for operating a vacuum gripping device, vacuum control device and manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104204542A true CN104204542A (en) | 2014-12-10 |
| CN104204542B CN104204542B (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201280066673.6A Active CN104204542B (en) | 2011-11-10 | 2012-11-08 | For running method, vacuum control unit and the manipulator of vacuum grabbing device |
Country Status (4)
| Country | Link |
|---|---|
| KR (1) | KR102000314B1 (en) |
| CN (1) | CN104204542B (en) |
| DE (1) | DE102011118173B4 (en) |
| WO (1) | WO2013068115A1 (en) |
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| CN108792679A (en) * | 2017-04-28 | 2018-11-13 | 珠海汇金科技股份有限公司 | Paper-advance unit, paper-feeding method based on vacuum paper-absorbing and batch seal-affixing machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2013068115A1 (en) | 2013-05-16 |
| CN104204542B (en) | 2017-03-15 |
| DE102011118173B4 (en) | 2015-10-08 |
| KR20140101348A (en) | 2014-08-19 |
| DE102011118173A1 (en) | 2013-05-16 |
| KR102000314B1 (en) | 2019-07-15 |
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