Linear, Gripping, Clamping, Rotary or Swivelling Device, Method For Operating A Device Of This Type, And Unit For Evaluating A Device Of This Type

Abstract

The invention relates to a linear, gripping, clamping, rotary or swiveling device having a microprocessor and a basic housing, wherein at least two sensors are arranged on the basic housing, wherein the microprocessor is designed to merge output signals of the at least two sensors to form a merged signal, and wherein the microprocessor is designed to determine an operating status of the linear, gripping, clamping, rotary or swiveling device depending on the merged signal.

Claims

1. Linear, gripping, clamping, rotary or swiveling device comprising a microprocessor and a basic housing, it being possible to detachably arrange a linear, gripping, clamping, rotary or swiveling element on the basic housing, and at least two sensors being arranged on the basic housing, characterized in that the microprocessor is designed to merge output signals of the at least two sensors to form a merged signal and to identify information about an identification of the linear, gripping, clamping, rotary or swiveling device or of the linear, gripping, clamping, rotary or swiveling element depending on the merged signal.

2. Linear, gripping, clamping, rotary or swiveling device according to claim 1, wherein the microprocessor is designed to determine an operating status of the linear, gripping, clamping, rotary or swiveling device depending on the merged signal.

3. Linear, gripping, clamping, rotary or swiveling device according to claim 1, characterized in that the microprocessor is designed to determine, depending on the merged signal, a displacement position of an actuator, in particular at least one basic jaw displaceably arranged on the basic housing, or a rotary position of at least one rotary table rotatably arranged on the basic housing.

4. Linear, gripping, clamping, rotary or swiveling device according to claim 1, characterized in that at least one of a magnetic field sensor, an acceleration sensor and a gyro sensor are arranged on the basic housing, the microprocessor being designed to calibrate the magnetic field sensor, the acceleration sensor or the gyro sensor depending on the merged signal.

5. (canceled)

6. Linear, gripping, clamping, rotary or swiveling device according to claim 1, characterized in that the microprocessor is designed to calibrate the linear, gripping, clamping, rotary or swiveling element depending on the information about the identification.

7. Linear, gripping, clamping, rotary or swiveling device according to claim 2, characterized in that a magnet which can be displaced relative to the basic housing is arranged on the basic housing, a current position of the magnet relative to the basic housing depending on the operating status of the linear, gripping, clamping, rotary or swiveling device, and the microprocessor being designed to determine information about the operating status depending on a detected current position of the magnet relative to the basic housing.

8. Linear, gripping, clamping, rotary or swiveling device according to claim 2, characterized in that a soft magnetic element which can be displaced relative to the basic housing is arranged on the basic housing, a current position of the soft magnetic element relative to the basic housing depending on the operating status of the linear, gripping, clamping, rotary or swiveling device, and the microprocessor being designed to determine information about the operating status depending on a detected current position of the soft magnetic element relative to the base housing.

9. Linear, gripping, clamping, rotary or swiveling device (100) according to claim 1, characterized in that the magnetic field sensor is designed to detect information about a current magnetic field strength, the microprocessor being designed to determine information about the current position of the linear, gripping, clamping, rotary or swiveling device depending on the detected current magnetic field strength.

10. Linear, gripping, clamping, rotary or swiveling device (100) according to claim 2, characterized in that a transmitting apparatus and/or a receiving apparatus is arranged on the basic housing, which apparatus is designed for wired or wireless transmission of information, the microprocessor being designed to transmit information about the operating status, information about the merged signal or information about the identification via the transmitting apparatus, and/or the microprocessor being designed to receive information about a functionality of the linear, gripping, clamping, rotary or swiveling device via the receiving apparatus and to configure the operating status depending on the information about the functionality.

11. Method for evaluating an operating status of a linear, gripping, clamping, rotary or swiveling device comprising the steps of: arranging at least two sensors on a basic housing, wherein output signals of the at least two sensors are merged to form a merged signal, and information about an identification of the linear, gripping, clamping, rotary or swiveling device or of a linear, gripping, clamping, rotary or swiveling element which is arranged on the linear, gripping, clamping, rotary or swiveling device depending on the merged signal.

12. Method according to claim 11, further comprising the step of determining an operating status of the linear, gripping, clamping, rotary or swiveling device depending on the merged signal.

13. Method according to claim 11, comprising the further step of determining a displacement position of at least one of an actuator displaceably arranged on the basic housing, or a rotary position of at least one rotary table rotatably arranged on the basic housing depending on the merged signal.

14. Method according to claim 11, characterized in that a magnetic field sensor, an acceleration sensor and/or a gyro sensor are arranged on the basic housing, the magnetic field sensor, the acceleration sensor or the gyro sensor being calibrated depending on the merged signal.

15. (canceled)

16. Method according to claim 11, comprising the further step of calibrating the linear, gripping, clamping, rotary or swiveling element depending on the information about the identification.

17. Method according to claim 11, comprising the further step of detecting a current position of a magnet, which magnet is arranged on the basic housing so as to be displaceable relative to the basic housing and the position of which magnet relative to the basic housing depends on the operating status of the linear, gripping, clamping, rotary or swiveling device, and information about the operating status being determined depending on the detected current position of the magnet relative to the basic housing.

18. Method according to claim 11, comprising the further step of detecting a current position of a soft magnetic element, which element is arranged on the basic housing so as to be displaceable relative to the basic housing and the position of which element relative to the basic housing depends on the operating status of the linear, gripping, clamping, rotary or swiveling device, and information about the operating status being determined depending on the detected current position of the soft magnetic element relative to the basic housing.

19. Method according to claim 11, comprising the further step of detecting information about a current magnetic field strength, information about the current position of the linear, gripping, clamping, rotary or swiveling device being determined depending on the detected current magnetic field strength.

20. Method according to claim 11, comprising the further step of transmitting information about the operating status, information about the merged signal or information about the identification in a wired or wireless manner, and/or information about a functionality of the linear, gripping, clamping, rotary or swiveling device being received in a wired or wireless manner and the operating status being configured depending on the information about the functionality.

21. Unit for evaluating or adjusting an operating status of a linear, gripping, clamping, rotary or swiveling device, wherein the linear, gripping, clamping, rotary or swiveling device comprises a microprocessor and a basic housing, it being possible to detachably arrange a linear, gripping, clamping, rotary or swiveling element on the basic housing, and at least two sensors being arranged on the basic housing, characterized in that the microprocessor is designed to merge output signals of the at least two sensors to form a merged signal and to identify information about an identification of the linear, gripping, clamping, rotary or swiveling device or of the linear, gripping, clamping, rotary or swiveling element depending on the merged signal, characterized in that the unit is designed to receive information about an operating status, information about a merged signal or information about an identification of the linear, gripping, clamping, rotary or swiveling device in a wired or wireless manner, and/or the unit being designed to transmit information about a functionality of the linear, gripping, clamping, rotary or swiveling device in a wired or wireless manner in order to configure the operating status of the linear, gripping, clamping, rotary or swiveling device depending on the information about the functionality.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In the drawings:

[0023] FIG. 1 is a schematic view of a linear, gripping, clamping, rotary or swiveling device,

[0024] FIG. 2 is a perspective view of parts of a gripping or clamping device,

[0025] FIG. 3 shows a method for merging sensor data and evaluating an operating status of the linear, gripping, clamping, rotary or swiveling device,

[0026] FIG. 4 shows a unit for evaluating or adjusting an operating status of a linear, gripping, clamping, rotary or swiveling device.

DETAILED DESCRIPTION

[0027] FIG. 1 schematically shows a gripping or clamping device 100 comprising a microprocessor 102 and a basic housing 104, wherein a magnetic field sensor 106, an acceleration sensor 108 and a gyro sensor 110 are arranged on the basic housing 104. Other sensors, for example the sensors described below, can also be arranged on the basic housing 104. The function will be described in the following on the basis of this example. Application in a linear, rotary or swiveling device is also possible.

[0028] A transmitting apparatus 112 and a receiving apparatus 114 are arranged on the basic housing 104, which apparatuses are designed for wired or wireless transmission of information. These can also be provided as a transceiver in a component. These are designed, for example, to provide an IO-Link, an active Near Field Communication (NFC) connection or a Bluetooth connection for data transmission.

[0029] A data bus 116 connects the microprocessor 102 to the magnetic field sensor 106, the acceleration sensor 108, the gyro sensor 110, the transmitting apparatus 112 and the receiving apparatus 114. These elements are preferably arranged on a circuit board 118.

[0030] The magnetic field sensor 106 is preferably a 3D magnetic field sensor. The magnetic field sensor 106 is designed to detect information about a current magnetic field strength.

[0031] The acceleration sensor 108 is preferably a 3D acceleration sensor. The magnetic field sensor 106, the acceleration sensor 108 or the gyro sensor 110 is provided as a micro-electromechanical sensor, i.e. as a MEMS sensor. The components can also be integrated in a microchip.

[0032] The linear, gripping, clamping, rotary or swiveling device 100 and a method and a unit for evaluating or adjusting an operating status of the linear, gripping, clamping, rotary or swiveling device 100 are described in the following with reference to FIGS. 1 and 2 using the example of the gripping and clamping device 100. In the drawings, the elements which have the same function are provided with the same reference numeral.

[0033] At least one basic jaw 202 is displaceably arranged on the basic housing 104.

[0034] A magnet 204 which can be displaced relative to the basic housing 104 is arranged on the basic housing 104. In the example, the magnet 204 is arranged on a piston 206. Instead of the magnet 204, a soft magnetic piston can also be used. In this case, an excitation magnet is stationarily arranged on the basic housing 104 such that a magnetic field generated by the excitation magnet is changed by the soft magnetic piston depending on the current position of the soft magnetic piston. The magnet 204 can also be arranged in the basic housing 104 so as to be immovable with respect to the basic housing 104. In this case, the magnetic field sensor 106 is arranged on the piston 206 so as to be displaceable relative to the basic housing 104.

[0035] The piston 206 is movably arranged in the basic housing 104 in a cylinder 208. The piston 206 in this case cooperates with a wedge-hook gearing 210 in order to displace two basic jaws 202, as described in DE 100 13 022 A1. As a result, a position of the magnet 204 relative to the basic housing 104 can be assigned a unique position of the at least one basic jaw 202 in its displacement path. More specifically, a current position of the magnet 204 relative to the basic housing 104 depends on the operating status of the gripping or clamping device 100.

[0036] In the rotary or swiveling device, for example, instead of the basic jaws 202, a rotary table is positioned by means of an actuator which can be adjusted by means of a pneumatic drive. The position of the magnet 204 is assigned in this case, for example, a position of the rotary table.

[0037] The microprocessor 102 is designed to detect output signals from the magnetic field sensor 106, the acceleration sensor 108 and/or the gyro sensor 110. The microprocessor 102 is designed to merge at least two output signals to form a merged signal. This will be described in the following.

[0038] The microprocessor 102 is designed to determine an operating status of the gripping or clamping device 100 depending on the merged signal.

[0039] The microprocessor 102 is designed, for example, to determine a displacement position of the at least one basic jaw 202 depending on the merged signal.

[0040] The microprocessor 102 is designed, for example, to determine information about the operating status depending on a detected current position of the magnet 204 relative to the basic housing 104.

[0041] The microprocessor 102 is alternatively or additionally designed to determine information about the current position of the gripping or clamping device 100 depending on the detected current magnetic field strength.

[0042] A gripping or clamping element can be arranged on the at least one basic jaw 202. The microprocessor 102 can alternatively or additionally be designed to determine information about an identification of the gripping or clamping device or of the gripping or clamping element depending on the merged signal. The microprocessor 102 can alternatively or additionally be designed to calibrate the gripping or clamping element depending on the information about the identification.

[0043] The microprocessor 102 is designed, for example, to transmit information about the operating status, information about the merged signal or information about the identification via the transmitting apparatus 112.

[0044] The microprocessor 102 is additionally or alternatively designed to receive information about a functionality of the gripping or clamping device via the receiving apparatus 114, and to configure the operating status depending on the information about the functionality.

[0045] The microprocessor 102 is preferably designed to calibrate the magnetic field sensor 106, the acceleration sensor 108 or the gyro sensor 110 depending on the merged signal.

[0046] A method for evaluating an operating status of the linear, gripping, clamping, rotary or swiveling device 100 will be described with reference to FIG. 3. The method is carried out, for example, during operation of the linear, gripping, clamping, rotating or swiveling device 100.

[0047] After starting, in a first step 302, at least two output signals are merged for example by the magnetic field sensor 106, the acceleration sensor 108 and/or the gyro sensor 110. This generates the merged signal. This step includes detecting the output signals, for example, or previously detected output signals are accessed.

[0048] In a second step 304, the operating status of the linear, gripping, clamping, rotary or swiveling device 100 is determined depending on the merged signal.

[0049] For example, the displacement position of at least one of the basic jaws 202 is determined depending on the merged signal. Alternatively or additionally, the magnetic field sensor 106, the acceleration sensor 108 or the gyro sensor 110 is calibrated depending on the merged signal. Alternatively or additionally, information about the identification of the gripping or clamping device or about the gripping or clamping element which is arranged on the basic jaw 100 is identified depending on the merged signal. Alternatively or additionally, the linear, gripping, clamping, rotary or swiveling element is calibrated depending on the information about the identification. Alternatively or additionally, a current position of the magnet 204 is detected, information about the operating status being determined depending on the detected current position of the magnet 204 relative to the basic housing 104. Alternatively or additionally, information about the current magnetic field strength is detected, information about the current position of the gripping or clamping device 100 being determined depending on the detected current magnetic field strength.

[0050] In an alternative or additional third step 306, information about the operating status, information about the merged signal or information about the identification is transmitted in a wired or wireless manner.

[0051] In an alternative or additional fourth step 308, information about a functionality of the gripping or clamping device is received in a wired or wireless manner, and the operating status is configured depending on the information about the functionality.

[0052] The method subsequently ends.

[0053] These steps can be carried out and/or repeated in this order or in a different order.

[0054] A unit 400 for evaluating or adjusting an operating status of the linear, gripping, clamping, rotary or swiveling device 100 will be described with reference to FIG. 4. The unit 400 is designed to receive information about an operating status, information about the merged signal or information about the identification of the linear, gripping, clamping, rotary or swiveling device 100 in a wired or wireless manner. The unit 400 comprises a receiver 402 which is compatible with the transmitting apparatus 112. More precisely, the receiver is designed to transmit the data via the IO-Link, NFC or Bluetooth.

[0055] The unit 400 is preferably designed to transmit information about the functionality of the gripping or clamping device 100 in a wired or wireless manner in order to configure the operating status of the linear, gripping, clamping, rotary or swiveling device 100 depending on the information about the functionality. The unit 400 comprises a transmitter 404 which is compatible with the receiving apparatus 114. More precisely, the transmitter is designed to transmit the data via the IO-Link, NFC or Bluetooth.

[0056] The unit 400 also comprises a computer unit 406 and a human-machine interface 408 which are connected to the receiver 406 via a bus 410 and designed to cooperate in order to display the received data relating to the information about an operating status, information about the merged signal or information about the identification of the linear, gripping, clamping, rotary or swiveling device 100 for an operator.

[0057] The computer unit 406 and the human-machine interface 408 are connected to the transmitter 404 via the bus 410 and are preferably designed to cooperate in order to generate the data relating to the functionality to be adjusted of the linear, gripping, clamping, rotary or swiveling device 100 depending on a user input of the operator and to transmit said data via the transmitter 404.

[0058] The unit 400 is, for example, a mobile device, in particular a smart phone or a tablet or laptop computer which communicates with the linear, gripping, clamping, rotary or swiveling device 100 as a smart device. Data transmission to a server or from a server can also be provided, which server can be connected via the Internet.

[0059] In summary, the functions specified in the following table are provided, for example. An X in column A means that the function from the row in which the X is entered uses a geomagnetic field sensor, for example. An X in column B means that the function from the row in which the X is entered uses a sensor for a built-in magnet 204, for example. An X in column C means that the function from the row in which the X is entered uses an acceleration sensor, for example. An X in column D means that the function from the row in which the X is entered uses a gyro sensor, for example. An X in column E means that the function from the row in which the X is entered uses prior knowledge about the end effector, for example. An X in column F means that the function from the row in which the X is entered uses the microprocessor, for example.

TABLE-US-00001 Function A B C D E F Position in the space for joining tasks X X X X High-resolution finger position (analog or X X X X X digital) and additionally the assignment to OPEN, CLOSED and gripped Plug-and-Work (self-teaching sensors) X X X Gripper region output X X X X Force estimation via pulse evaluation and X X X X prior knowledge about the component Collision detection X X X X Remaining service life duration estimation X X X X X and thus the possibility for pay for grip and second live Cycle time optimization since the end X X X position and its quality are detected faster Combined query of a plurality of partial X X X X X X movements by detecting and distinguishing the magnetic fields of adjacent modules Detection or possibility of avoiding damage X X X to the gripped component by measuring the pulses and assignment to exceedance of the values allowed by the workpiece. Basis for BIG DATA X X X X Basis for Functional Safety (FuSa) X X X X X X functionalities by means of redundant information generation Reduction of cabling, since only one line X X X X X leaves the gripper, whereas previously at least 2 lines for the above functions even more lines were required Smart device capability: the module X X X X X automatically detects a change in the process data and can thus independently set a maintenance order.

[0060] In order to merge sensors in the linear, gripping, clamping, rotary or swiveling device 100, two or more of the sensor data are used in this case. This means that, on the linear, gripping, clamping, rotary or swiveling device 100 comprising the microprocessor 102 and the basic housing 104, at least two sensors, i.e. for example the magnetic field sensor 106, the acceleration sensor 108 and/or the gyro sensor 110, are arranged on the basic housing 104.

[0061] The microprocessor 102 is designed to merge output signals of the at least two sensors to form a merged signal. In this case, output signals denote analog or digital electrical signals which transmit or contain information about a measured value, i.e. output data, of the relevant sensor. The microprocessor 102 is designed to determine an operating status of the linear, gripping, clamping, rotary or swiveling device 100 depending on the merged signal. In addition to the output signals of the magnetic field sensor 106, the acceleration sensor 108 and/or the gyro sensor 110, the output signals of the sensors indicated in the table can additionally or alternatively be merged.

[0062] In this case, the linking of the output data of a plurality of sensors is referred to as the merging of precise sensor data fusion. The sensor data merged for a specific function are marked with X in a row of the table for the relevant function. The aim is to obtain information that depends on the function specified in the function column.

[0063] Linking output data from a plurality of sensors which detect the same operating status increases accuracy and reduces measurement errors when the sensors are not correlated.

[0064] For example, classification methods, stochastic methods, Kalman filters, fuzzy logic, logic operations or rules-based methods can also be used for linking.