Method for operating a pneumatically driven plant for handling workpieces and a system for handling workpieces

Abstract

A method for operating a pneumatically driven system for handling workpieces, comprising a plurality of pneumatic units that can be pneumatically operated or are used for pneumatic control, which have connections to pressure hoses and/or which are in fluid communication with each other by the use of pressure hoses, and comprising at least one control unit for driving at least one of the pneumatic units by the use of electrical signals and/or for receiving and evaluating electrical signals from at least one of the pneumatic units. The electrical signals are here transmitted between the control unit and at least one pneumatic unit via the pressure hoses, wherein an electric voltage is applied between at least two different pressure hoses that connect the control unit and the respective pneumatic unit.

Claims

1. A method for operating a pneumatically operated system, wherein the system includes a plurality of pneumatic units that can be pneumatically operated or are configured for pneumatic control and have connections with pressure hoses and/or are in fluid communication with each other by means of pressure hoses, and comprising at least one control unit for driving at least one of the pneumatic units by means of electrical signals and/or for receiving and evaluating electrical signals from at least one of the pneumatic units, the method comprising: transmitting the electrical signals between the control unit and at least one pneumatic unit through the pressure hoses; and applying an electric voltage is applied between at least two different pressure hoses that connect the control unit and the respective pneumatic unit.

2. The method as claimed in claim 1, wherein the electric voltage is varied as a function of time.

3. The method as claimed in claim 2, wherein for transmitting the electrical signals between the control unit and the respective pneumatic unit, each have signal interfaces that provide a conductive electrical connection, and wherein the electric voltage is applied directly across the conductive connection to the pressure hoses.

4. A system for handling workpieces, said system comprising: a plurality of pneumatic units that can be pneumatically operated or are configured for pneumatic control, which have connections to pressure hoses and/or which are in fluid communication with each other by means of pressure hoses, at least one control unit for driving at least one of the pneumatic units by means of electrical signals and/or for receiving and evaluating electrical signals from at least one of the pneumatic units, wherein for transmitting the electrical signals between the control unit and the pneumatic unit, each have signal interfaces that are connected to each other by means of signal transmission means, wherein the pressure hoses are designed in such a way that the electrical signals can be conducted by means of the respective pressure hoses, wherein the pressure hoses constitute the signal transmission means that are connected to the signal interfaces, wherein the control unit is connected to the respective pneumatic unit via at least two different pressure hoses, and wherein the signal interfaces are configured to apply an electric voltage between the at least two different pressure hoses.

5. The system as claimed in claim 4, wherein the electric voltage is applied directly to the pressure hoses via a conductive connection between the signal interfaces.

6. The system as claimed in claim 5, wherein the pneumatic units comprise: at least one pneumatically operable handling effector, at least one pneumatically operable vacuum generator for supplying a vacuum to the handling effector.

7. The system as claimed in claim 6, wherein the pneumatic units comprise at least one drivable control valve that can be controlled by means of electrical signals from the control unit.

8. The system as claimed in claim 6, wherein the control unit is configured for evaluating operating data of the vacuum generator and/or operating data of the handling effector as well as for generating control signals as a function of the evaluated operating data.

9. The system as claimed in claim 8, wherein the pneumatic units have sensors for detecting operating data, and wherein a sensor of a respective pneumatic unit is connected with the respective signal interface of the pneumatic unit.

10. The system as claimed in claim 9, wherein the pressure hoses have a hose wall that encloses an internal hose space, wherein the hose wall is altogether made from an electrically conductive material.

11. The system as claimed in claim 9, wherein the pneumatic unit has a hose coupling for connection with the respective pressure hoses, wherein the hose coupling provides the signal interface.

12. The system as claimed in claim 11, wherein the hose coupling has a contact blade configured to cut into a contact layer of the pressure hose when connected with the pressure hose.

13. The system as claimed in claim 12, wherein the pressure hoses have a hose wall that encloses an internal hose space, wherein at least two electrical conductive wires are embedded in the hose wall.

Description

(1) The invention will be explained in more detail below by means of the figures, wherein:

(2) FIG. 1 shows a schematic illustration of a system for handling workpieces;

(3) FIG. 2 shows a perspective illustration of a section of a system for handling workpieces comprising, inter alia, a valve device and a suction gripping device;

(4) FIGS. 3 to 5 show schematic illustrations of cross sections of possible embodiments of the pressure hoses.

(5) In the description following below and in the figures, the same reference signs have been used in each case for identical or corresponding features.

(6) The method according to the invention as well as the system according to the invention will be explained by way of example using the system 10 for handling workpieces as illustrated in FIG. 1. The system 10 is designed as a pneumatic system and comprises a number of pneumatic units 12.

(7) In the example shown, the pneumatic units 12 comprise a plurality of suction gripping devices 14 that form handling effectors 14 of the system 10. The suction gripping devices 14 may be provided on a suitable base frame (not shown in more detail). By means of such an overall assembly, also spatially extended workpieces may be fixed. In order to achieve a spatial displacement of the handling effectors 14, an actuator 16 may be provided, for example of the type of a robot arm (only schematically shown in FIG. 1).

(8) The system 10 moreover comprises further pneumatic units, such as e.g. valve units 18 and control valves 19 for the handling effectors 14. In order to supply the required vacuum to the suction gripping devices 14, a vacuum generator (ejector) 20 operated using pressurised air is provided. The vacuum generator 20 also forms a pneumatic unit.

(9) In the example shown, the vacuum generator 20 is connected to a pressurised air supply (not shown in more detail) by means of a pressure hose 22 schematically shown. At the other end, the vacuum generator 20 is connected to pressure hoses 24 that conduct the generated vacuum to the handling effectors. As schematically shown by way of example, the pressure hoses 24 (and correspondingly 22) extend between various pneumatic units 12 and connect the latter with each other. Moreover, the pressure hoses 22, 24 may lead from individual pneumatic units 12 to other units (e.g. to a central pressurised air supply).

(10) In order to achieve a need-based control of the various pneumatic units 12, the system 10 has two control units 26 in the example shown. The control units 26 may in principle have various functions. For example, a control unit may be designed to receive and evaluate electrical signals from corresponding sensor units including sensors 28. In the example shown, these sensors 28 monitor a vacuum prevailing in the suction gripping device 14. Thus for example, a gripping condition may be detected. On the other hand, the control unit may be designed to emit electrical signals for controlling pneumatic units 12. In the example shown, controllable control valves 19 may be provided on some suction gripping devices 14, by way of example, which can be driven by means of the electrical signals from the control unit 26. Correspondingly, a valve unit 18 may be provided upstream of a pressure input of the vacuum generator 20 operated using pressurised air, which may be driven by means of electrical control signals from a control unit 26. In the schematic view according to FIG. 1, the associated signal paths, along which electrical signals are transmitted, are shown in dotted or dashed lines.

(11) For the transmission of the electrical signals between control units 26 and pneumatic units 12, these units each have signal interfaces 30 (some of the signal interfaces 30 are schematically shown in FIG. 1 and are provided with a reference sign).

(12) FIG. 2 shows a section from a system 10 with a suction gripping device 14 and a further pneumatic unit 12 associated therewith. The suction gripping device fixes a schematically shown workpiece 15. This pneumatic unit 12 comprises in particular a drivable control valve 19. In addition, also a vacuum generator 20 may be (optionally) integrated in the pneumatic unit 12. The pneumatic unit 12 is connected to two pressure hoses 24 (which carry, depending on the embodiment, overpressure or vacuum). Each pressure hose is in fluid communication with the pneumatic unit 12 via a hose coupling 32. The hose coupling 32 also comprises an integrated signal interface 30. This is designed such that the pressure hose 24 is electrically contacted in such a way that the pressure hose 24 can be used to conduct electrical signals to the pneumatic unit 12 and/or away from the pneumatic unit 12.

(13) To this end, the pressure hoses 22 and 24 are designed such that electrical signals can be conducted by means of the pressure hoses. Insofar, the pressure hoses 22, 24 constitute signal transmission means 34 for the system 10. The signal transmission means 34 correspond to the signal transmission paths indicated in FIG. 1 by dashed or dotted lines.

(14) A simple embodiment for a suitable pressure hose 24 is schematically shown in FIG. 3a (in a cross-sectional view through the pressure hose 24). The pressure hose 24 comprises a hose wall 36 that encloses an internal hose space 38. The material of the hose wall is formed to be electrically conductive at least in an inner contact layer 37 of the hose wall 36. For example, electrically conductive regions or particles may be embedded in the material of the hose wall 36 (e.g. a flexible polymer). What is also conceivable is an embodiment that is altogether made from an electric conductor. In addition, the hose wall 36 may be enclosed by a hose cover lying on the outside in relation to the internal hose space 38 (not shown).

(15) FIG. 3b shows a schematic view of a corresponding hose coupling 32 in a cross-section, by means of which on the one hand fluid communication with a pressure input 40 and on the other hand an electric connection by means of the signal interface 30 may be provided. To this end, the hose coupling 32 may have an electric contact blade 42. This is formed and arranged in such a way that in the case of a coupling of the pressure hose 24 to the hose coupling 32, the contact blade cuts into the contact layer 37.

(16) FIG. 4 shows a further embodiment for a pressure hose 24 in a cross-sectional view. Here, the hose wall 36 enclosing the internal hose space 38 is for example formed to be electrically insulating. Wire-like conductive wires 44 made from an electrically conductive material are embedded in the hose wall 36. The conductive wires 44 may also extend in a strip-like manner in the material of the hose wall 36, as indicated in the schematic view according to FIG. 5.

(17) The system 10 and the mentioned embodiments allow the electrical signals to be transmitted between the pneumatic units 12 and the control units 26 by means of the pressure hoses 22, 24.

(18) As schematically shown in FIG. 2, the respective pneumatic unit 12 is here connected to at least two different pressure hoses 24. These at least two different pressure hoses 24 are also connected to the control unit 26. The electrical signals are then transmitted via an electric voltage that is applied between the at least two pressure hoses 24.