DE102018112361A1 - Drive unit of an automation component, in particular a gripping, tensioning and alternating or pivoting unit - Google Patents

Abstract

Drive unit of an automation component, in particular a gripping, clamping, alternating, linear or pivoting unit, wherein the drive unit comprises a drive for driving the moving parts of the automation component and a control unit driving the drive, wherein the control unit comprises at least one computing device, and wherein the drive unit together with the drive, control unit and computing device is arranged in or on a base housing of the automation component, characterized in that the computing device is set up with an operating system by which programs that are written in a high-level programming language or programs that are executed during operation of the drive unit a higher programming language are run on the respective computing device, and that the computing device is programmed and set up so that they drive the drive directly and without the interposition of a separately designed motor controller t.

Description

The invention relates to a drive unit of an automation component, in particular a gripping, clamping, alternating, linear or pivoting unit which is arranged in or on a base housing of the automation component and comprises a drive and a control unit. The control unit is used in particular for controlling the drive of the moving parts of the automation component; For example, in a gripping unit so the drive for the base jaws and a pivot unit of the drive for the swivel plate.

Drive units of an automation components, in particular a gripping, clamping, alternating, linear or pivoting unit are used in handling and robotics and are used for handling, gripping units, for example, components and pivot units for pivoting gripping units or gripped components. Linear units are used to move workpieces along a linear axis. Exchange units are used to change workpieces or tools. Clamping units serve to clamp workpieces or workpiece carriers. In particular, clamping units can also be zero-point clamping systems for repeatedly accurately clamping positions.

Gripping and pivoting units are known from the prior art, which include control units and motor controllers separately formed therefrom.

The control unit processes input signals and generates control signals dependent on the input signals. The control signals of the control unit are made available for example via a bus system of a higher-level control, which then controls the motor controller. It is also conceivable that the output signals of the control unit via appropriate data lines are sent directly to the motor controller.

The motor controller comprises power electronics for supplying the electric drive with motor current as a function of the control signals. The motor controller thus acts directly on the current provided by a current source for energizing the drive.

The control units, with the interposition of the motor controller, the electric drive and in particular the position and operating points of the moving parts are controlled by appropriate programming are programmed at the lowest programming level and can not be reprogrammed after their installation, or only with relatively great effort. As a result, such gripping and pivoting units can not be used flexibly, especially with changing requirements.

From the US 2003/0050735 A1 For example, there is known a safety circuit for a motion control system that includes a motion conroller and a motor controller (servo amplifier). From the US 2014/0081461 A1 is a redundant robotic manipulator known via a bus system, a field device, such as a motor, controls.

The present invention has for its object to provide the aforementioned drive units of automation components that remedy the disadvantages mentioned and are flexible.

This object is achieved with a drive unit having the features of patent claim 1. It is provided that the control unit comprises at least one computing device that is set up with an operating system, programs that are written in a high-level programming language or programs that consist of a translated higher-level programming language can run on the computing device. The at least one computing device comprises, for example, a memory on which the operating system is stored and a processor which is designed to execute instructions of the operating system. For example, programs that are written in a high-level programming language or programs that are translated from a high-level programming language can also be stored on the memory. The processor is designed by means of the instructions of the operating system to execute such programs from the memory on the computing device. As operating systems in particular common systems on Windows, Linux or Apple basis come into question. Alternatively, there are also special operating systems in question, for example, based on a common system, such as on a Linux operating system, but which contain product-specific components and can also be trained tamper-resistant. High-level languages can be common languages such as Java, C ++, Python, PHP or Ruby. This has the advantage that programming can be done relatively easily with common programming languages.

Unlike in known automation component and in particular in known gripping and pivoting units is also provided that the at least one computing device for direct control, ie power supply to the drive without the interposition of a motor controller programmed and set up. The at least one Computing device, and - according to an embodiment of the invention, which is described below, preferably two computing devices - thus forms the power electronics for the electric drive and controls the drive directly and without the interposition of a separately designed motor controller; ie it supplies the electric drive directly with the motor current and thus acts directly on the current provided by a power source for energizing the drive. In particular, no control signals generated by the arithmetic unit or control unit are then passed on to other power components or higher-level control systems, for example via corresponding control lines or corresponding bus systems, for controlling the motor current. The implementation of the power electronics in the arithmetic unit is only possible because the arithmetic unit is set up with a corresponding operating system. Due to the possibility of relatively simple programming of the computing device, the control and regulation of the drive motor can be changed in a simple manner. Such a change is not possible in the known state of the art, or only comparatively very difficult, since there, on the one hand, the control unit and, on the other hand, the motor controller would have to be reprogrammed at the lowest programming level.

The at least one computing device is preferably part of a control loop and regulates the motor current, in particular depending on the position and / or the operating points of the moving parts or the height of the motor current, and / or controls, for example, in response to corresponding input signals to an electric motor brake. The fact that a separate motor controller is eliminated, the structure can be simplified and the number of available to be placed electronic components can be significantly reduced.

The invention also finds use in a human-robot cooperation (MKR). In order to use drive units in human-robot cooperation (MKR), special requirements must be met. The known drive units are not or only conditionally suitable to be used in such a human-robot cooperation (MKR) can. By providing two separate and principally independently operating computing devices, a redundant data processing can be ensured. This can ensure that required levels of safety required for the MKR are achieved. All input and output signals can be processed diversitively and / or redundantly by the two computing devices, the two computing devices monitoring each other. The mutual monitoring takes place in particular such that the operating states of the two computing devices are known with very high probability, or are known such that they correspond to the required in the MKR standards for "functional safety" values and thus a predetermined functional safety are guaranteed can.

The two computing devices form a common evaluation logic or they are followed by a logic device, with which a mutual monitoring and / or with the adjustment of the redundant output signals of the two computing devices.

It is particularly advantageous if at least one computing device is designed as a single-board computer, in particular as a mini-PC. A single-board computer (SBC) is a computer system in which all the electronic components necessary for operation are combined on a single circuit board. Typically, only the power supply is housed separately as a single component. Such single-board computers can be programmed very flexibly, whereby the drive unit can be used flexibly accordingly.

At least one computing device is advantageously not only set up to control the drive, but also for maintenance, for data transmission, for diagnosis and / or for programming. Consequently, maintenance intervals can be automatically maintained with the computing device. A data transmission, for example in a network and a higher-level control, is also conceivable. Furthermore, diagnostic functions can be performed. Due to the programming, it is possible to flexibly adapt all functions to the respective requirements.

According to the invention, it can further be provided that the at least one computing device has a user interface or can be connected to a user interface. The user interface can preferably be formed by a display, a tablet or a smartphone. In particular, the connection with a tray is advantageous, since it is to be provided in particular when a diagnostic evaluation or programming is to take place on site.

According to a further embodiment of the invention, sensors are provided in or on the automation component, the sensor data generated by the sensors being processed by the at least one computing device, and in the case of human-machine cooperation by the two computing devices.

The sensors can be designed as distance measuring sensors, force measuring sensors, rotary encoder sensors, current measuring sensors, proximity sensors, temperature sensor, humidity sensor and / or as a camera module. Depending on the application and the measured variable to be determined, one or more similar sensors can be used in each case. Of course, further sensors may be provided within the scope of the invention.

The at least one computing device can be accommodated inside the basic housing or in a mounting housing arranged on the main housing. The provision of mounting housings has the advantage that for different automation components such as in particular gripping units and pivot units each a similar or identical mounting housing can be used.

The aforementioned object is also achieved by an automation component, in particular by a gripping, clamping, alternating, linear or pivoting unit, which provides a drive unit according to the invention. The automation component thus represents an embedded system in which the computing device is integrated in the automation component. The computing device assumes in particular monitoring, control or regulating functions and / or is responsible for a form of data or signal processing.

Further details and advantageous embodiments of the invention will become apparent from the following description, with reference to which an embodiment of the invention is described and explained in detail.

1 shows a schematic representation of an automation component according to the invention in the form of a gripping unit 10 as it can be used in a human-robot cooperation (MRK).

In the 1 is a gripping unit according to the invention 10 shown, a schematically indicated basic housing 12 and one in the main body 12 provided drive unit 14 with a drive 13 having in the form of an electric motor. The drive 13 drives a shaft shown schematically 16 on, with two to each other and away from each other arranged movable jaws 18 is motion coupled.

For controlling the drive 13 are in the case 12 is a control unit 15 provided with two computing devices in the form of single-board computer 20,22. The two single-board computers 20,22 is an evaluation unit 24 downstream, which checks the output signals of the single-board computer 20,22 on their redundancy. In addition, the two single-board computers 20 . 22 via lines 26 connected to each other for mutual monitoring. The evaluation unit 24 can also be in one of the single-board computer 20 . 22 be implemented. Further, a power line 25 provided with the drive 13 is supplied with motor current.

The single-board computers 20 . 22 are set up with a special operating system based for example on Linux and designed to be tamper-proof. Furthermore, the single-board computers 20 . 22 programmed according to the respective gripping task with programs that are written in a high-level programming language such as C ++.

Unlike with known automation component is - like the 1 can be taken - also provided that the single-board computer 20 . 22 for direct control of the drive 13 programmed and set up without the interposition of a motor controller. The single-board computers 20 . 22 thus forms the power electronics for the drive 13 and controls the motor current for the drive 13 directly, ie they act directly on the current provided by a current source (not shown in the figure) for energizing the drive 13 and provide the drive 13 with the respective required jump in the engine. So none of the single-board computers will be 20 . 22 generated control signals to other power components or higher-level controls, for example via the control lines or the bus systems 46 , passed on to control and energize the motor current.

The gripping unit 10 points to the cheeks 18 Force measuring sensors 28 on, which measure the gripping force. Via data lines 30 are the force measuring sensors 28 with the two single-board computers 20 . 22 connected. The measuring signals of the force measuring sensors 28 are therefore from both single-board computers 20 . 22 evaluated redundantly.

At the drive 13 , or on the shaft 16 , are two encoder sensors 32 provided, whose output signals via data lines 34 the single-board computers 20 . 22 be supplied.

In the area between the two jaws 18 is a sensor in the form of a camera module 36 intended. The output signals of the camera module 36 are via data lines 38 the two single-board computers 20 . 22 fed.

To measure the of the single-board computers 20 . 22 provided and each from the drive 13 used motor current is in the power line 25 a current measuring sensor 40 provided, whose output signals via the data lines 42 the two single-board computers 20 . 22 be supplied.

For measuring the temperature in the gripping unit 10 In addition, a temperature sensor may be provided (not shown in the figure), which outputs its output signals both Einplatinencomputern 20 . 22 fed.

Furthermore, further, also not shown, environmental sensors may be provided, which in particular detect the proximity to the gripping device and their output signals also the two single-board computers 20 . 22 respectively.

The two single-board computers 20 . 22 independently evaluate the supplied sensor signals. Control signals resulting from an appropriate programming become the evaluation unit 24 fed, which performs the redundancy check and then according to the drive unit 14 , or one on the shaft 16 provided brake 44 controls.

The two single-board computers 20 . 22 and optionally the evaluation unit 24 communicate with a higher-level controller via a corresponding network 46 , which can be set up as Ethernet, WLAN or bus system.

On the two single-board computers 20 . 22 can be accessed in particular via the higher-level control or via an external tablet.

About the two single-board computers 20 . 22 Not only can the drive be energized accordingly 13 and thus a control of the two jaws 18 Maintenance functions, diagnoses, analyzes, performance data transmissions, etc. can also be carried out.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 2003/0050735 A1 [0007]
• US 2014/0081461 A1 [0007]

Claims (10)

Drive unit (14) of an automation component, in particular a gripping, tensioning, alternating, linear or pivoting unit (10), wherein the drive unit (14) comprises a drive (13) for driving the moving parts of the automation component and a drive (13 ), wherein the control unit (15) comprises at least one computing device (20, 22), and wherein the drive unit (14) together with drive (13), control unit (15) and computing device (20, 22) in or is arranged on a basic housing (12) of the automation component, characterized in that the computing device (20, 22) is set up with an operating system, by which in the operation of the drive unit (14) programs written in a high-level programming language or programs, the are translated from a higher programming language on the respective computing device (20, 22) run, and that the computing device (20, 22) is programmed and set up in such a way s it controls the drive (13) directly and without the interposition of a separately designed motor controller. Drive unit (14) after Claim 1 , characterized in that the control unit (15) comprises two separate computing devices (20, 22) for diversified and / or redundant data processing, and that an evaluation logic (24) for mutual monitoring and / or verification of the redundancy of the computing means (20, 22) is provided. Drive unit (14) after Claim 1 or 2 , characterized in that the at least one computing device (20, 22) is designed as a single-board computer, in particular mini-PC. Drive unit (14) after Claim 1 . 2 or 3 , characterized in that the at least one computing device (20, 22) is set up for maintenance, for data transmission, for diagnosis, monitoring, also of sub-functions and / or for programming. Drive unit (14) according to one of the preceding claims, characterized in that the at least one computing device (20, 22) has a user interface or can be connected to a user interface. Drive unit (14) according to one of the preceding claims, characterized in that the operating system is a common operating system or a special, based on a common operating system operating system. Drive unit (14) according to one of the preceding claims, characterized in that evaluation logic (24) is set up in such a way that the respective operating state is known with sufficient probability as a result of the mutual monitoring. Drive unit (14) according to one of the preceding claims, characterized in that sensors (28, 32, 36, 40) are provided in or on the automation component (10), wherein the sensors (28, 32, 36, 40) generated Sensor data from the at least one computing device (20, 22) are processed. Drive unit (14) after Claim 8 , characterized in that the sensors as Wegmesssensoren, force measuring sensors (28), encoder sensors (32), current measuring sensors (40), proximity sensors, temperature sensor, humidity sensor and / or as a camera module (36) are formed. Automation component (10), in particular gripping, tensioning, alternating, linear or pivoting unit, with a drive unit (14) according to one of the preceding claims.

Images