EP3630419A1

EP3630419A1 - Drive unit of an automation component, in particular a gripping, clamping, and changing or pivoting unit

Info

Publication number: EP3630419A1
Application number: EP18726801.6A
Authority: EP
Inventors: Ralf Becker; Joern RASTETTER; Alexander Kupsch; Michael Ohlheiser
Original assignee: Schunk GmbH and Co KG
Current assignee: Schunk Se & Co Kg Spanntechnik Greiftechnik Automatisierungstechnik
Priority date: 2017-05-29
Filing date: 2018-05-23
Publication date: 2020-04-08
Also published as: US20200180152A1; WO2018219744A1; JP2020521643A; DE102017111651A1; JP6970216B2; US11413749B2

Abstract

The invention relates to a drive unit of an automation component, in particular a gripping, clamping, changing, linear or pivoting unit. The drive unit comprises a drive for driving the movable parts of the automation component and a control unit which controls the drive. The control unit comprises at least one computing device, and the drive unit together with the drive, control unit, and computing device is arranged in or on a base housing of the automation component. The invention is characterized in that the control unit comprises at least one computing device provided with an operating system, by means of which programs that are written in a higher programming language or programs that are translated from a higher programming language are ran on the computing device during the operation of the drive unit.

Description

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

description

The invention relates to a drive unit of a

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 of

Components and pivoting units for pivoting

Gripping units or gripped components. Linear units are used to move workpieces along a

Linear axis. Exchange units are used to switch from

Workpieces or tools. Clamping units serve to clamp workpieces or workpiece carriers. clamping units In particular, zero-point clamping systems for

be repeated exact position clamping.

Gripping and pivoting units are known from the prior art, which control units and separately

trained to include motor controllers.

The control unit processes input signals and generates control signals dependent on the input signals. The control signals of the control unit, for example via a bus system of a higher-level control available

placed, which then drives the motor controller. It is also conceivable that the output signals of the control unit via

corresponding data lines are sent directly to the motor controller.

The motor controller comprises power electronics for supplying the electric drive with motor current in

Dependence of the control signals. The motor controller thus acts directly on that of a power source

provided current 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 after their installation, or only with relatively great effort be reprogrammed. As a result, such gripping and pivoting units are not flexible, especially in themselves

changing requirements.

From US 2003/0050735 Al a safety circuit for a motion control system is known, which has a

Control unit (Motion conroller) and a motor controller (servo amplifier) includes. From US 2014/0081461 AI a redundant, robotic manipulator is known via a bus system, a field device, such as a motor,

drives.

Furthermore, there is a need to be able to use drive units in human-robot cooperation (MKR). For this purpose, special requirements are made of the drive units. The known drive units are not or only conditionally suitable for being used in such a human-robot cooperation (MKR).

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

Drive unit of an automation component that is in a human-robot cooperation (MKR)

Can be used.

This object is achieved with a drive unit having the features of patent claim 1. In particular provided that the control unit at least one

Computing device is set up with an operating system through which programs written in a high-level programming language or programs that are translated from a higher-level programming language on the

Expire computing device. The at least one

Computing means includes, for example, a memory on which the operating system is stored and a processor is formed, instructions of the operating system

perform. On the memory are, for example, too

Programs that are written in a high-level programming language or programs that are from a higher level

Programming language are translated. The processor is

trained by 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 also

can be trained tamper-proof. As higher

Programming languages can use common languages such as Java, C ++, Python, PHP or Ruby. This has the

Advantage that programming can be done comparatively easily with common programming languages. The invention may also find use in a human-robot cooperation (MKR), in which case preferably the

redundant data processing two separate and in principle operate independently of each other computing devices

are provided. This can be used to ensure that required safety levels required for the MKR are achieved. All input and output signals can be processed by the two computing devices diverse and / or redundant, with the two

Monitor each other computing devices. 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 so that they meet the required in the MKR standards for "functional safety" values and thus a given functional safety can be guaranteed.

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

Calculating takes place.

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 that includes all the electronic components necessary for operation a single circuit board are summarized.

Typically, only the power supply is the only one

Component housed separately. such

Single-board computers can be programmed very flexibly, which means that the drive unit can be used flexibly.

Unlike with known automation component and

In particular, in known gripping and pivoting units can be provided that the at least one computing device for direct control, ie power supply to the drive without the interposition of a motor controller is programmed and set up. The computing device then takes over the function of the motor controller or forms

Motor controller. At least one computing device, and preferably both computing devices, thus form the power electronics for the electric drive and supply the electric drive and control the drive directly and without the interposition of a separately formed

Motor controller on; i.e. they supply the electrical

Drive directly to the motor current and thus act directly on the current provided by a power source for energizing the drive. In particular, no control signals generated by the control unit are then transmitted to other power components or higher-level control systems.

for example, via appropriate control lines or corresponding bus systems for controlling the motor current, passed on. The implementation of the motor controller in the arithmetic unit becomes possible only because the arithmetic unit with a corresponding operating system

is set up. Due to the possibility of relatively simple programming of the computing devices, 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 on the lowest

Programming level would be reprogrammed.

The computing devices are preferably part of a control loop and regulate 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 control, for example, depending on the 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 reduced.

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, with the computing device

Maintenance intervals are automatically maintained. A

Data transmission, for example in a network and a higher-level control, is also conceivable. Furthermore, can Diagnostic functions are perceived. 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 a human-machine cooperation by both computing devices.

The sensors can be used as distance measuring sensors,

Force measuring sensors, rotary encoder sensors, current measuring sensors,

Proximity sensors, temperature sensor, humidity sensor and / or be designed 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 may be provided within the scope of the invention still further sensors.

The at least one computing device can be accommodated within the basic housing or in a housing housing arranged on the base housing. The provision of

Mounted 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 object mentioned at the outset is also achieved by an automation component, in particular by a gripping, clamping, alternating, linear or pivoting unit, which has a

Drive unit according to the invention provides. The

Automation component thus represents an embedded system in which the computing device is integrated into 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. Figure 1 shows a schematic representation of a

The automation component according to the invention in the form of a

Gripping unit 10, as it can be found in a human-robot cooperation (MRK) use.

1 shows a gripping unit 10 according to the invention, which has a schematically indicated basic housing 12 and provided in the base housing 12 drive unit 14 with a drive 13 in the form of an electric motor. The drive 13 drives a shaft 16 shown schematically, which is coupled in motion with two mutually to and away from each other movably arranged jaws 18.

In order to control the drive 13, a control unit 15 with two computing devices in the form of single-board computers 20, 22 is provided in the housing 12. The two

Einplatinencomputern 20,22 is followed by an evaluation unit 24, which outputs the output signals

Single-board computer 20,22 checks for redundancy. In addition, the two single-board computers 20, 22 are connected to each other via lines 26 for mutual monitoring. The

Evaluation unit 24 can also be in one of

Single board computer 20, 22 implemented. Further, a power line 25 is provided, with the drive 13 with

Motor current is supplied.

The single board computers 20, 22 are with a special one

Operating systems based, for example, on Linux and designed to be tamper-proof. Furthermore, the single-board computers 20, 22 are in accordance with the respective gripping task with programs in a higher

Programming language such as C ++ are written, programmed.

Unlike the known automation component is - as can be seen from Figure 1 - also provided that the single-board computer 20, 22 for direct control of the

Drive 13 are programmed and set up without the interposition of a motor controller. The single-board computers 20, 22 thus form the power electronics for the drive 13 and directly control the motor current for the drive 13, i. they act directly on the current provided by a current source (not shown in the figure)

Energization of the drive 13 and provide the drive 13 with the respective required jump in the engine. Thus, none of the single-board computers 20, 22 are generated

Control signals to other power components or

higher-level controllers, for example via the

Control lines or the bus systems 46, for controlling and energizing the motor current passed.

The gripping unit 10 has on the jaws 18 force measuring sensors 28 which measure the gripping force. Via data lines 30, the force-measuring sensors 28 are connected to the two single-board computers 20, 22. The measuring signals of the force measuring sensors 28 are thus from both single-board computers 20, 22nd

evaluated redundantly.

On the drive 13, or on the shaft 16, are two

Encoder sensors 32 are provided whose output signals are supplied via data lines 34 to the single-board computers 20,22.

In the area between the two jaws 18, a sensor in the form of a camera module 36 is provided. The output signals of the camera module 36 are the two via data lines 38

Single-board computers 20, 22 supplied.

In order to measure the motor current provided by the single-board computers 20, 22 and consumed by the drive 13, a current measuring sensor 40 is provided in the power line 25, the output signals of which are supplied to the two single-board computers 20, 22 via the data lines 42.

For measuring the temperature in the gripping unit 10 may also be provided a temperature sensor (not shown in the figure), the two output signals

Single-board computers 20, 22 supplied.

Furthermore, further, also not shown,

Environmental sensors may be provided, in particular the

Close range around the gripping device and capture their Output signals also the two single-board computers 20, 22 perform.

The two single-board computers 20,22 evaluate independently

from each other, the supplied sensor signals. Control signals resulting from a corresponding programming are supplied to the evaluation unit 24, which supplies the

Performs redundancy check and then according to the

Drive unit 14, or a provided on the shaft 16 brake 44 drives.

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 serves as the

Ethernet, WLAN or bus system can be established.

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

About the two single-board computer 20, 22 can not only a corresponding energization of the drive 13 and thus a

Control of the two jaws 18 take place, but it can also maintenance functions, diagnostics, analysis,

Performance data transfers, etc. are performed.

Claims

claims

1. drive unit (14) of an automation component,

in particular a gripping, clamping, alternating, linear or pivoting unit (10), wherein the drive unit (14) has a drive (13) for driving the moving parts of the

Automation component and a drive (13)

driving control unit (15), 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 on a base housing (12) of

Automation component is arranged thereby

characterized in that the control unit (15) comprises at least one computing device (20, 22), which 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, which are from a higher Programming language translated to expire on the computing device (20, 22).

2. Drive unit (14) according to claim 1, characterized

characterized in that it is furnished (14) for

Use in a human-robot cooperation and that the control unit (15) has two separate computing devices (20, 22) for diversified and / or redundant computing

Data processing, and that an evaluation logic (24) for mutual monitoring and / or verification the redundancy of the computing means (20, 22) is provided.

3. Drive unit (14) according to claim 1 or 2, characterized

characterized in that the at least one

Computing device (20, 22) is designed as a single-board computer, in particular mini-PC.

4. Drive unit (14) according to claim 1, 2 or 3, characterized in that the at least one

Computing device (20, 22) for direct control of the drive (13) without the interposition of a separately designed engine controller programmed and

is set up.

5. Drive unit (14) according to claim 1, 2, 3 or 4,

characterized in that the at least one

Computing device (20, 22) for maintenance, for

Data transmission, for diagnosis, monitoring, is also set up by sub-functions and / or programming.

6. 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 is connectable to a user interface.

7. Drive unit (14) according to one of the preceding

Claims, characterized in that the Operating system is a common operating system or a special operating system based on a common operating system.

8. Drive unit (14) according to one of claims 2 to 7, characterized in that evaluation logic (24) is set up such that by the mutual monitoring of the respective operating condition with sufficient

Probability is known.

9. 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 sensor data generated by the sensors (28, 32, 36, 40) of the at least one

Computing device (20, 22) are processed.

10. Drive unit (14) according to claim 9, characterized

in that the sensors are used as distance measuring sensors, force measuring sensors (28), rotary encoder sensors (32),

Current measuring sensors (40), proximity sensors,

Temperature sensor, humidity sensor and / or as a camera module (36) are formed.

11. automation component (10), in particular gripping, tensioning, alternating, linear or pivoting unit, with a

Drive unit (14) according to one of the preceding

Claims .