METHOD FOR OPERATING AN AXLE SYSTEM, AND AXLS SYSTEM, COMPUTER PROGRAM, COMPUTER-READABLE STORAGE MEDIUM AND DATA CARRIER SIGNAL

Abstract

A method for operating an axle system (10) for a blank separator (12). The axle system (10) includes an axle (20, 32, 38), an actuating element (24, 30, 36), and an electric drive (26, 34). The actuating element (24, 30, 36) has an operating speed (vG) and/or acceleration (aG). The electric drive (26, 34) and/or the axle (20, 32, 38) have an operating temperature (TB) characterized by: determining a maximum permissible limit temperature (TG) of the electric drive (26, 34) and/or the axle (20, 32, 38); detecting the temperature (TB) of the electric drive (26, 34) and/or the axle (20, 32, 38); and determining a maximum permissible limit speed (vG) and/or limit acceleration (aG) of the actuating element (24, 30, 36) as a function of the maximum permissible limit temperature (TG) and the detected temperature (TB) of the electric drive (26, 34) and/or of the axle (20, 32, 38).

Claims

1. A method for operating an axle system (10) for a blank separator (12), wherein the axle system (10) comprises: at least one axle (20, 32, 38), at least one actuating element (24, 30, 36) that can be moved along the at least one axle (20, 32, 38), and at least one electric drive (26, 34) for moving the actuating element (24, 30, 36), wherein, during operation, the actuating element (24, 30, 36) has an operating speed (v.sub.G) and/or an operating acceleration (a.sub.G), and wherein the electric drive (26, 34) and/or the axle (20, 32, 38) have an operating temperature (T.sub.B) during operation, characterized by: determining a maximum permissible limit temperature (T.sub.G) of the electric drive (26, 34) and/or the axle (20, 32, 38), detecting the operating temperature (T.sub.B) of the electric drive (26, 34) and/or the axle (20, 32, 38), and determining a maximum permissible limit speed (v.sub.G) and/or limit acceleration (a.sub.G) of the at least one actuating element (24, 30, 36) as a function of the maximum permissible limit temperature (T.sub.G) and the detected operating temperature (T.sub.B) of the electric drive (26, 34) and/or of the axle (20, 32, 38).

2. The method according to claim 1, further characterized by: adjusting the operating speed (v.sub.G) and/or the operating acceleration (a.sub.G) of the at least one actuating element (24, 30, 36) as a function of the maximum permissible limit speed (v.sub.G) and/or the maximum permissible limit acceleration (a.sub.G) of the actuating element (24, 30, 36).

3. The method according to claim 1, further characterized by: adjusting the operating speed (v.sub.G) and/or the operating acceleration (a.sub.G) of the at least one actuating element (24, 30, 36) in such a way that the operating speed (v.sub.G) and/or the operating acceleration (a.sub.G) is/are in the range of the maximum permissible limit speed (v.sub.G) and/or limit acceleration (a.sub.G) of the actuating element (24, 30, 36), and/or the operating temperature (T.sub.B) is in the range of the limit temperature (T.sub.G).

4. The method according to claim 1, characterized in that the operating temperature (T.sub.B) of the electric drive (26, 34) and/or the axle (20, 32, 38) is measured in measurement intervals of less than 60 s.

5. The method according to claim 2, characterized in that the adjustment of the operating speed (v.sub.G) and/or operating acceleration (a.sub.G) of the at least one actuating element (24, 30, 36) takes place by adjusting the electrical current at the electric drive (26, 34).

6. The method according to of claim 2, characterized in that the adjustment of the operating speed (v.sub.G) and/or operating acceleration (a.sub.G) takes place such that the operating temperature (T.sub.B) does not exceed the limit temperature (T.sub.G), or does not exceed it for longer than a critical time period.

7. The method according to of claim 2, characterized in that the adjustment of the operating speed (v.sub.G) and/or operating acceleration (a.sub.G) of the actuating element (24, 30, 36) takes place according to the coming movement paths and/or the coming downtimes and/or the coming ambient conditions, in particular ambient temperature and/or the changing of attachment parts, of the axle system (10).

8. The method according to claim 2, characterized in that the adjustment of the operating speed (v.sub.G) and/or operating acceleration (a.sub.G) of the actuating element (24, 30, 36) takes place in such a way that the operating speed (v.sub.G) and/or operating acceleration (a.sub.G) is/are in the range of, and/or above, the limit speed (v.sub.G) and/or limit acceleration (a.sub.G), to heat the electric drive (26, 34) and/or the axle (20, 32, 38).

9. The method according to claim 1, characterized in that the state of the axle system (10), in particular the wear and/or maintenance state, is determined according to the maximum permissible limit temperature (T.sub.G) and the operating temperature (Tg.sub.B), wherein preferably an exceeding of the operating temperature (T.sub.B) above the limit temperature (T.sub.G) is classified, in particular with regard to duration and/or temperature difference.

10. The method according to claim 1, characterized in that the electric drive (26, 34) and/or the axle (20, 32, 38) is/are cooled by means of a cooling device (44) when the operating temperature (T.sub.B) reaches a cooling temperature (T.sub.K).

11. An axle system (10) for a blank separator, having at least one axle (20, 32, 38), having at least one actuating element (24, 30, 36) that can be moved along the at least one axle (20, 32, 38), wherein during operation the actuating element (24, 30, 36) has an operating speed (v.sub.G) and/or an operating acceleration (a.sub.G), having at least one electric drive (26, 34) for moving the at least one actuating element (24, 30, 36), wherein during operation the electric drive (26, 34) and/or the axle (20, 32, 38) has/have an operating temperature (T.sub.B), having a drive controller (38) for controlling the at least one electric drive (26, 34), and having at least one temperature sensor (40) for detecting the operating temperature (T.sub.B) of the electric drive (26, 34) and/or the axle (20, 32, 38), characterized in that, the drive controller (38) has a memory (42) for storing a maximum permissible limit temperature (T.sub.G), and in that the drive controller (38) is configured to determine a maximum permissible limit speed (v.sub.G) and/or limit acceleration (a.sub.G) of the actuating element (24, 30, 36) as a function of the maximum permissible limit temperature (T.sub.G) and the detected operating temperature (T.sub.B) of the electric drive (26, 34) and/or of the axle (20, 32, 38).

12. The axle system (10) according to claim 11, characterized in that the drive controller (38) is configured to adjust the operating speed (v.sub.G) and/or the operating acceleration (a.sub.G) of the actuating element (24, 30, 36) as a function of the maximum permissible limit speed (v.sub.G) and/or limit acceleration (a.sub.G) of the actuating element (24, 30, 36).

13. The axle system (10) according to claim 11, characterized in that the electric drive (26, 34) has at least one winding and at least one permanent magnet, in that the temperature sensor (40) is arranged on the winding and/or on the permanent magnet, and in that the temperature sensor (40) detects the operating temperature (T.sub.B) of the at least one winding and/or the at least one permanent magnet.

14. The axle system (10) according to claim 11, wherein the axle system (10) has a cooling device (44) for cooling the at least one electric drive (26, 34) and/or the at least one axle (20, 32, 38).

15. The axle system (10) according to claim 14, characterized in that the drive controller (38) is configured to control the cooling device (44) in such a way that the electric drive (26, 34) and/or the axle (20, 32, 38) is/are cooled by the cooling device (44) when the operating temperature (T.sub.B) reaches a cooling temperature (T.sub.K).

16. A computer program comprising commands which, when the program is executed by a computer, cause the computer to execute the steps of the method according to claim 1.

17. A computer-readable storage medium on which the computer program according to claim 16 is stored.

18. A data carrier signal transmitting the computer program according to claim 16.

Description

IN THE DRAWINGS

[0034] FIG. 1 is an axle system according to the invention with a drive controller, a temperature sensor, and a cooling device;

[0035] FIG. 2 is a profile diagram of the movement speed and movement acceleration of a first actuating element, as well as the operating temperature of a first drive; and

[0036] FIG. 3 is a schematic illustration of a control loop;

[0037] FIG. 1 is an axle system 10 according to the invention for a blank separator 12. The blank separator 12 serves to separate individual printed circuit boards from a printed circuit board blank 14. The blank separator 12 comprises a frame 16 and two loading bays 18. A Cartesian coordinate system with an X, Y and Z axes is shown in order to assign the directions.

[0038] The axle system 10 comprises a first axle 20 extending along the Y-axis, wherein the first axle 20 has a first electric drive 26 designed as a linear direct drive arranged on a cross-member 22 of a gantry 24. Furthermore, the first axle 20 has a guide 28 and a first actuating element 30 with a guide carriage. In addition, the axle system 10 comprises a second axle 32 extending along the Z-axis, wherein the second axle 32 comprises a second electric drive 34 designed as an axle drive. The second axle 32 can be displaced along the Y-axis by means of the linear direct drive 26. A second actuating element 36 in the form of a cutting tool arranged on a carriage is provided on the second axle 32. The second actuating element 36 can be moved along the Z-axis by means of the axle drive 34. In the embodiment according to FIG. 1, the third axle 38 is arranged fixedly and non-movably on the frame 16. However, it is also advantageous if the third axle 38 is constructed in accordance with the first and second axles 20, 32, in particular arranged movably on the frame 16. It is conceivable that the axle system 10 furthermore has a third axle 38 extending along the X-axis, wherein the third axle 38 has a third drive for moving a third actuating element 24 designed as a gantry.

[0039] The axle system 10 has a drive controller 40 for controlling the drives 26, 34. In operation, the actuating elements 24, 30, 36 each have an operating speed v.sub.B at their corresponding movement position, and/or each have an operating acceleration a.sub.B. In operation, the drives 26, 34 and the axles 20, 32, 38 each have an operating temperature TB which, among other things, is established by the drive and movement of the actuating elements 24, 30, 36.

[0040] To adjust an operating speed v.sub.B and/or an operating acceleration as, the drive controller 40 transmits an output signal to the electric drives 26, 34, so that the electric drives 26, 34 are energized with a current corresponding to the operating speed v.sub.B and/or the operating acceleration a.sub.B.

[0041] A temperature sensor 42 for detecting the operating temperature T.sub.B of the drives 26, 34 and of the axles 20, 32, 36 is arranged on each drive 26, 34 and axle 20, 32, 36, wherein the operating temperature TB of the drives 26, 34 and the axles 20, 32, 36 is continuously measured. Only one temperature sensor 42 is shown in FIG. 1 for the sake of clarity. The drives 26, 34 each have at least one winding (not shown) and at least one permanent magnet (not shown), wherein the corresponding temperature sensor 42 detects the given operating temperature T.sub.B on the winding and/or on the permanent magnet.

[0042] The movement and the regulation of the axle system 10 are described below with reference to the first axle 20. The second axle 32 is constructed corresponding to the first axle 20 and the third axle 36 can also be constructed corresponding to the first axle 20. For this purpose, reference is made to the profile diagram according to FIG. 2, wherein an exemplary movement of the first actuating element 20 and the operating temperature of the first drive 26 are shown.

[0043] In the profile diagram according to FIG. 2, the speed v, the acceleration a, and the temperature T are each plotted as a function of time t. At the start, the first actuating element 30 is in an initial position, wherein the first drive 26 has an initial temperature T.sub.0 in the range of the ambient temperature. The drive controller 40 has a memory 44 for storing a limit temperature T.sub.G; this can be predefined at the factory or can be set by the user. The limit temperature T.sub.G represents the maximum permissible operating temperature T.sub.B at which the first drive 26 can be operated in continuous operation.

[0044] To move the actuating element 30, the first drive 26 is energized by means of a drive signal of the drive controller 40, wherein an initial acceleration a.sub.0 of the actuating element 30 occurs. The speed v.sub.B of the actuating element 30 increases accordingly. By energizing the first drive 26, the operating temperature T.sub.B rises and approaches the limit temperature T.sub.G. At time t.sub.1, the operating temperature T.sub.B is in the range of the limit temperature T.sub.G of the first drive 26, wherein the range is formed, in particular, by a positive and negative deviation of 5% around the limit temperature T.sub.G. The drive controller 40 registers the reaching of the range of the limit temperature T.sub.G and therefore regulates the first drive 26, so that a lower energization of the first drive 26 and a lower operating acceleration as of the actuating element 30 occur.

[0045] Based on the temperature difference between the operating temperature T.sub.B and the limit temperature T.sub.G, the drive controller 40 determines a maximum permissible limit speed v.sub.G and a maximum permissible limit acceleration ac, wherein these corresponds to an equivalent drive current of the first drive 26. By increasing the operating acceleration as, the operating temperature T.sub.B approaches the limit temperature T.sub.G, so that the temperature difference becomes smaller. Due to the lower temperature difference, the drive controller 40 determines a lower limit speed v.sub.G and/or a lower limit acceleration as for the actuating element 30.

[0046] By lowering the limit speed v.sub.G and the limit acceleration a.sub.G, the actuating element 30 has a maximum operating speed v.sub.B in the range of the limit speed v.sub.G and an operating acceleration a.sub.B in the range of the limit acceleration ac so that the operating temperature T.sub.B of the first drive 26 does not exceed the limit temperature T.sub.G. The drive controller 40 determines the limit speed v.sub.G and the limit acceleration as in such a way that at a constant operating speed v.sub.B and/or a constant operating acceleration as in the range of the limit speed v.sub.G and/or the limit acceleration a.sub.G, there is also a constant operating temperature T.sub.B in the range of the limit temperature T.sub.G. The first drive 26 can thus be operated at the power optimum and the cycle time of the axle system 10 can be reduced. It is immaterial in this whether the actuating element 30 is accelerated, as before the time t.sub.1, or the actuating element 30 is decelerated and/or braked, as immediately after the time t.sub.1. The first drive 26 is operated at the power optimum when the operating temperature T.sub.B is in the range of the limit temperature T.sub.G.

[0047] At time t.sub.2, the ambient conditions change because the ambient temperature drops due to operation of an air conditioning system. The consequence of this is that, despite a constant operating acceleration a.sub.B of the actuating element 30 and/or a constant energization of the first drive 26, the operating temperature T.sub.B of the first drive 26 drops. The drive controller 40 registers the temperature difference between the operating temperature T.sub.B and the limit temperature T.sub.G between the times t.sub.2 and t.sub.3. Due to the higher temperature difference, the first drive 26 can be operated with increased power. Consequently, the drive controller 40 determines a higher limit speed v.sub.G and a higher limit acceleration a.sub.T according to the temperature difference. Consequently, the operating speed v.sub.B and operating acceleration as can be increased and the cycle time can be additionally optimized. As a result, the operating temperature T.sub.B increases again up to the range of the limit temperature T.sub.G. Thus, the drive controller 40 can independently optimize the cycle time by optimizing the limit speed v.sub.G and/or the limit acceleration as, and also respond to changing ambient conditions and installation situations. A complex design is not required for this purpose.

[0048] Should the ambient temperature increase, the operating temperature T.sub.B would significantly exceed the limit temperature T.sub.G, given constant parameters. In this case, the drive controller 40 down-regulates the limit speed v.sub.G and/or the limit acceleration as, so that the operating temperature T.sub.B is again in the optimal range.

[0049] For cooling the electric drives 26, 34 and/or the axles 20, 32, the axle system 10 has a cooling device 46. The drive controller 38 is furthermore configured to control the cooling device 46 in such a way that the electric drives 26, 34 and the axles 20, 32 are cooled by the cooling device 46 when the operating temperature T.sub.B reaches or exceeds a cooling temperature T.sub.K.

[0050] FIG. 3 is the control loop of the drive controller 40, wherein a separate control loop according to FIG. 2 can be provided for each electric drive 26, 34 and/or axle 20, 32, 36. The control loop shows the regulation of the electric drives 26, 34 and/or of the axles 20, 32, 36 with regard to the operating speed v.sub.B and/or the operating acceleration a.sub.B of the actuating element 30, 36 as a function of the maximum permissible limit temperature T.sub.G and the detected operating temperature T.sub.B.