CN111037595A

CN111037595A - Method for operating a transfer system and transfer system

Info

Publication number: CN111037595A
Application number: CN201910963215.6A
Authority: CN
Inventors: M.格布哈德
Original assignee: L Schuler GmbH
Current assignee: L Schuler GmbH
Priority date: 2018-10-12
Filing date: 2019-10-11
Publication date: 2020-04-21
Also published as: DE102018129041A1

Abstract

The present invention relates to a method for operating a transfer system and a transfer system, in particular to a method for operating a transfer system. The transfer system is operated either according to a first operating type, in which the control device is switched into a first switching position, in order to activate the first supply device for supplying a number of tool tubes, so that the tool tubes are optionally supplied with compressed air or vacuum via a respective supply line at a respective energy junction of each tool tube by the first supply device, or according to a second operating type, in which the control device is switched into a second switching position, in order to activate the second supply device for supplying the number of tool tubes, so that the tool tubes are supplied with compressed air via the respective energy junction via the first supply line and compressed air via the second supply line, respectively, by the second supply device.

Description

Method for operating a transfer system and transfer system

Technical Field

The invention relates to a method for operating a transfer system according to claim 1 and a transfer system for carrying out the method according to claim 4.

Background

From DE 202016102137U 1, a pneumatic handling device is known, which comprises a manipulator with a crossbar, which comprises at least one adapter fitted at the crossbar and which comprises at least one compressed air supply, wherein each adapter comprises a base frame and at least one tool (tool), which has a tool tube (tooltube), wherein each base frame comprises at least one energy coupling for the at least one tool tube, and wherein each energy coupling for coupling the at least one tool comprises at least two outputs for compressed air and/or vacuum.

Disclosure of Invention

The object of the invention is to provide a method for operating a transfer device and a transfer device in which method or in which a free choice between different types of operation of the vacuum generation is possible while the interface between the tool tube and the base frame remains unchanged.

This object is achieved by claims 1 or 4. Advantageous and expedient developments are specified in the respective dependent claims.

The method according to the invention for operating a transfer system is provided in that the transfer system is operated either according to a first operating type, also referred to as central vacuum generation, in which the control device is switched into a first switching position in the first operating type (central vacuum) in order to activate a first supply device for supplying a number of tool tubes, in order to optionally supply the tool tubes with compressed air or vacuum at a respective energy connection of each tool tube by the first supply device via a respective supply line, or according to a second operating type, also referred to as non-central vacuum, in which the control device is switched into a second switching position in the second operating type (non-central vacuum) in order to activate a second supply device for supplying the number of tool tubes in order to supply the second supply device, in order to supply the tool tubes by the second supply device via a respective energy connection in each case via the first supply line for blowing Compressed air is opened and compressed air for vacuum generation is accordingly provided via the second supply line. Thus, the tooling tubes installed at the transfer device can be supplied with compressed air or vacuum, either centrally or non-centrally, as desired, without the need for additional replacement or modification of parts.

Furthermore, the invention provides that the supply of the tool tube by the (non-central) second supply means is blocked by a blocking valve for the operation of the transfer system corresponding to the first operating type and the supply of the tool tube by the first supply means is blocked by a blocking valve for the operation of the transfer system corresponding to the second operating type, said blocking valve being arranged between the central first supply means and the non-central second supply means. This prevents undesirable mutual influencing of the active or passive supply devices in the respective operating mode, so that functional safety and a cost-effective handling of the compressed air are ensured.

Finally, the method provides that, for the operation of the transfer system according to the (central) first operation type, for each tool tube, only the first output of the respective energy coupling is used for the alternating introduction of compressed air or vacuum, and the respectively present second output is closed by a closure, in particular a valve or a plug (Stopfen, sometimes referred to as a plunger), and that, for the operation of the transfer system according to the (non-central) second operation type, for each tool tube, the first output of the respective energy coupling is used for the introduction of compressed air for blowing off and the second output of the respective energy coupling is used for the introduction of compressed air for vacuum generation. This makes it possible to: the tool tube is supplied pneumatically via the two outputs of the energy-only coupling both in the central operating mode and in the non-central operating mode.

The transfer system according to the invention for carrying out the method according to one of claims 1 to 3 is designed such that it comprises a first supply means for providing compressed air and vacuum which is coupled to the compressed air supply, the transfer system comprises a second supply means for providing compressed air which is coupled to the compressed air supply, and the transfer system comprises a control means, wherein in a first switching position of the control means the at least one tool tube is supplied with compressed air and vacuum via the first supply means, and wherein in a second switching position of the control means the at least one tool tube is supplied with compressed air via the second supply means. Thus, the tooling tubes installed at the transfer device can be supplied with compressed air or vacuum in a central or non-central manner as desired without the need for additional replacement or modification of parts.

It is also provided that the (central) first supply means comprise at least one vacuum generating device operated with compressed air and the (non-central) second supply means comprise a first valve and a second valve, wherein the first supply means are coupled to the first input of the energy coupling of the base frame and are optionally fed with compressed air or vacuum, and wherein the second supply means are coupled to the first input and the second input of the energy coupling of the base frame and are fed with compressed air to one of the inputs and likewise with compressed air to the other of the inputs. By such a coupling of the two supply devices, the energy coupling only has to provide two inputs for the two supply variants.

It is also provided that the control device and the (non-central) second supply device are arranged on the manipulator or on the crossbar or on the base frame, and the (central) first supply device is arranged on the base frame or on the crossbar. Thereby, the weight of the base frame is kept low.

Furthermore, it is provided that the control means comprise a switching valve and a plurality of shut-off valves, wherein the shut-off valves are arranged between the first supply means and the at least one energy connection and between the second supply means and the at least one energy connection such that, in a first switching position of the control means, the supply line between the second supply means and the input of the energy connection is shut off and the supply line or supply lines between the first supply means and the input or inputs of the energy connection are open, and, in a second switching position of the control means, the supply line or supply lines between the first supply means and the input or inputs of the energy connection are shut off and the supply line or supply lines between the second supply means and the input of the energy connection is open. Thereby, pressure losses are effectively prevented, so that the transfer device does not have unnecessary energy consumption.

It is also provided that one of the tool tubes is connected to one of the energy couplings in such a way that the tool tube and the suction gripper arranged on the tool tube are connected in a first switching position of the control means to one of the outputs of the energy couplings which is in connection with such an input of the energy coupling which is connected to the first supply means, wherein the respective other output of the energy couplings is closed in particular by the tool tube, or that one of the tool tubes is connected to one of the energy couplings in such a way that the tool tube and the suction gripper arranged on the tool tube are connected in a second switching position of the control means to an output of the energy coupling which is in connection with such an input of the energy coupling, these inputs are coupled to the second supply means. In this way, the respective tool tube can be prepared in the simplest manner for a central or non-central supply.

Furthermore, it is provided that the transfer system comprises two base frames connected to the cross beam, each base frame having two energy couplings, and that the transfer system comprises four tool tubes, wherein the four tool tubes are coupled to the four energy couplings. Such a transfer system is particularly suitable for handling two flat workpieces.

It is also provided that the at least one vacuum generating device of the first supply means is configured as a pneumatically controlled vacuum generating device with a compact ejector or that the at least one vacuum generating device of the first supply means is configured as an electrically controlled vacuum generating device with a compact ejector. The first supply means can thus be optimally designed for the control technology preferred in connection with the transfer device.

Finally, it is provided that each tool which is operated in the second switching position of the control device comprises a single ejector for vacuum generation at each of its suction grippers. The tool can thus generate different suction forces at its individual suction grippers, which are adapted to the function of the individual suction grippers, by using different individual injectors.

A central vacuum generation is understood to mean, in the sense of the present invention, a vacuum generation which is effected close to the tool and in particular close to the cross beam and/or close to the base frame.

A non-central vacuum generation is understood to mean, in the sense of the present invention, a vacuum generation which is effected directly at each suction gripper of the tool.

Drawings

Further details of the invention are described in the figures with the aid of exemplary embodiments shown.

Here:

fig. 1 shows a manipulator with a crossbar in a perspective view;

FIG. 2 shows a base frame with two tooling;

fig. 3 shows the base frame shown in fig. 2 in a detailed illustration;

FIG. 4 shows the tooling shown in FIG. 2 in a detailed view;

FIG. 5 shows a schematic pneumatic schematic for a first switching position, in which it is pneumatically controlled;

FIG. 6 shows the pneumatic schematic of FIG. 5 in a second switch position;

FIG. 7 shows a schematic pneumatic schematic for a first switching position, in which it is electrically controlled;

fig. 8 shows the pneumatic diagram of fig. 7 in a second switching position, an

Fig. 9 shows a schematic illustration of a transfer system.

List of reference numerals

1 transfer system

2 manipulator

3 crossbeam = horizontal pole

3a 3 left cantilever

3b 3 right cantilever

4 adapter

54 base frame = carrying frame

64 first tool

6a 6 tooling pipe

6b-6f 6 suction gripper

7 second tool

7a 7 tooling pipe

7b-7f 7 suction gripper

8 compressed air supply part

9 energy coupling

10 energy coupling

11,129 input part

13,149 output unit

15,1610 input part

17,1810 output unit

19 first supply device

20 second supply device

21 control device

22 switching valve as 21

23,2419 vacuum generating device

23a between 23 and 9

24a between 24 and 10

25-120 first valve

25-220 second valve

25a between 25-1 and 9/10

25b supply line between 25-2 and 9/10

26-3019 stop valve

31,3220 stop valve

105 second base frame

106,107 third tool and fourth tool

123,124 vacuum generating device

Receptacles A6a, A6b 5 for R6a, R6b

Receptacles A7a, A7b 5 for R7a, R7b

R6a, slider at R6b 6 (Reiter, sometimes referred to as a cradle)

R7a, R7b 7 slide block

S121 first switching position

Second switching position of S222

S96 plug-in unit for 9

S107 plug-in unit for 10

V14, V1714 or 17.

Detailed Description

In fig. 1 and 2, the important components of a transfer system 1 according to the invention are shown. Fig. 1 shows a perspective view of a manipulator 2 with a transverse beam 3, also referred to as a crossbar, which is fastened to the manipulator 2. Fig. 2 shows an adapter 4 in a perspective view, which comprises a base frame 5 and two tools 6,7 connected to the base frame 5 via receptacles. The tooling 6,7 includes

tooling tubes

6a,7a and suction grippers 6b to 6f and 7b to 7f coupled to the

tooling tubes

6a,7 a. The base frame 5 is also referred to as a carrier frame. The transfer system 1 comprises the components shown in fig. 1 and 2, wherein the adapter 4 is connected in the assembled state to the left suspension arm 3a of the cross member 3, and wherein it is provided that a further adapter, not shown, is connected to the right suspension arm 3b of the cross member 3, which is only partially shown.

Accordingly, the transfer system 1 comprises a manipulator 2 with its cross beam 3, an adapter 4 fitted at the cross beam 3 and a compressed air supply 8. The base frame 5 comprises a first energy coupling 9 for coupling the first tooling 6 and a second energy coupling 10 for coupling the second tooling 7 (see fig. 2).

In fig. 3, the base frame 5 (without the tool) known from fig. 2 is shown slightly enlarged. The first energy coupling 9 and the second energy coupling 10 each comprise two

inputs

11,12 or 15,16 and two

outputs

13,14 or 17,18 for compressed air and/or vacuum. The transfer system 1 comprises a first supply means 19 for providing compressed air and vacuum coupled to the compressed air supply 8. The first supply means 19 is arranged on the base frame 5 or, according to an embodiment variant not shown, on the crossbar 3 or on the manipulator 2. The transfer system 1 comprises a second supply means 20 for providing compressed air and vacuum coupled to the compressed air supply 8. The supply means 20 is arranged at the manipulator 2 (see fig. 1). Furthermore, the transfer system 1 comprises a control device 21, which is designed as a changeover valve 22 (see fig. 1).

In a first switching position S1 (see fig. 5 or 7) of the control means 21, the two

tool tubes

6a,7a are supplied with compressed air and vacuum via the first supply means 19. In the second switching position S2 of the control means 21 (see fig. 6 or 8), the two

tool tubes

6a,7a are supplied with compressed air and vacuum via the second supply means 20.

In fig. 4, the two tools 6,7 are shown separately. The tool 6 comprises a plug connector S9, by means of which it is connected to the first energy coupling 9 of the base frame 5 (see also fig. 2). The tool 7 likewise comprises a plug connector S10, with which it is connected to the second energy coupling 10 of the base frame 5 (see also fig. 2). As soon as the operation in the second switching position S2 is carried out, tools are installed which comprise a single ejector for vacuum generation, wherein a single ejector is associated with each suction gripper.

Furthermore, each tool 6,7 comprises two slides R6a, R6b or R7a, R7b, which are pushed into associated receptacles A6a, A6b or A7a, A7b of the base frame 5 in order to connect the tool 6,7 to the base frame 5 (see fig. 3 and 4).

The already mentioned first switching position S1 of the control means 21 is subsequently explained by means of the schematic pneumatic diagram shown in fig. 5. As can be seen from the pneumatic diagram of fig. 5, the first supply device 19 comprises two vacuum generating means 23, 24. The vacuum generating device 23 is connected to the second inlet 16 of the second energy coupling 10 via a supply line 23a, and the vacuum generating device 24 is connected to the first inlet 11 of the first energy coupling 9 via a supply line 24 a. Accordingly, compressed air or vacuum is provided at the

outputs

13 and 18, respectively. The

vacuum generating devices

23,24 are configured as pneumatically controlled compact injectors, which are sold, for example, by j. Schmalz GmbH under the product name SCPi.

Furthermore, it follows from the pneumatic diagram that the second supply means 20 comprises a first valve 25-1. The first valve 25-1 is connected via a supply line 25a to the first input 11 of the first energy coupling 9 and to the first input 15 of the second energy coupling 10, and is able to supply compressed air via this supply line 25 a. The second supply means 20 comprises a second valve 25-2. The second valve is connected via a further supply line 25b to the second inlet 12 of the first energy coupling 9 and to the second inlet 16 of the second energy coupling 10 and is able to supply compressed air via the supply line 25 b. It is also known from the pneumatic diagram that the changeover between the first switching position S1 shown in fig. 5 and the second switching position S2 shown in fig. 6 is effected by means of seven shut-off valves 26 to 32. Here, five shut-off valves 26 to 30 are associated with the first supply means 19, and here two shut-off

valves

31,32 are associated with the second supply means 20.

The five shut-off valves 26 to 30 are acted upon with compressed air via the switching valve 22 in the switching position S1 and are opened. In the switching position S1, the

supply lines

23a and 24a leading from the first supply means 19 to the

energy coupling

9 or 10 are therefore open, so that the

energy coupling

9,10 can be supplied with vacuum or compressed air, optionally, via these supply lines. The shut-off

valves

28,29 are also open, so that the first supply means 19 can be supplied with compressed air by the compressed air supply 8. The shut-off valve 30 is likewise open, so that the first supply means 19 can be supplied with compressed air for control purposes. The shut-off

valves

31,32 associated with the second supply means 20 are not acted upon with compressed air in the switching position S1 and are therefore shut off, so that there is no connection of the second supply means 20 to the

energy coupling

9, 10. The first supply means 19 is arranged on the base frame 5 as already mentioned. According to a variant embodiment, which is not shown, it is also provided that the first supply device is arranged on the crossbar or on the manipulator. The supply of the tools 6,7 is thus effected in a central manner. In the case of operation of the center of the tool 6,7, the output 14 of the energy coupling 9 and the output 17 of the energy coupling 10 are each closed by an exemplary closure V14 or V17. Here, the closing portions V14, V17 can be constructed by caulking portions, respectively.

As can be seen from fig. 5 to 8 and also from fig. 3, each

energy coupling

9,10 comprises two further inputs, to which the preparation air and the recirculation air are coupled. Such additional supplies are optionally provided.

In fig. 6, the pneumatic diagram, which is known from fig. 5, shows that the switching valve 21 is in its second switching position S2 and in this second switching position the shut-off

valves

31,32 are acted upon with compressed air, so that the

supply lines

25a,25b, which connect the second supply means 20 to the two

energy connections

9,10, are released. In the second switching position S2, the shut-off valves 26 to 30 associated with the first supply means 19 are not acted upon with compressed air, so that the supply of compressed air by the first supply means 19 is prevented and the

supply lines

23a,24a connecting the first supply means 19 to the two

energy couplings

9,10 are thereby interrupted. Thus, a return flow of compressed air from the

energy coupling

9,10 is also prevented. In the second switching position S2, compressed air is provided at the

first output

13,17 of the

energy coupling

9,10, and in the second switching position S2, compressed air is likewise provided at the

second output

14,18 of the

energy coupling

9, 10.

The pneumatic diagrams shown in fig. 7 and 8 are implemented analogously to the pneumatic diagrams shown in fig. 5 and 6. The difference is that the first supply means 19 is not equipped with a vacuum generating device configured as a pneumatically controlled compact ejector, but with a vacuum generating device configured as an electrically controlled compact ejector. Electrically controlled compact injectors are sold, for example, by j. schmalz gmbh under the product name SXMP. The pneumatic diagram is simplified by using an electrically controlled compact injector in such a way that only two shut-off

valves

26,27 have to be associated with the first supply device 19. Accordingly, in the switching position S1 (see fig. 7), the shut-off

valves

26,27 are open and the shut-off

valves

31,32 associated with the second supply means 20 are closed. Accordingly, in the switching position S2 (see fig. 8), the

shutoff valves

26,27 are closed and the

shutoff valves

31,32 are opened. The tool is thus supplied centrally with vacuum and compressed air in the first switching position S1 and non-centrally with compressed air in the second switching position S2 via the

energy coupling

9, 10.

The transfer system 1 is exemplarily shown in fig. 9. The cross beam 3 of the manipulator 2 carries the base frame 5 and also the further base frame 105. Two tools 6,7 are arranged at the base frame 5 and two further tools 106,107 are arranged at the second base frame 105. Accordingly, the transfer device 1 comprises two

vacuum generating devices

23,24 for the tools 6,7 and two further vacuum generating devices 123,124 for the

tools

106, 107.

Claims

1. Method for operating a transfer system (1), characterized in that the transfer system (1) is operated either according to a first type of operation or according to a second type of operation,

-wherein in the first type of operation the control means (21) is switched into a first switching position (S1) in order to activate the first supply means (19) for supplying a number of tool tubes (6a;7a) such that the tool tubes (6a;7a) are optionally supplied with compressed air or vacuum by the first supply means (19) via a respective one of the supply lines (23a;24a) at a respective one of the energy couplings (9;10) of each tool tube (6a;7a),

-wherein in the second operating type the control means (21) is switched into a second switching position (S2) in order to activate the second supply means (20) for supplying the number of tool tubes (6a,7a), so that the tool tubes (6a;7a) are supplied by the second supply means (20) via the respective energy coupling (9;10) with compressed air for blowing-off via the first supply line (25b) and with compressed air for vacuum generation via the second supply line (25 a).

2. Method for operating a transfer system according to claim 1, characterized in that for operation of the transfer system (1) corresponding to the first type of operation the supply of the tool tubes (6a;7a) by the second supply means (20) is blocked by means of a stop valve (26-30;31,32) and for operation of the transfer system (1) corresponding to the second type of operation the supply of the tool tubes (6a;7a) by the first supply means (19) is blocked by means of a stop valve (26-30;31,32) arranged between the central first supply means (19) and the non-central second supply means (20).

3. Method for operating a transfer system according to claim 1 or 2, characterized in that for operation of the transfer system (1) according to the first type of operation, for each tool tube (6a;7a), only one output (13;18) of the respective energy coupling (9;10) is used for the alternating introduction of compressed air or vacuum, and the other output (14;17) is closed by a closure (V14, V17), in particular a valve or a plug, and for the operation of the transfer system (1) according to the second operation type, for each tool tube (6a;7a), a first outlet (13;17) of the respective energy coupling (9;10) is used for introducing compressed air for blowing and a second outlet (14;18) of the respective energy coupling (9;10) is used for introducing compressed air for vacuum generation.

4. Transfer system (1) for carrying out the method according to any one of claims 1 to 3, the transfer system comprising

A manipulator (2) with a cross beam (3),

-at least one adapter (4) fitted at the cross-beam (3),

-at least one compressed air supply (8),

-wherein each adapter (4) comprises a base frame (5) and at least one tooling (6;7) with tooling tubes (6a;7a),

-wherein each base frame (5) comprises at least one energy coupling (9;10) for the at least one tool tube (6a;7a),

wherein each energy coupling (9;10) comprises at least two outputs (13,14;17,18) for compressed air and/or vacuum for coupling the at least one tool (6;7),

it is characterized in that the preparation method is characterized in that,

-the transfer system (1) comprises first supply means (19) for providing compressed air and vacuum coupled to the compressed air supply (8)

And the transfer system (1) comprises second supply means (20) for providing compressed air coupled to said compressed air supply (8),

-the transfer system (1) comprises control means (21),

-wherein, in a first switching position (S1) of the control means (21), the at least one tool tube (6a;7a) is supplied with compressed air and vacuum via the first supply means (19), and

-wherein in a second switching position (S2) of the control means (21) the at least one tool tube (6a;7a) is supplied with compressed air via the second supply means (20).

5. The transfer system of claim 4,

-the central first supply means (19) comprises at least one vacuum generating device (23,24) operated with compressed air, and

-the non-central second supply means (20) comprise at least a first valve (25-1) and a second valve (25-2),

-wherein the first supply means (19) is coupled to and optionally fed with compressed air or vacuum at a first input (11;16) of the energy coupling (9;10) of the base frame (5), and

-wherein the second supply means (20) is coupled to the base frame (5) at a first input (11;15) and a second input (12;16) of the energy coupling (9;10) and one of the inputs (11;15) is fed with compressed air and the other of the inputs (12;16) is also fed with compressed air.

6. Transfer system according to claim 4 or 5, characterized in that the control means (21) and the non-central second supply means (20) are arranged at the manipulator (2) or at the cross beam (3) or at the base frame (5), and the central first supply means (19) are arranged at the base frame (5) or at the cross beam (3).

7. The transfer system according to claim 4, 5 or 6,

-the control means (21) comprises a switching valve (22) and a plurality of shut-off valves (26-30;31,32),

-wherein the shut-off valve (26-30;31,32) is arranged between the first supply means (19) and the at least one energy coupling (9;10) and between the second supply means (20) and the at least one energy coupling (9;10) in such a way that

-in a first switching position (S1) of the control means (21), the supply line (25a;25b) between the second supply means (20) and the input (11,12;15,16) of the energy coupling (9;10) is blocked and the one or more supply lines (23a;24a) between the first supply means (19) and the one or more inputs (11;16) of the energy coupling (9;10) are opened, and

-in a second switching position (S2) of the control means (21), one or more supply lines (23a;24a) between the first supply means (19) and one or more inputs (11;16) of the energy coupling (9;10) are blocked and a supply line (25a;25b) between the second supply means (20) and an input (11,12;15,16) of the energy coupling (9;10) is opened.

8. The transfer system according to any one of claims 4 to 7,

one of the tool tubes (6a;7a) is coupled to one of the energy couplings (9;10) in such a way, in that the tool tube (6a;7a) and a suction gripper (6b-6f;7b-7f) arranged on the tool tube are connected to one of the outputs (13;18) of the energy coupling (9;10) in a first switching position (S1) of the control means (21), which is in connection with an input (11;16) of the energy coupling (9;10), which is coupled to the first supply means (19), wherein the respective other second output (14;17) of the energy coupling (9;10) is closed, in particular by the tool tube (6a;7a), or.

-one of the tool tubes (6a;7a) is coupled to one of the energy couplings (9;10) in such a way that the tool tube (6a;7a) and a suction gripper (6b-6f;7b-7f) arranged at the tool tube are connected in a second switching position (S2) of the control means (21) to outputs (13,14;17,18) of the energy coupling (9;10) which are in connection with inputs (11,12;15,16) of the energy coupling (9;10) which are coupled to the second supply means (20).

9. The transfer system according to any one of claims 4-8, characterized in that the transfer system (1) comprises two base frames (5;105) connected to the cross beam (3), each with two energy junctions (9,10), and wherein the transfer system (1) comprises four tool tubes (6a;7a), wherein the four tool tubes are coupled to the four energy junctions (9; 10).

10. The transfer system of claim 5,

at least one vacuum generating device (23;24) of the first supply means (19) is configured as a pneumatically controlled vacuum generating device with a compact ejector, or

-at least one vacuum generating device (23;24) of the first supply means (19) is configured as an electrically controlled vacuum generating device with compact ejectors.

11. The transfer system according to at least one of the claims 4 to 10, characterized in that each tool (6;7) operating in the second switching position (S2) of the control means (21) comprises a single ejector for vacuum generation at each of its suction grippers (6b-6f;7b-7 f).