EP3864301A1 - Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique - Google Patents

Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique

Info

Publication number
EP3864301A1
EP3864301A1 EP19787188.2A EP19787188A EP3864301A1 EP 3864301 A1 EP3864301 A1 EP 3864301A1 EP 19787188 A EP19787188 A EP 19787188A EP 3864301 A1 EP3864301 A1 EP 3864301A1
Authority
EP
European Patent Office
Prior art keywords
pressure
actuator
throttle opening
pressure fluid
movement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19787188.2A
Other languages
German (de)
English (en)
Inventor
Johannes Lang
Hannes Weber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP3864301A1 publication Critical patent/EP3864301A1/fr
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6657—Open loop control, i.e. control without feedback
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7053—Double-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/755—Control of acceleration or deceleration of the output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/853—Control during special operating conditions during stopping

Definitions

  • the invention relates to a movement device for industrial automation, in particular for handling a workpiece, comprising a pressurized fluid
  • a pressurized fluid supply device which is designed to act on the fluidic actuator with the pressurized fluid according to a control signal to the actuator in a
  • WO 2017/076430 Al describes a valve controller for controlling and regulating a pneumatic movement task. A damping function for damping piston movement is provided.
  • Damping function for damping a piston movement around a movement and / or position control, in which the actual movement and / or actual position of the piston is continuously recorded and regulation takes place in accordance with a desired movement and / or a sequence of desired positions.
  • the pressure fluid supply device is designed while the actuator is moving towards the predetermined position, a pressure of the pressure fluid and / or a throttle opening used to provide the pressure fluid according to one
  • a simple position control is expedient - the control according to the control command for moving the
  • Throttle opening superimposed, so that overall there is an adapted movement of the actuator without having to resort to a movement control. Since there is no motion control for the motion adjustment
  • the invention further relates to a method for operating a fluidic actuator to which a pressure fluid can be applied, with an actuator, comprising the steps: according to a
  • Pressurized fluid to move the actuator to a predetermined position and, while the actuator is moving toward the predetermined position, gradually changing a pressure of the pressurized fluid and / or to
  • the method is expediently carried out using the movement device and / or is designed to correspond to the movement device.
  • Figure 1 is a schematic representation of a
  • Figure 2 is a schematic representation of a
  • Valve device, Figure 3 is a schematic representation of a
  • FIG. 4 shows another exemplary value profile
  • Figure 5 is a schematic representation of a
  • FIG. 1 shows an exemplary embodiment of a movement device 1.
  • the movement device 1 is used in particular in industrial automation, for example in factory automation.
  • the movement device 1 is used in particular in industrial automation, for example in factory automation.
  • Movement device 1 serves a workpiece
  • Tire blank to handle, especially to transport.
  • the movement device 1 comprises a fluidic, in particular pneumatic, actuator 2, which has an actuator 3.
  • a pressure fluid, in particular compressed air, can be applied to the actuator 2 in order to actuate the actuator 3 in
  • the movement device 1 further comprises a pressurized fluid supply device 4 for providing the
  • the pressure fluid supply device 4 is designed to act upon the fluidic actuator 2 with the pressure fluid in accordance with a control signal in order to move the actuator 3 into a predetermined position.
  • the predetermined position is expediently predetermined by the control signal.
  • the pressure fluid supply device 4 is also designed to successively apply a pressure of the pressure fluid and / or a throttle opening used to provide the pressure fluid according to a predetermined value profile change while the actuator 3 is moving towards the predetermined position. In this way, the movement of the actuator 3 can be adjusted in a simple and versatile manner. Further exemplary details are explained below.
  • the fluidic actuator 2 is advantageously a
  • the fluidic actuator 2 is designed as a drive, in particular as a drive cylinder.
  • the fluidic actuator 2 includes an actuator body 7, for example
  • the fluidic actuator 2 expediently comprises two pressure chambers 8, 9 which can be pressurized separately from one another and is in particular designed as a double-acting actuator.
  • the fluidic actuator can also have only one
  • the actuator body 7 is preferably designed as a cylinder and has an internal volume.
  • the actuator 3 comprises, for example, a piston 5 and / or a piston rod 6.
  • the piston 5 is arranged in the actuator body 7 and divides the internal volume of the actuator body 7 into the two
  • the pressure chamber 8 will also be referred to below as the first pressure chamber 8 and the pressure chamber 9 as the second pressure chamber 9.
  • the actuator 3 is
  • Actuator 3 is an example in two
  • End positions can be moved.
  • the given position is expediently an end position.
  • the movement device has a limit stop that the
  • the movement devices expediently comprise two end stops which define the two end positions.
  • the actuator 3 is in a first end position, for example
  • the actuator 3 is in a second end position, for example
  • the actuator 3 moves along a movement path, in particular a movement path that is linear relative to the actuator body 7.
  • At least one of the pressure chambers 8, 9 is pressurized with the pressure fluid, so that there is a pressure difference between the two
  • the fluidic actuator 2 expediently comprises one
  • the sensor device 10 serves as
  • the sensor device 10 is arranged, for example, on the outside of the actuator body 7.
  • the sensor device 10 comprises, for example, two sensor units 11, 12, which are arranged distributed along the movement path of the actuator 3.
  • a sensor unit 11, 12 is arranged in the region of an end position of the actuator 3.
  • Each sensor unit 11, 12 is preferably designed to detect that the actuator 3 is in an end position.
  • each sensor unit 11, 12 is also designed to detect that the actuator 3 is located at a particularly predetermined position in the region of an end position, in particular before an end position.
  • a sensor unit 11, 12 is located in the
  • Each sensor unit 11, 12 can, for example, one or more (not shown in the figures)
  • Sensor elements in particular magnetic sensor elements
  • Hall sensor elements for example Hall sensor elements.
  • a magnet is expediently on the actuator 3
  • the magnetic field can be detected with the sensor device 10.
  • the magnet is, for example, a ring magnet, which is expediently integrated in the piston 5.
  • the sensor device 10 is expediently designed to detect the position of the actuator 3 only in a partial region of the movement path of the actuator 3 - namely
  • Sensor units 11, 12, the sensor device 10 can also only one sensor unit or more than two sensor units
  • the actuator 3 is expediently coupled to a workpiece (not shown in FIG. 1), which by
  • the pressure fluid supply device 4 will be discussed next:
  • the pressure fluid supply device 4 comprises
  • valve arrangement 14 As an example, a valve arrangement 14, a higher-level controller 15 and / or optionally a cloud server 16. Two pressure outputs 23, 24 are provided on the valve arrangement 14
  • Each of the two pressure outlets 23, 24 is fluidly connected to a respective pressure chamber 8, 9.
  • the actuator 2 has only one pressure chamber, accordingly only one pressure outlet is connected to one pressure chamber.
  • the pressure fluid is expediently
  • the pressure fluid supply device has, by way of example, pressure sensors (not shown in the figures) which are provided, for example, on the valve arrangement 14 and with which the pressure at the pressure outlets 23, 24 can be determined.
  • the pressure fluid supply device 4 is preferably designed to carry out a pressure control in order to control the pressure outputs 23, 24
  • valve arrangement 14 comprises a plurality of modules, e.g. Valve modules 17 and / or I / O modules 18.
  • valve arrangement 14 comprises two I / O modules 18, but can also have more or fewer I / O modules 18
  • the valve assembly 14 further includes one
  • Control unit 19 which can preferably also be designed as a module.
  • the valve assembly 14 has
  • Valve disks 17 and / or the I / O module 18 are arranged.
  • the valve arrangement 14 is exemplary as
  • Row module arrangement executed that is, the modules mentioned above are in particular Row modules, which are preferably disc-shaped.
  • the valve modules 17 are
  • valve assembly 14 is advantageously with the
  • the valve arrangement 14 is preferably connected to the higher-level controller 15 via a bus 25, in particular a local bus, for example a field bus, and / or optionally connected to the cloud server 16 via a wide area network 22, for example the Internet.
  • the cloud server 16 is designed, for example,
  • the pressure fluid supply device 4, in particular the valve arrangement 14, is expediently communicatively connected to the sensor device 10, in particular via the I / O module 18
  • Sensor device 10 provided sensor values of the control unit 19, the higher-level controller 15 and / or the cloud server 16. Expediently, further
  • Sensor values of the aforementioned pressure sensors are also provided to the control unit 19, the higher-level controller 15 and / or the cloud server 16.
  • the higher-level control 15 is exemplary as
  • PLC Programmable logic controller
  • the pressurized fluid supply device 4 is
  • control signal Conveniently designed to provide the aforementioned control signal, according to which the fluidic actuator 2 is acted upon by the pressure fluid.
  • the control signal will
  • the control signal gives, for example, a position
  • Position control in particular an open loop position control.
  • the control signal can also specify a target pressure with which the fluidic actuator 2
  • control signal can set a target pressure for the first pressure chamber 8, the second
  • control signal specifies a position for the actuator 3, the pressurized fluid supply device 4, in particular the higher-level controller 15, the cloud server 16 and / or the control unit 19, is designed according to the predefined position, a target pressure signal
  • Desired pressure signal includes in particular a desired pressure value for the first pressure chamber 8 and / or the second pressure chamber 9 and / or for a pressure difference between the first
  • the control unit 19 then applies pressure to the pressure chambers 8, 9 in accordance with the target pressure signal.
  • the control unit 19 provides a setpoint pressure value for each of the pressure outputs connected to the pressure chambers 8, 9 and regulates the pressures provided at the pressure outputs in accordance with the setpoint pressure values.
  • the pressurized fluid supply device 4 is
  • Actuator should be moved to the specified position - as a control, in particular open loop control, so
  • Actuator 3 is detected and the target pressure signal and / or the pressurization of the fluidic actuator 2
  • a target pressure signal is preferably provided on the basis of the control signal and this is maintained at least over a section, in particular at least half of the movement path.
  • FIG. 2 shows an exemplary valve device 21 with which the pressures for the pressure chambers 8, 9 can be provided.
  • the valve device 21 is part of the Pressurized fluid supply device 4, in particular the valve arrangement 14, preferably a valve module 17.
  • the valve device 21 has the two
  • the valve device 21 also has a ventilation connection 26 connected or connectable to a ventilation line and a connection or connected to a ventilation line
  • a supply pressure is expediently present at the ventilation connection 27 and / or the atmospheric pressure is present at the ventilation connection 26.
  • the pressure outputs 23, 24 can expediently each at any pressure between one of the pressure outputs 23, 24.
  • Ventilation connection 27 provided maximum pressure, for example the supply pressure, and one of the
  • Vent connection 26 provided minimum pressure, for example the atmospheric pressure, set,
  • valve device 21 expediently has an adjustable throttle opening (not shown in the figures) for each pressure outlet 23, 24, which is provided by the pressure fluid to be provided at the pressure outlets 23, 24
  • valve device 21 is exemplified as a full bridge consisting of four 2/2 directional valves 31, 32, 33, 34
  • a first 2/2 way valve 31 is between the ventilation connection 27 and the first pressure outlet 23
  • a second 2/2 way valve 32 is connected between the first pressure outputs 23 and the vent port 26, a third 2/2 way valve is between the Vent connection 26 and the second pressure outlet 24 are connected and a fourth 2/2 way valve is connected between the second pressure outlet 24 and the vent connection 27.
  • the first pressure output can either be connected to the ventilation line via the first 2/2-way valve or to the ventilation line via the second 2/2-way valve and the second pressure output can optionally be connected to the ventilation line via the third 2/2-way valve or via the fourth 2/2 directional valve can be connected to the ventilation line.
  • Each 2/2 directional control valve 31, 32, 33, 34 is exemplarily designed as a proportional valve; i.e. each 2/2 way valve 31,
  • valve member (not shown in the figures) which can be moved into an open position, a closed position and any intermediate positions between the open and the closed position.
  • the 2/2 directional control valves 31, 32, are preferably
  • pilot valves 41, 42 via which the valve member can be actuated.
  • the pilot valves 41, 42 are designed, for example, as piezo valves.
  • the above-mentioned throttle opening can expediently be set via the position of the valve member.
  • first and second 2/2 directional control valves 31, 32 form a first half bridge and the third and fourth 2/2
  • Directional control valve 33, 34 a second half bridge.
  • the pressure and / or the pressure is preferably above the first half bridge
  • Throttle opening of the second pressure outlet 24 adjustable.
  • Provisioning device 4 formed, while the actuator 3 is in motion towards the predetermined position, a pressure of the pressure fluid and / or a
  • FIG. 1 An exemplary value curve 28 is shown in diagram 50 in FIG. 1.
  • a pressure (as
  • the actuator 3 is in a rest position, for example in the second end position.
  • the pressure fluid supply device 4 provides a control signal according to which the actuator 3 is to be moved into a predetermined position, for example the first end position. According to the control signal, the pressure fluid
  • Provisioning device 4 provides a target pressure value pO and / or a target throttle opening value qO and provides one
  • the setpoint pressure value pO can correspond to the maximum pressure that can be provided, for example the supply pressure, or be smaller. Furthermore, the target throttle opening value qO may correspond to the maximum throttle opening or be smaller.
  • the throttle opening in particular influences how quickly the pressure fluid from the pressure outlet 23, 24 into the pressure chamber 8, 9 and / or from the pressure chamber 8, 9 into the
  • Pressure outlet 23, 24 can flow.
  • the throttle opening thus determines in particular how quickly the pressure in the pressure chamber 8, 9 can be changed.
  • the actuator 3 By pressurizing the fluidic actuator 2 in accordance with the setpoint pressure value pO, the actuator 3 is set in motion, as can be seen from the speed graph 43.
  • the actuator 3 moves over a section
  • Movement control of the actuator 3 instead. Before the actuator 3 reaches the predetermined position - that is, during the movement of the actuator 3 - the predetermined value curve 28 is initiated; i.e., the pressure fluid supply device 4 begins, according to the predetermined value curve 28, the target pressure value and / or the
  • Pressure value curve 29 and a throttle opening curve 30 can also be without the pressure value curve 29 or without the throttle opening curve 30 to be provided.
  • the following explanations of the value curve 28 apply in particular to the
  • the movement device 1 is expediently designed to change the pressure of the pressure fluid according to the predetermined value curve 28 via the first pressure outlet 23 and to change the throttle opening according to the predetermined value curve 28 via the second pressure outlet 24. Consequently, the pressure change and the throttle opening change take place at different pressure outlets 23, 24.
  • the pressure is changed at the pressure output, which is assigned to the expanding pressure chamber (during the actuator movement to be carried out), and / or at the
  • Actuator movement is assigned to the contracting pressure chamber, which changes the throttle opening.
  • Throttle opening value curve 30 changed. With a movement of the actuator 3 in the second end position, the pressure in the second pressure chamber 9 is accordingly according to the
  • Pressure value curve 29 changes and / or the throttle opening of the first pressure output 23 changes the throttle opening value curve 30.
  • the pressure fluid is expediently
  • Provisioning device 4 designed, depending on whether the actuator 3 in a first predetermined position
  • the first end position for example the first end position, or in a second predetermined position, for example the second end position, is to be positioned, one of the pressure outputs 23, 24 for the pressure change according to the value curve 28 and / or another pressure output 23, 24 for the
  • the value curve 28 is a sinking curve; i.e. the target pressure value and / or the target throttle opening value are successively reduced.
  • the target pressure value and / or the target throttle opening value are successively reduced.
  • Value curve 28 is a steady, monotonous and / or linearly decreasing curve. Furthermore, the value curve 28 can also be a sigmoidal curve, as described below with reference to FIG.
  • the value curve 28 expediently takes the form of a ramp, in particular a linear ramp.
  • Position can therefore be damped by the value curve 28 - in particular by digital control.
  • Actuator 3 no mechanical damping element available to the predetermined position.
  • the value curve 28 comprises a plurality of target values which expediently together result in a target value sequence.
  • the value history has 28,
  • Throttle opening value curve 30 each over four
  • the value curve 28 can also have more or fewer target values, in particular at least three, preferably at least 10 or 20, different target values (preferably in each case for the pressure value curve 29 and / or the
  • Throttle opening value curve include.
  • the movement device 1 is expediently designed, the number of
  • Adapt bus communication for the transmission of the target values, preferably in such a way that a transmission rate of one target value per cycle is achieved.
  • the pressurized fluid supply device 4 is designed to successively adjust the pressure of the
  • the pressure fluid supply device 4 is designed to successively set the target pressure value and / or the target throttle opening value to these target values.
  • the target values expediently point within the
  • the pressurized fluid supply device 4 is designed to successively change the pressure and / or the throttle opening
  • Target value assigned to a time value Every time value is Expediently defined relative to the beginning of the value curve 28.
  • target values ql, q2, q3, q4 of the throttle opening profile are expediently also the target values ql, q2, q3, q4 of the throttle opening profile.
  • the time values tl, t2, t3, t4 are defined in particular relative to the beginning of the value curve 28.
  • the first time value tl 0 is exemplary; i.e. immediately at the beginning of the
  • the first target value pl and / or ql is set as the target value curve.
  • the subsequent target values are then successively according to the associated time values - that is
  • defined point in time - as a setpoint for the pressure and / or the throttle opening of the first and / or second pressure output 23, 24 - set.
  • the target values preferably add up to one
  • Ramp function which can expediently take one of several, in particular different, predefined signal forms.
  • the signal shapes can be stored, for example, as profiles in the movement device 1.
  • FIG. 4 shows a further exemplary value curve 28, which is expediently here as a throttle opening curve 30 serves, alternatively or additionally to it also as
  • the value curve 28 of FIG. 4 differs from the value curve 28 of FIG. 1 in particular in that it has the form of a sigmoid function, in particular a declining sigmoid function.
  • the value curve 28 of FIG. 4 differs from the value curve 28 of FIG. 1 in particular in that the first target value q1 is increased compared to the target throttle opening value qO.
  • the course of throttle opening 30 therefore initially causes a jump upwards.
  • the throttle opening curve 30 expediently comes for the pressure output of the one to be carried out
  • Actuator-contracting pressure chamber used. By initially enlarging the throttle opening, it can be achieved that in the contracting pressure chamber
  • Actuator 3 takes place. By the subsequent sigmoid Reducing the throttle opening can then be a gentle one
  • the value curve 28 is expediently initiated in response to a predetermined event.
  • Provisioning device 4 is consequently designed to start the change in pressure and / or the throttle opening in accordance with the value curve 28 in response to a predetermined event.
  • the predetermined event is in particular the detection of a position, in particular a predetermined position, of the actuator 3
  • the predetermined position is expediently located between the two end positions, in particular in the area of one end position.
  • the predetermined position is shown as an example by a dashed line running from the fluidic actuator 2 to the diagram 50.
  • the movement device 1 is designed to use the sensor device 10 to detect that the
  • Actuator 3 is at the predetermined position (while actuator 3 is moving toward the predetermined position), and in response to this detection, the
  • the sensor device 10 is designed to detect the position of the actuator 3 along a section of the movement path.
  • the sensor device 10 is designed to detect the position of the actuator 3 along a section of the movement path.
  • predetermined position at which the change is triggered according to the value curve 28, can be set and / or changed freely within this section.
  • a first application is expediently available, for example on the
  • Control unit 19 the higher-level controller 15 and / or the cloud server 16 is provided.
  • Application serves in particular to set the target pressure value and / or the target throttle opening value for the pressure outputs 23, 24 and to control the valve arrangement 14, in particular a valve module 17, for example the valve device 21, in accordance with the target pressure value and / or the target throttle opening value in order to control a corresponding pressure and / or or
  • the first application performs pressure regulation and / or
  • Throttle opening control by.
  • the target values of the value curve 28 to which the target pressure value and / or the target throttle opening value are to be set are expediently generated outside the first application and transferred to the first application,
  • the target values of the value curve 28 are expediently provided, in particular generated, by a second application.
  • the second application is preferably located on the control unit 19, but alternatively or additionally, it can also be on the higher-level control and / or the
  • Cloud server 16 are provided.
  • the value curve is created in particular on the basis of one or more value curve parameters.
  • Value history parameters are, for example, a start target value, end target value, a time interval between
  • Target values a number of target values per unit of time and / or a trend form, for example the signal form of the ramp function mentioned above.
  • the pressurized fluid supply device 4 has
  • a configuration interface in particular a user interface, via which one or more value profile parameters defining the value profile can be set.
  • the fluidic actuator 2, in particular the movement device 1, can expediently be operated according to a method with the following steps: according to a
  • Control signal pressurizing the fluidic actuator 2 with pressurized fluid to move the actuator 3 to a predetermined position and, while the actuator 3 is moving towards the predetermined position, successively
  • the method is expediently developed in accordance with one or more of the features explained above in connection with the movement device 1.
  • FIG. 3 shows a tire handling device 60.
  • the tire handling device 60 comprises one
  • Movement device is formed and expediently has a plurality of fluidic actuators 2.
  • the movement device has the pressurized fluid supply device, which is not shown in FIG. 3.
  • the tire handling device 60 in particular one or more of the fluidic actuators 2, expediently serve to handle a tire, in particular a green tire 61
  • Tire handling device 60 for feeding a green tire 61 into a tire press.
  • the tire blank 61 is expediently provided with a
  • the tire handling device 60 includes, for example, a pre-positioning device 62, a gripping device 63, a vertical positioning device 64 and / or a horizontal positioning device 65.
  • the prepositioning device 62 expediently comprises the gripping device 63
  • Horizontal positioning device 65 one or more fluidic actuators 2 each
  • Movement device designed to control one or more of the fluidic actuators 2 in accordance with the aforementioned manner - that is, using a value curve 28 - in order to adapt the movement of one or more actuators.
  • a fluidic actuator is expediently the
  • Horizontal positioning device 65 controlled in the manner described.
  • the movement device designed to use the value curve 28 to achieve braking of an actuator before the actuator reaches a predetermined position, for example an end position. In this way, a damped or gentle retraction into the predetermined position, for example the end position, can be achieved.
  • the pre-positioning device 62 is used in particular to position the green tire 61 vertically so that it can be gripped by the gripping device 63.
  • Pre-positioning device 62 has a
  • the gripping device 63 is used in particular to grip the green tire 61, to hold it during the further conveyance and to let go of the green tire 61 when the transport destination - in particular the tire press - has been reached.
  • the gripping device 63 has four fluidic actuators 2.
  • the vertical positioning device 65 serves in particular to position the green tire 61 and / or the gripping device 63 vertically.
  • Vertical positioning device includes, for example, a fluidic actuator 2.
  • the horizontal positioning device 64 serves as
  • the horizontal positioning device includes, for example, a fluidic actuator 2.
  • the horizontal positioning device has kinematics (not shown in the figures) with which a pivoting movement is provided on the basis of a linear movement of the fluidic actuator 2.
  • the green tire 61 is placed on the
  • Pre-positioning device 62 set, positioned vertically with it, then gripped with gripping device 63, vertically with vertical positioning device 65
  • Horizontal positioning device positioned horizontally, and finally placed in the tire press.
  • Tire handling devices 60 are provided, wherein one tire handling device is expediently arranged directly next to the other tire handling device.
  • the two tire handling devices are expediently designed to be mirror-symmetrical to a vertical mirror plane.
  • the two tire handling devices 60 are preferably operated in synchronism with one another.
  • the two tire handling devices are expediently coupled independently of one another and / or in particular not mechanically.
  • In each tire handler 60 comes the aforementioned
  • One or more individually adapted value profiles 28 are expediently used for each tire handling device 60, so that the movements provided by the tire handling devices 60 are expediently coordinated with one another and
  • a tire handling device 60 expediently uses one or more value curves 28 that differ from one or more value curves 28 used in the other tire handling device 60 that for
  • Tire handling device 60 uses a different value profile than for the fluidic actuator 2 of FIG.
  • the system can comprise one or more pressurized fluid supply devices 4, in particular one or more valve arrangements 14.
  • a separate valve arrangement 14 is preferably used for each tire handling device 60.
  • one valve assembly 14 can be used for both
  • Tire handling devices are used.
  • Each fluidic actuator 2 is expediently controlled via an associated valve module 17.
  • the pressure fluid supply device 4, in particular the control unit 19, is expediently designed to generate, in particular to calculate, the value curve 28, in particular the pressure value curve 29 and / or the throttle opening value curve 30.
  • the control unit 19 is preferably part of the valve arrangement 14.
  • the control unit 19 is preferably an in particular disk-shaped module which is arranged on the base body 20.
  • the Control unit 19 comprise two, in particular, disk-shaped modules, which are arranged on the base body 20.
  • the pressurized fluid supply device 4, in particular the control unit 19, is designed to display the value curve 28, in particular the
  • the pressure fluid supply device 4, in particular the control unit 19, is designed
  • Pressure value curve 29 based on a first start position parameter, a first end position parameter, one
  • the start pressure parameter gives, for example, the first
  • Target value for example the target value pl
  • the final pressure parameter gives, for example, the last target value, for example the
  • Target value p4 of the pressure value curve 29 to be generated is expediently designed on the basis of the start pressure parameter and the end pressure parameter which are between the first and the last target value of the
  • these target values are calculated on the basis of a predetermined course shape
  • the pressure fluid supply device 4 in particular the control unit 19, is designed on the basis of the input the first target value, the entered last target value and the calculated target values lying between the first target value and the last target value to provide the pressure value curve 29 and expediently to store it.
  • the first start position parameter expediently specifies the position of the actuator 3 at which the pressure fluid supply device 4 is to begin to change the pressure in accordance with the pressure value curve 29.
  • the pressure fluid supply device 4 is preferably designed to set the pressure of the pressure fluid to the first target value pl des
  • the first end position parameter expediently specifies the position of the actuator 3 at which the change in the pressure of the pressure fluid according to the pressure value curve 29 is to be completed.
  • the pressurized fluid supply device 4, in particular the control unit 19, is also designed to develop the throttle opening value curve 30 on the basis of a second one
  • Start position parameter for example, admits the first target value, for example the target value q1, of
  • the final throttle opening parameter specifies, for example, the last target value, for example the target value q4, of the throttle opening curve 30 to be generated.
  • the pressurized fluid Provisioning device 4, in particular control unit 19, is expediently designed on the basis of the
  • Starting throttle opening parameter and the final throttle opening parameter to calculate, in particular to interpolate, the target values lying between the first and the last target value of the throttle opening value profile 30, for example the target values q2, q3.
  • these target values are calculated on the basis of a predetermined course shape
  • the pressure fluid supply device 4, in particular the control unit 19, is designed to provide the throttle opening value curve 30 on the basis of the entered first target value, the entered last target value and the calculated target values lying between the first target value and the last target value expedient to save.
  • the second start position parameter expediently specifies the position of the actuator 3 at which the pressure fluid supply device 4 is to begin
  • the pressure fluid is preferably
  • Provisioning device 4 designed to set the pressure of the pressure fluid to the first target value of the
  • Throttle opening course 30 to set when the actuator 3 reaches the position specified by the second start position parameter.
  • the second end position parameter expediently specifies the position of the actuator 3 at which the change in the throttle opening according to the throttle opening value curve 30 is to be completed.
  • the pressure fluid supply device 4, in particular the control unit 19, is designed as an alternative to the second start position parameter and / or the second end position parameter, the first start position parameter and / or the first
  • the pressurized fluid supply device 4 has
  • the first start position parameter, the first end position parameter, the start pressure parameter and / or the end pressure parameter can be entered by a user.
  • the user interface is also expediently the second start position parameter, the second end position parameter, the start throttle opening parameter and / or the
  • End throttle opening parameters can be entered by the user.
  • the user interface is expediently provided on the control unit 19, the higher-level controller 15, the cloud server 16 and / or a user terminal.
  • the user interface expediently comprises a user interface 100, in particular as a graphical one
  • the user interface 100 expediently comprises a first input section 110.
  • the first input section 110 is used to enter the parameters for generating the
  • Pressure value curve 29 Preferably comprises the
  • User interface 100 further includes a second input section 120.
  • the second input section 120 is used to enter the parameters for the generation of the throttle opening curve 30.
  • the user interface 100 displays the first input section 110 and the second input section 120 simultaneously, in particular with one another.
  • the first input section 110 includes, for example, a first start position input field 112 for inputting the first start position parameter, a first end position input field 113 for inputting the first end position parameter
  • Parameters and / or a final pressure input field 115 for entering the final pressure parameter are included in the final pressure parameter.
  • the first input section 110 further comprises a plurality of first designation fields 117 and / or first
  • Unit fields 116 As an example, each input field 112, 113, 114, 115 is assigned a respective first designation field 117 and / or a respective first unit field 116. Each first designation field 117 contains the designation of what can be entered with the respectively assigned input field
  • Input field of parameters that can be entered
  • the first input section 110 further comprises a first ramp representation 111.
  • the first ramp representation 111 is an example of a graphical representation of a ramp.
  • the first start position input field 112 and / or the start pressure input field 114 are assigned to the start of the ramp, for example via first assignment lines 118.
  • the first end position input field are examples 113 and / or the final pressure input field 115 assigned to the end of the ramp, for example via first assignment lines 118.
  • the second input section 120 includes, for example, a second start position input field 122 for entering the second start position parameter, a second end position input field 123 for entering the second end position parameter
  • the second input section 120 further comprises a plurality of second designation fields 127 and / or second
  • Unit fields 126 As an example, each input field 122, 123, 124, 125 is assigned a respective second designation field 127 and / or a respective second unit field 126. Every second designation field 127 contains the designation of what can be entered with the respectively assigned input field
  • Parameters and every other unit field 126 contains the physical unit of the associated with each
  • Input field of parameters that can be entered
  • the second input section 120 further comprises a second ramp representation 121.
  • the second ramp representation 121 is an example of a graphical representation of a ramp.
  • the second starting position input field 122 and / or the starting throttle opening input field 124 are assigned to the start of the ramp, for example via second ones
  • Assignment lines 128 Furthermore, the second end position input field 123 and / or the final throttle opening input field 125 are also assigned to the end of the ramp, for example via second assignment lines 128.
  • the pressurized fluid supply device 4, in particular the control unit 19, is embodied by means of the
  • User interface in particular the user interface 100, to store entered parameters as a parameter set and expediently to generate, in particular to calculate, the value profile 28, in particular the pressure value profile 29 and / or the throttle opening value profile 30 on the basis of the stored parameter set.
  • the pressure fluid supply device 4, in particular the control unit 19, is expediently designed to generate the value curve 28, in particular the pressure value curve 29 and / or the throttle opening value curve 30, without carrying out a position control and / or a movement control of the actuator 3 (in particular completely),
  • Throttle opening value curve 30 is therefore expediently not the result of a position control of the actuator 3 and / or not the result of a movement control of the
  • the pressurized fluid supply device 4, in particular the control unit 19, is designed
  • a complete calculation means in particular the calculation of all target values.
  • the pressure fluid supply device 4 is designed to fully calculate the value curve 28, in particular, before the above-mentioned predetermined event occurs, which causes the pressure fluid
  • Provisioning device 4 begins to change the pressure and / or the throttle opening in accordance with the value curve 28.
  • the pressure fluid According to a possible embodiment, the pressure fluid
  • Provisioning device 4 designed to start the change in pressure according to the pressure value curve 29 in response to a first position of the actuator 3 and the
  • Throttle opening curve 30 in response to a second position of the second position that differs from the first position
  • the actuator 3 Appropriately (on the way of the actuator 3 to the predetermined position) before the first position, so that the actuator 3 first reaches the second position and then the first position.
  • Start position parameter is a different position from the second start position parameter.
  • the pressure value curve 29 and the throttle opening value curve 30 are therefore expediently offset from one another
  • the pressurized fluid supply device 4 is
  • Throttle opening curve 30 no position control and / or no movement control of the actuator 3 to perform.

Abstract

L'invention concerne un dispositif de déplacement (1) destiné à l'automatisation industrielle, notamment la manipulation d'une pièce, ledit dispositif comprenant : un actionneur fluidique (2) alimenté en fluide sous pression et comportant un élément de réglage (3), et un moyen d'alimentation en fluide sous pression (4) qui est conçu pour alimenter l'actionneur fluidique (2) en fluide sous pression selon un signal de commande afin de déplacer l'élément de réglage (3) jusque dans une position spécifiée. Le dispositif d'alimentation en fluide sous pression (4) est conçu pour modifier successivement, pendant que l'élément de réglage (3) est en mouvement vers la position spécifiée, une pression du fluide sous pression et/ou une ouverture d'étranglement, utilisée pour l'alimentation en fluide sous pression, conformément à une courbe de valeur spécifiée afin d'influer sur le déplacement de l'élément de réglage.
EP19787188.2A 2018-10-10 2019-10-09 Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique Pending EP3864301A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018217337.0A DE102018217337A1 (de) 2018-10-10 2018-10-10 Bewegungsvorrichtung, Reifenhandhabungsvorrichtung und Verfahren zum Betrieb eines fluidischen Aktors
PCT/EP2019/077376 WO2020074588A1 (fr) 2018-10-10 2019-10-09 Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique

Publications (1)

Publication Number Publication Date
EP3864301A1 true EP3864301A1 (fr) 2021-08-18

Family

ID=68242644

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19787188.2A Pending EP3864301A1 (fr) 2018-10-10 2019-10-09 Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique

Country Status (5)

Country Link
US (1) US20220001502A1 (fr)
EP (1) EP3864301A1 (fr)
CN (1) CN112997012B (fr)
DE (1) DE102018217337A1 (fr)
WO (1) WO2020074588A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020206030B3 (de) 2020-05-13 2021-07-22 Festo Se & Co. Kg Ventilvorrichtung, System und Verfahren

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3932079A (en) * 1975-01-29 1976-01-13 Valery Leonidovich Legostaev Pneumatic tire vulcanizing apparatus
US4608219A (en) * 1985-06-11 1986-08-26 Nrm Corporation Tire press, loader and method
IT1189673B (it) * 1986-05-20 1988-02-04 Firestone Int Dev Spa Impianto di vulcanizzazione di pneumatici
DE3708989C2 (de) * 1987-03-19 1993-10-14 Festo Kg Steuervorrichtung für einen in einem doppeltwirkenden Zylinder verschiebbaren Kolben
DE4201464C2 (de) * 1992-01-21 1995-08-24 Festo Kg Vorrichtung zur Dämpfung eines in einem Zylinder verschiebbaren Kolbens in wenigstens einem seiner Endlagenbereiche
FR2708888A1 (fr) * 1993-08-09 1995-02-17 Sedepro Procédé et appareil de vulcanisation de pneumatiques.
SE517879C2 (sv) * 2000-11-13 2002-07-30 Abb Ab Förfarande och system för utvärdering av statisk friktion
DE10122297C1 (de) * 2001-05-08 2002-06-27 Festo Ag & Co Vorrichtung zur gedämpften Positionierung eines in einem Zylinder verschiebbaren Kolbens in einer Anschlagposition
US6779432B2 (en) * 2002-09-12 2004-08-24 Sumitomo Heavy Industries, Ltd. Servo circuit for use with air pressure actuator capable of improving speed control performance
DE20218487U1 (de) * 2002-11-28 2003-03-13 Rexroth Mecman Gmbh Pneumatisch endlagengedämpfte Antriebsordnung, insbesondere für einen Türantrieb
US7021191B2 (en) * 2003-01-24 2006-04-04 Viking Technologies, L.C. Accurate fluid operated cylinder positioning system
JP2004293628A (ja) * 2003-03-26 2004-10-21 Kayaba Ind Co Ltd 液圧シリンダの制御装置
AT501935A1 (de) * 2005-05-20 2006-12-15 Sticht Fertigungstech Stiwa Fluidisch betätigter antrieb sowie verfahren zur steuerung desselben
AU2006338713B2 (en) * 2006-02-21 2011-05-12 Festo Ag & Co. Kg Pneumatic drive system
DE102006049491A1 (de) * 2006-10-17 2008-04-24 Festo Ag & Co. Verfahren und Steuermodul für einen pneumatischen Aktor
GB2472004A (en) * 2009-07-20 2011-01-26 Ultronics Ltd Control arrangement for controlling movement of a differential piston in a hydraulic circuit
DE102011120767A1 (de) * 2011-12-10 2013-06-13 Robert Bosch Gmbh Elektrohydraulische Steuereinrichtung
EP2644904B1 (fr) * 2012-03-26 2014-11-12 Festo AG & Co. KG Procédé de commande d'un système de travail à actionnement fluidique
DE102014003084A1 (de) * 2014-03-01 2015-09-03 Hydac Fluidtechnik Gmbh Digitalhydraulisches Antriebssystem
US9976575B2 (en) * 2014-05-23 2018-05-22 Butler Engineering And Marketing S.P.A. Device for feeding a fluid to a container, such as an actuator, assembly for activating or moving an object, as well as lifting device for a tyred wheel or a tyre
US9546672B2 (en) * 2014-07-24 2017-01-17 Google Inc. Actuator limit controller
US10697476B2 (en) * 2014-08-14 2020-06-30 Festo Se & Co. Kg Actuator controller and method for regulating the movement of an actuator
CN108351627B (zh) * 2015-11-03 2022-08-09 费斯托股份两合公司 气动阀总成的基于应用的控制

Also Published As

Publication number Publication date
US20220001502A1 (en) 2022-01-06
WO2020074588A1 (fr) 2020-04-16
DE102018217337A1 (de) 2020-04-16
CN112997012B (zh) 2023-11-07
CN112997012A (zh) 2021-06-18

Similar Documents

Publication Publication Date Title
CH672087A5 (fr)
DE102010055438A1 (de) Verpackungsmaschine und Verfahren zum Erzeugen einer Vakuumverpackung
DE10122297C1 (de) Vorrichtung zur gedämpften Positionierung eines in einem Zylinder verschiebbaren Kolbens in einer Anschlagposition
WO2006099845A1 (fr) Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques
EP1830979A1 (fr) Procede pour commander une unite a cylindre de compensation destinee en particulier a un dispositif de soudure et unite a cylindre de compensation
DE102008055536A1 (de) Verfahren zum Betreiben eines Antriebskolbens einer Druckgiessmaschine und Vorrichtung zur Durchführung des Verfahrens
EP0740995B1 (fr) Procédé et appareil pour la fermeture de l'outil d'une machine à fabrication de plastique
EP3524421A1 (fr) Presse et son procédé de fonctionnement
EP3864301A1 (fr) Dispositif de déplacement, dispositif de manipulation de pneumatique et procédé de fonctionnement d'un actionneur fluidique
AT8679U1 (de) Einrichtung zum regeln einer spritzgiessmaschine
DE102017004803A1 (de) Verfahren zum Betrieb einer Pulverpresse mit Lagenregelung und Pulverpresse zur Ausführung des Verfahrens
EP1423249A2 (fr) Dispositif de serrage electromecanique
DE102020206030B3 (de) Ventilvorrichtung, System und Verfahren
DE102019204484A1 (de) Trajektorien-Planungseinheit, Ventilanordnung und Verfahren
EP0070957B1 (fr) Méthode et appareil pour simuler la séquence chronométrée des mouvements avec un dispositif servo-hydraulique
DE102016001039B4 (de) Verfahren zum Betrieb eines Einspritzaggregats und Einspritzaggregat
EP3953771A1 (fr) Unité de travail hydrostatique et procédé pour sa commande
EP1430985B1 (fr) Pince de soudage comprenant un entraînement linéaire programmable avec deux boucles indépendantes d'asservissement et procédé de commande de l'entraînement linéaire d'une telle pince de soudage
DE102016011352A1 (de) Verfahren zur Steuerung eines Freifallhammers
DE102006041223B4 (de) Verfahren zum Betreiben eines hydraulischen Antriebssystems, insbesondere zum Freiformschmieden eines Werkstücks
DE102020204484A1 (de) Druckluft-Bereitstellungseinrichtung, System und Verfahren
AT514569B1 (de) Verfahren zum Betrieb einer Schließeinheit
DE102020207864A1 (de) Verfahren zum Betreiben eines hydraulischen Antriebs
EP3157727A1 (fr) Procédé pour faire fonctionner une machine de moulage par injection
EP1462660B1 (fr) Actionneur hydraulique, méthode pour faire fonctionner un actionneur hydraulique et dispositif de commande associé.

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210401

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230623