DE102018008648A1 - System for radio connection of an assembly to a controller - Google Patents

Abstract

The invention relates to a system for connecting an assembly - guided by a handling device - comprising at least one actuator and at least one sensor to a controller. The control comprises a radio master with at least one transmitting and receiving device, which is spatially separated from the handling device. The module has at least one transmitting and receiving device for communication with the radio master. The assembly is supplied with load voltage via the handling device. In or on the module, the load voltage is converted to a direct current target voltage using a DC / DC or AC / DC converter. With the present invention, a system for connecting an assembly to a control system is created, with which the assembly equipped with actuators and sensors can be integrated into any system architecture of the controlling and regulating background software and hardware - without signal lines routed via the handling device - can be integrated.

Description

The invention relates to a system for connecting an assembly - guided by a handling device - as part of a multi-part adapter system, comprising at least one actuator and at least one sensor to a controller.

The handling device connected to a PLC, in combination with the last link, is, for example, a multi-link 6-axis robot that carries a parallel gripper. For communication between the PLC and the parallel gripper, there is a bus master in the PLC, which is connected to the actuators and sensors of the parallel gripper, e.g. accesses via at least one IO-Link port.

From the DE 10 2017 009 319 A1 an adapter system for connecting the last link of a kinematic chain of a handling device to it is known, the last link having a computing and storage module and at least one actuator and / or at least one sensor. Several system modules positioned one after the other are arranged between the penultimate and the last link of the kinematic chain. A system module has an electronics module which adapts or converts the communication data of the incoming electrical connecting lines to be exchanged with the specified system architecture for communication with the device interface of the last link and makes it communicable via a transfer point in a wire-supported manner.

An intelligent actuator usually also has intelligent sensors. The individual sensor consists of a basic sensor, evaluation electronics and at least one communication interface. The actuator and the sensors each have interfaces that generally have to be integrated into an existing system architecture in the automation environment of the handling device. Various hardware platforms run through the architecture through more or less harmonized automation levels, which extend from the sensor and / or actuator bus via the fieldbus and the factory bus to the control level.

The present invention is based on the problem of creating a system for connecting an assembly to a controller, with which the assembly equipped with actuators and sensors can be integrated into any system architecture of the controlling and regulating background software and hardware - without signal lines laid over the handling device is.

This problem is solved with the features of the main claim. The control system comprises a radio master with at least one transmitting and receiving device, which is spatially separate from the handling device. The module has at least one transmitting and receiving device for communication with the radio master. The assembly is supplied with load voltage via the handling device. In or on the module, the load voltage is converted to a direct current target voltage using a DC / DC or AC / DC converter. The setpoint DC voltage supplies the transmitting and receiving device of the module.

As a rule, the commercially available handling devices have different power supplies and different communication methods. As a result, the manufacturer of end devices, which are arranged as the last link in the kinematic chain of the handling devices, must individually adapt his end devices to these power supplies and communication methods. In order to avoid complex hardware adaptations, the invention provides a system which, on the one hand, uses radio technology, a so-called bridge technology, control information from the control to which the handling device is connected to the respective terminal, e.g. Gripper transmitted. On the other hand, the system has a communication module in the terminal in which the energy supply of the handling device is adapted to that of the terminal. The communication module is thus an interface that forwards the energy made available and the information transferred by radio to the respective end device via an IO-Link cable.

The multi-part adapter system consists of a group of individual system modules that are arranged in multiple layers one behind the other. They can be interchanged in any order. Since a wireless IO-Link master for several ports can also be installed in the communication module instead of a Wireless-IO-Link port, there is the option of providing a system module with multiple branches for carrying and controlling multiple grippers.

• 1: perspektivische Ansicht einer Handhabungsvorrichtung mit einem über ein Adaptersystem adaptierten Greifer;
• 2: vergrößerte perspektivische Ansicht des Adaptersystems zusammen mit dem Greifer nach 1;
• 3: Prinzipdarstellung der drahtlosen Kommunikation zwischen der SPS und dem Greifer in Kombination mit der Spannungswandlung der Versorgungsspannung des Greifers.

Further details of the invention emerge from the subclaims and the following description of at least one schematically illustrated embodiment.

• 1 : Perspective view of a handling device with a gripper adapted via an adapter system;
• 2nd : enlarged perspective view of the adapter system together with the gripper 1 ;
• 3rd : Principle of wireless communication between the PLC and the gripper in combination with the voltage conversion of the gripper's supply voltage.

The 1 shows a handling device designed as an articulated robot ( 1 ) with a so-called RRR kinematics. The serial kinematic structure of the articulated robot ( 1 ) has three main rotary axes and three secondary rotary axes. The main axes represent the A axis ( 3rd ), the B axis ( 5 ) and the C axis ( 7 ). The A axis ( 3rd ) is a turntable ( 4th ) with a vertical axis of rotation that is on the base plate ( 2nd ) the handling device is mounted. The turntable ( 4th ) is the first kinematic chain link to support one around the horizontal B axis ( 5 ) - e.g. by 210 degrees - swiveling foot lever ( 6 ). At the free end of the foot pedal ( 6 ) the C-axis sits as a joint with a likewise horizontal swivel axis ( 7 ) which pulls the knee lever ( 8th ) wearing. The toggle ( 8th ) is opposite the foot pedal ( 6 ) can be swiveled by 270 degrees.

The first minor axis, the D axis ( 11 ) is an axis of rotation. It consists of a support arm rotatable around its longitudinal axis ( 12th ) at the free end of the toggle lever ( 8th ) is stored. The second minor axis is the E axis ( 13 ) around which the hand lever ( 14 ) is pivoted, for example, by 270 degrees. The hand lever ( 14 ) carries a turntable that can be swiveled through 360 degrees and that rotates around the F-axis ( 16 ) is rotatably mounted. The turntable is the penultimate link ( 15 ) of the kinematic chain. The adapter system ( 19th ), together with the gripper ( 80 ), attached. The adapter system ( 19th ) in the exemplary embodiment comprises the system modules ( 20th , 30th , 40 , 50 , 90 ). The number of system modules is not fixed. Between the system modules ( 30th ) and ( 90 ) further system modules can be installed.

By appropriately coordinated control of the individual axes ( 3rd , 5 , 7 , 11 , 13 , 16 ) almost any can be placed anywhere in the working area of the articulated robot ( 1 ) straight line or curved trajectory. This can also be achieved with handling devices based on a Cartesian, a cylindrical or a polar robot. The robots then have a TTT, RTT or RRT kinematics. The "T" stands for translatory and the "R" for rotary main axes or guides.

Instead of these robots, it is also possible to use a handling device which has a parallel or hybrid structure instead of the serial structure. Tripod, pentapode or hexapode can be used as parallel structures.

In the 2nd is an enlarged view of the adapter system ( 19th ), together with a gripper ( 80 ). The adapter system ( 19th ) comprises four modules arranged one behind the other in the exemplary embodiment. These are in turn a mechanical module ( 20th ), a connection module ( 30th ), a deformation module ( 40 ) and a communication module ( 50 ).

The mechanical module ( 20th ) has an at least partially truncated cone-shaped base module housing, via which it is attached to the turntable ( 15 ) is rigidly attached. For this purpose, the base module housing has, for example, a large square pin on its top, which is located in the turntable ( 15 ) engages in a corresponding recess. The top and bottom of the base module housing are connected to each other by a central through hole. A pneumatic hose and a cable bundle composed of a large number of cores and strands are guided through the through hole (not shown here).

The mechanical module ( 20th ) forms with the follow-up module, the connection module ( 30th ), a mechanical interface. The connection module ( 30th ) also has a truncated cone-shaped connection housing. An inlet pipe for the supply of compressed air is arranged in the top of the connection housing. There is a cable clamp next to the inlet pipe, which is used to lock the above-mentioned cable bundle in the mechanical module in a tension-proof manner.

In the hollow connection housing of the connection module ( 30th ) are the individual wires and strands of the cable bundle held in the cable clamp, e.g. on one in the middle on the underside of the connection housing ( 30th ) arranged connector, attached.

According to 2nd follows the connection module ( 30th ) the deformation module ( 40 ). To connect the two modules ( 30th ) and (40) has the deformation module ( 40 ) in the middle of its top one to the connection socket of the connection module ( 30th ) matching connector.

The deformation module ( 40 ) essentially consists of an upper housing part, a lower housing part and an elastomer layer in between. The elastomer layer represents a flexible housing wall.

In the deformation module ( 40 ) For example, a spoke-type force-torque sensor is installed. This sensor consists of a foot ring with square spokes with a central disc, a head ring and four square pillars. The square pillars connect the disc to the head ring. On every pillar and every spoke one pair of strain gauges each. From the elastic deformations of the columns and / or spokes, the changes in resistance of the strain gauges can be used to determine the forces and moments with respect to the coordinate axes. The foot ring is on the upper part of the housing of the deformation module ( 40 ) while the head ring on the lower part of the deformation module ( 40 ) is fixed. The signals emitted by the sensor are converted into values for forces and moments using a 6 × 8 matrix vector multiplication. For this purpose, the deformation module has its own calculation module. The calculated values are forwarded via the lines and contact points of the modules of the adapter system to the computer and storage unit of the gripper in order to adapt the calculated values to the lever length, which - depending on the structure of the adapter system - is between the deformation module ( 40 ) and the gripper arms ( 89 ) results.

The deformation module ( 40 ) has a connection plug in the middle of the upper part of the housing, while the lower part of the housing has a connecting socket in the middle, as is already the case with the connection module ( 30th ) is known.

The deformation module ( 40 ) measures the bend of the combination of at least one system module and the last link ( 80 ) in two mutually perpendicular planes, with the intersection of the two planes the center line ( 16 ) of the system modules ( 20th , 30th , 40 , 50 ) is. The determined bend is, for example, a measure of the load on the loaded gripper ( 80 ).

To the deformation module ( 40 ) a communication module closes ( 50 ) via a connector, which is also in the center, through which, among other things, the power supplies reach from the top to the connector socket located in the bottom - with the interposition of a DC / DC converter. The communication module ( 50 ) has in some areas a communication housing with an at least partially cylindrical outer wall.

In the interior of the communication housing there is a DC / DC converter ( 51 ) arranged as a power interface, cf. 3rd . He converts the handling device ( 1 ) from the controller ( 100 ) by means of the load line ( 101 ) Offered supply voltage, for example, it is a 48-volt DC voltage, in a DC target voltage. In the exemplary embodiment, a DC voltage of 24 V is required, which can be 53 ) to the gripper ( 80 ) or to the on the communication module ( 50 ) the following system module is forwarded.

Does the robot deliver ( 1 ) for example an AC voltage, is used instead of the DC / DC converter ( 51 ) an AC / DC converter is used. If the robot ( 1 ) If a voltage is available that is below the DC target voltage, a converter is installed, which raises the robot voltage to the required DC target voltage.

In addition, the DC / DC converter ( 51 ) as a so-called booster a capacitor ( 55 ) are connected in parallel, cf. 3rd . As an additional energy store, the capacitor can absorb short current peaks and thus for a relatively short period of time of the assembly ( 80 ) provide more energy than from the handling device ( 1 ) can be made permanently available. Depending on the power consumption, the time span is between a few milliseconds and a second. The capacitance of the capacitor can be up to 100 mF, for example.

In or on the communication module ( 50 ) is at least one transmitting and receiving device ( 61 , 63 ) arranged on which at least one antenna ( 62 , 64 ) connected. These sending and receiving devices ( 61 ) and / or (63) communicate bidirectionally with corresponding transmitting and receiving devices ( 111 ) one after 3rd via the load line ( 102 ) and the signal line ( 103 ) on the control ( 100 ) connected radio master ( 110 ). The radio master ( 110 ) is an IO-Link wireless master in the exemplary embodiment. Each in 2nd shown transmitting and receiving device ( 61 , 63 ) has in the radio master ( 110 ) a corresponding transmitting and receiving device.

The IO-Link wireless master communicates e.g. at 2.4 GHz. His usual radio range at the time of registration is e.g. at 10 m.

The sending and receiving device ( 61 , 63 ), also called IO-Link bridge, is part of an electronics system that belongs to an electronics module that is built on several boards, for example. Of course, the IO-Link bridge can be used together with the antenna or antennas ( 62 , 64 ) also count as separate components for the electronics module.

The electronics module is located within the adapter system ( 19th ) wire or glass fiber supported with the gripper ( 80 ) and at least with some of the system modules installed ( 20th , 30th , 40 , 50 , 90 ) in connection. The IO-Link bridge ( 61 , 63 ) and the electronics module are connected via the voltage supply line ( 65 ), see. 3rd , at the output of the DC / DC converter ( 51 ) connected.

According to this system, the gripper ( 80 ) its energy from the robot's energy supply ( 1 ). In contrast, the gripper ( 80 ) its control signals do not come from a robot ( 1 ) guided along Cable harness, but by radio via a between the transmitting and receiving device ( 61 , 63 ) of the communication module ( 50 ) and the radio master located in the control area ( 110 ).

In 2nd shows the housing of the communication module ( 50 ) at the side as a camera housing an at least approximately cuboid bulge ( 73 ) on. There may be a camera in the bulge ( 74 ) housed. Your camera lens is behind a recess in the underside of the bulge ( 73 ) arranged. The optical axis of the camera lens intersects the between the gripper arms ( 89 ) of the gripper ( 80 ) located clamping area in the middle. The field of view of the camera ( 74 ) thus detects the workpiece to be gripped and the gripping arms ( 89 ). Around the camera lens are at the bottom of the bulge ( 73 ) e.g. four lighting LEDs ( 75 ) arranged that illuminate the clamping area.

On the side of the bulge ( 73 ) are on both sides as transmitting and receiving devices ( 61 , 63 ) for example the two wireless IO-Link adapters. At each sending and receiving device ( 61 , 63 ) is an antenna ( 62 , 64 ) arranged. Both antennas ( 62 , 64 ) are arranged to improve the transmission and reception properties by 90 ° to each other. The antenna ( 64 ) e.g. parallel to the center line of the adapter system ( 19th ) positioned. Of course, both antennas ( 62 , 64 ) also be aligned parallel to each other.

To 2nd is on the communication module ( 50 ) the gripper ( 80 ) docked as the last link in the kinematic chain.

The gripper ( 80 ) consists of an electronic part and a mechanical part. The gripper is connected to the communication module via its housing ( 50 ) attached. In doing so, it is plugged into the connection socket of the communication module ( 50 ).

To the modules ( 30th , 40 , 50 ) and the gripper ( 80 ) The modules and the gripper () can be connected to each other safely, easily and quickly ( 80 ) mechanically coupled, for example, via a bayonet lock. For this purpose, all individual module housings and the gripper housing have several bayonet tongues distributed around the circumference in the edge area of the respective upper side. The module housing and the gripper housing have individual bayonet rings in the edge area of their respective undersides, which are mounted there on a fine thread. The individual bayonet ring has a circumferential bayonet web on its underside, which has at least as many interruptions along the circumference as the module housings have bayonet tongues.

In order to connect the module housing with each other, the connectors and sockets of the modules to be connected are plugged into one another, the bayonet tongues passing the interruptions of the bayonet ring with play. By screwing the bayonet ring, the individual bayonet web is axially attached to the adjacent bayonet tongues, whereby the module housing is pulled against each other by the fine thread. In order to specify a defined holding force, the bayonet ring can have a twist stop.

After tightening the bayonet ring, the modules ( 30th , 40 , 50 ) and the gripper ( 80 ) dimensionally stable - without using a tool - connected by hand. Here, all electrical contacts are made between the contacting adapter geometries.

When coupling, the modules are also connected pneumatically. For this purpose, an inlet pipe installed in the center of the individual connection socket is immersed in a centering and gas-tight manner in an inlet hole arranged in the center of the respective connector.

Possibly. are the modules ( 30th , 40 , 50 ) and the gripper ( 80 ) with a dowel pin and dowel hole combination to prevent twisting around the center line ( 16 ) secured.

Of course, the modules ( 30th , 40 , 50 ) and the gripper ( 80 ) can also be fixed to one another in other ways.

In the gripper ( 80 ) connects to the base housing, the gripper housing, which is mounted in the base housing, for example via a - not shown - slide-in module. The carrying insert fixes the gripper housing by means of a rear handle. In the gripper housing there is only one example of a cylinder-piston unit for adjusting the gripper arms ( 89 ) arranged. The piston of the cylinder-piston unit moves the gripping arms ( 89 ) with the help of a double wedge hook gear. With each stroke of the piston rod, the carriages are guided in their guides transversely to the center line ( 16 ) positively driven. The end positions of the piston can be edited using at least two sensors. If necessary, pressure sensors on the wedge hooks measure the clamping forces applied to the gripper arms when holding workpieces.

Furthermore, at least one pneumatic valve can be arranged in the base housing in order to supply the compressed air to the pressure chambers of the cylinder of the cylinder-piston unit electronically or to blow it off.

Instead of the in 2nd shown gripper ( 80 ) a gripper with electromechanical drive can also be used, cf. Parallel gripper of the DE 10 2015 012 779 A1 .

A full servo controller or servo axis controller is installed in the housing of such a gripper, together with an associated computing and storage module. The servo controller is programmed in the factory in such a way that the end user or machine operator does not need any special expertise to adjust the gripping device to the corresponding goods or workpieces. The goods to be gripped can be both dimensionally stable and elastic.

In addition to the simple parameters such as the gripping stroke and the elastic and gripping distance-dependent gripping stroke surcharge can be set in the computer and memory module for certain, e.g. customer-specific goods to be gripped special cataloged gripping recipes that can be called up by the machine operator via a gripping goods number. In this way, a quick changeover between two different known gripping tasks is possible.

For this purpose, the servo controller and the associated computer and memory module are located directly in the gripper housing. All gripper device-specific values and controller settings are programmed directly in the gripper device software by the manufacturer. The gripping recipes for new gripping tasks are taught by the customer's machine operator by hand and in the device-side computer and memory module directly and permanently, e.g. together with a new item to be grabbed. The next free number is either automatically selected as the new material to be gripped or it is entered numerically via the PLC input keyboard. Other setup or teach-in processes are also usually specified using this keyboard.

The gripping goods number-dependent data records entered by the machine operator can be changed or deleted without having to intervene in the programmable logic controller on the machine tool side.

In the gripping device's own computer and memory module, optional measuring and evaluation algorithms are programmed, which can also measure and record environmental parameters such as housing temperature, housing vibrations, structure-borne noise, etc. during the usual gripping function. These data are converted into wear statistics in order to determine the time of the next maintenance or device overhaul and to indicate when the time has been reached, for example, acoustically or optically on the device. The environment parameters and / or their evaluation and interpretation by the computer and memory module can also be carried out via the gripping device's own data interface, i.e. the communication module ( 50 ), back to the programmable logic controller of the handling device ( 1 ) or the system via radio.

The gripper housing are behind 2nd e.g. two resistive force transducers each in the form of an FSR sensor ( 96 ) arranged. With the help of these sensors, the gripper ( 80 ) can be opened or closed on site by the machine operator.

Reference list

1

Handling device, articulated robot, 6-axis robot

2nd

Base plate

3rd

A axis

4th

Turntable, first link

5

B axis

6

Foot pedal

7

C axis

8th

Toggle lever

11

D axis

12th

Beam

13

E axis

14

Hand lever

15

Limb, penultimate; Turntable

16

F-axis, swivel axis, center line

19th

Adapter system (sum of the modules)

20th

Mechanics module, first system module

30th

Connection module, second system module

40

Deformation module, fourth module

50

Communication module, third module

51

DC / DC converter

53

Load line from ( 80 )

55

Capacitor, energy storage, booster, optional

61, 63

Transmitting and receiving device, bridge modules

62, 64

Antennas

65

Power supply line from ( 61 , 63 )

67

Signal lines to and from ( 80 )

73

Bulge; Camera housing, optional

74

Camera, optional

75

Illumination LEDs, optional

80

Assembly, link, last; Gripper

89

Gripper arms

90

Gripper base module, system module, basic housing

96

FSR sensors

100

Control ( PLC )

101

Load line to ( 51 ), variable

102

Load line to ( 110 )

103

Signal line to ( 110 )

110

Radio master

111

Sending and receiving device from ( 110 )

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for better information for 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.

Patent literature cited

• DE 102017009319 A1 [0003]
• DE 102015012779 A1 [0044]

Claims (9)

System for connecting an assembly (80), guided by a handling device (1), as part of a multi-part adapter system (19), comprising at least one actuator and at least one sensor to a controller, characterized in that the controller detects one of the handling device (1) spatially separated radio master (110) with at least one transmitting and receiving device (111), - the assembly (80) has at least one transmitting and receiving device (61, 63) for communication with the radio master (110), that the assembly (80) is supplied with load voltage via the handling device (1), - that in or on the assembly (80) the load voltage is converted to a direct current target voltage with the aid of a DC / DC or AC / DC converter (51) and - that the direct current target voltage supplies the transmitting and receiving device (61, 63) of the module (80). System for connecting an assembly to a controller according to Claim 1 , characterized in that the assembly (80) is the last link (80) of a kinematic chain of a handling device (1), the assembly (80) comprising, in addition to at least one actuator and / or at least one sensor, a computing and storage module. System for connecting an assembly to a controller according to Claim 1 , characterized in that a capacitor (55) is installed at the output of the DC / DC converter (51) for energy storage. System for connecting an assembly to a controller according to Claim 1 , characterized in that the assembly (80) is part of a multi-part adapter system (19) which consists of several system modules (20, 30, 40, 50, 90). System for connecting an assembly to a controller according to Claim 1 , characterized in that the system module (50) on the module housing has a bulge (73) in which a camera (74) is arranged to observe the space located between the gripping arms (89). System for connecting an assembly to a controller according to Claim 5 , characterized in that the individual antennas (62, 64) of the transmitting and receiving devices (61, 63) are arranged on both sides of the bulge (73) of the system module (50). System for connecting an assembly to a controller according to Claim 1 , characterized in that in each case an antenna (62, 64) of the system module (50) communicates with an antenna of the radio master (110). System for connecting an assembly to a controller according to Claim 1 , characterized in that between the transmitting and receiving device (111) of the radio master (110) and the transmitting and receiving device (61, 63) of the gripper (80) the signals controlling the actuator or actuators and the evaluated information of the sensor or sensors be transmitted by radio. System for connecting an assembly to a controller according to Claim 8 , characterized in that the signal transmission is encrypted.

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