CN115434982A - Compressed air providing mechanism, system and method - Google Patents

Abstract

The invention relates to a compressed air supply device (2) for ventilating a first pressure chamber (10) of a pneumatic actuator (3) in order to actuate an actuating element (11) of the pneumatic actuator (3) according to an actuation specification, in particular a position, a movement, a pressure and/or a force specification. The compressed air supply device (2) is designed to calculate a ventilation time period (bd) and to ventilate the first pressure chamber (10) according to the calculated ventilation time period (bd) in order to actuate the actuating element (11) according to the actuation preset.

Description

Compressed air providing mechanism, system and method

Technical Field

The invention relates to a compressed air supply for ventilating a first pressure chamber of a pneumatic actuator in order to actuate an actuating element of the pneumatic actuator according to an actuation specification, in particular a position, movement, pressure and/or force specification.

Background

For example, the actuation preset is a position preset that presets the actuation element in a specific position, for example, the first position. Furthermore, the actuation presets (as pressure presets and/or force presets) can also be preset in accordance with the pressure and/or force which acts on the actuating element and which is to be obtained by the ventilation of the first pressure chamber.

In order to actuate the actuating element as a function of the position presettings, the first pressure chamber is usually ventilated for as long as the actuating element has reached a specific position, for example the first position, and is ventilated as long as the actuating element is to remain in the specific position, for example the first position.

In order to satisfy the pressure and/or force presets, the pressure of the first pressure chamber is usually regulated. It is often necessary for the pressure regulation to supply compressed air into the first pressure chamber and to discharge compressed air from the first pressure chamber several times during the actuation phase in order to satisfy the pressure and/or force presets. For this purpose, the valve units used for compressed air supply and compressed air discharge must generally perform a plurality of switching movements and/or assume intermediate positions.

Disclosure of Invention

The aim of the invention is to perform the actuation of the actuating element in an efficient manner.

The object is achieved by a compressed air supply device according to claim 1. The compressed air supply device is designed to calculate a ventilation duration and to ventilate the first pressure chamber as a function of the calculated ventilation duration in order to cause the actuation of the actuation element as a function of the actuation presets.

By calculating the ventilation duration and ventilating it as a function of the calculated ventilation duration, it is possible for the compressed air supply to ventilate the first pressure chamber only so long until sufficient compressed air is present in the first pressure chamber to satisfy the actuation preset, i.e. for example to bring the actuating element into a specific position, in particular the first position, and/or to obtain a preset pressure and/or a preset force.

Thereby, the purging of the first pressure chamber can already be ended early, i.e. after the calculated purging duration has ended and thus before the end of the maneuver (that is to say before the maneuver preset is met). Compressed air can be saved by means of a shorter ventilation, so that an effective operation is achieved with regard to the amount of compressed air consumed.

Furthermore, by calculating the ventilation duration and the ventilation as a function of the calculated ventilation duration, it is possible to satisfy the actuation presets, for example the pressure and/or force presets, with only one single ventilation. Preferably, only one switching movement of the valve unit is necessary for a single ventilation (with which a preset, for example a pressure and/or force preset is fulfilled) of the actuation. The switching movement of the valve unit comprises, for example, only one opening of the valve unit and only one closing of the valve unit. In order to be able to satisfy the actuation presets with only one single switching movement, it is possible to reduce the number of switching movements required per actuation, so that efficient operation is also possible with regard to the number of switching movements performed. The valve unit, by means of which the ventilation of the first pressure chamber is provided, is expediently a switching valve, in particular a switching valve without a position control circuit. The switching valve is a valve which (for the respective working outlet) has exactly two switching states, to be precise a completely open switching state and a completely closed switching state. The switching valve has no intermediate state between the fully open switching state and the fully closed switching state. That is to say that the switching valve has only a completely open switching state and a completely closed switching state and furthermore no further switching state, such as, for example, an intermediate state.

Advantageous developments are the subject matter of the dependent claims.

The invention further relates to a system comprising a compressed air supply mechanism and an actuator.

The invention further relates to a method for operating a compressed air supply device or system, comprising the following steps: calculating a ventilation duration and ventilating the first pressure chamber in accordance with the calculated ventilation duration in order to cause a preset maneuver in accordance with the maneuver.

Drawings

Further exemplary details and exemplary embodiments are explained later with reference to the drawings. In this case, the amount of the solvent to be used,

figure 1 shows a schematic illustration of a system,

figure 2 shows a diagram of the pressure in the first pressure chamber and a diagram of the switching state of the first valve unit,

figure 3 shows a diagram of the switching state of the first valve unit and two diagrams of the switching state of the fourth valve unit,

FIG. 4 shows a graph of the pressure in the first pressure chamber and the pressure in the second pressure chamber, an

Fig. 5 shows a flow chart of a method for operating a system or a compressed air supply.

Detailed Description

Fig. 1 shows an exemplary system 1 with a compressed air supply 2 and a pneumatic actuator 3. Optionally, the system 1 further comprises a superordinate control 4, a pneumatic line assembly 5, a sensor device 6, a compressed air source 7, a compressed air sink 8 and/or a control object 9 to be actuated by the pneumatic actuator 3.

The system 1 presents an exemplary application environment for the compressed air supply mechanism 2. Preferably, the compressed air supply means 2 can also be provided by itself.

The system 1, in particular the compressed air supply 2, is expediently configured for industrial applications, in particular for industrial automation, for example for factory automation and/or process automation. The system 1 relates to an industrial automation system, for example. The system 1, in particular the compressed air supply device 2, is expediently designed to manipulate a manipulation object 9, for example to move, grip and/or tension the manipulation object, by means of the actuator 3 in the context of an industrial process, in particular an industrial production process.

The compressed air supply 2 serves to ventilate the first pressure chamber 10 of the pneumatic actuator 3 in order to actuate the actuating element 11 of the pneumatic actuator 3 according to an actuation preset. The actuation presets include, for example, position presets, movement presets, pressure presets, and/or force presets.

The position presetting for example presets the position in which the actuating element 11 can be inserted, in particular the final position. The movement presets can, for example, preset the movement to be performed by means of the actuating element 11. The pressure presets for example preset the pressures for the first pressure chamber 10, the second pressure chamber 20 and/or the pressure difference between the first pressure chamber 10 and the second pressure chamber 20. The force presets, for example, preset the forces that should be applied to the actuating element 11 and/or the control object 9.

The actuation presets, in particular the pressure presets and/or the force presets, expediently define preset ranges, that is to say, in particular, value ranges. The pressure is preset, for example, in a preset pressure value range, in particular in a pressure value range. Furthermore, the force is preset, for example, within a preset force value range, in particular within a force value range.

The compressed air supply device 2 is designed to calculate a ventilation time bd and to ventilate the first pressure chamber 10 according to the calculated ventilation time bd in order to actuate the actuating element 11 according to an actuation preset. The compressed air supply 2 is in particular designed to perform a continuous ventilation of in particular the first pressure chamber 10 in order to actuate the actuating element 11 according to an actuation preset, to be precise, expediently limited to a duration corresponding to the calculated ventilation duration bd.

The compressed air supply device 2 is preferably designed to calculate the ventilation duration bd in response to and/or on the basis of a manipulation preset. Expediently, the compressed air supply 2 is furthermore designed to take into account the pressure in the first pressure chamber 10 and/or in the second pressure chamber 20 and/or system parameters, in particular system constants, of the system 1 when calculating the ventilation time period.

In the following, an exemplary structure of the system 1 and its components should be discussed in more detail with reference to fig. 1:

the compressed air supply means 2 exemplarily comprises a control unit 12, for example a microcontroller, and a valve means 14. The control unit 12 is expediently designed to calculate the ventilation duration bd. The control unit 12 is furthermore expediently designed to actuate the valve mechanism 14 on the basis of the calculated ventilation duration bd in order to initiate ventilation of the first pressure chamber 10 by means of the valve mechanism 14 in order to actuate the actuating element 11 according to an actuation preset. The control unit 12 is in particular a microcontroller. Exemplarily, the control unit 12 has a power consumption of maximum 10 watts.

The valve mechanism 14 illustratively includes a first working outlet 21. Optionally, the valve mechanism 14 further comprises a second working outlet 22. The first working outlet 21 is pneumatically connected with the first pressure chamber 10 via a first line 23 of the line assembly 5, for example a hose. The second working outlet 22 is pneumatically connected with the second pressure chamber 20 of the actuator 3 via a second line 24 of the line assembly 5, for example a hose.

The valve mechanism 14 includes one or more valve units 15. The valve unit 15 exemplarily comprises a first valve unit 16, a second valve unit 17, a third valve unit 18 and/or a fourth valve unit 19. Purely exemplarily, the valve units 15 are connected as full bridges.

The first valve unit 16 is preferably a switching valve. Exemplarily, the first valve unit 16 is a 2/2-way valve, in particular a 2/2-way switching valve. The first valve unit 16 is in particular not a proportional valve. Preferably, a plurality or all of the valve units 15 are embodied as switching valves, 2/2-way valves, in particular 2/2-way switching valves and/or are not embodied as proportional valves. The first valve unit 16 and/or all valve units 15 are embodied as piezo valves.

The first valve unit 16 is connected between the compressed air source 7 and the first working outlet 21. The second valve unit 17 is connected between the compressed air drop 8 and the first working outlet 21. The third valve unit 18 is connected between the compressed air source 7 and the second working outlet 22. The fourth valve unit 19 is connected between the compressed air drop 8 and the second working outlet 22.

The first valve unit 16, in particular each valve unit 15, has two switching states, in particular exactly two switching states. Exemplarily, the first valve unit 16, in particular each valve unit 15 (as switching state) has an open switching state and a closed switching state, respectively. The open switching state is in particular a completely open switching state and the closed switching state is in particular a completely closed switching state. The first valve unit 16, in particular each valve unit 15, is expediently designed as a switching valve and can preferably optionally assume a completely open switching state or a completely closed switching state.

The compressed air supply device 2 is expediently embodied as a valve assembly, for example as a valve island. The valve mechanism 14 is expediently embodied as a valve module, in particular as a disk-shaped valve module. According to a preferred embodiment, the compressed air supply 2 comprises a connecting plate on which a plurality of disk-shaped valve modules are arranged next to one another, wherein the valve mechanism 14 is formed by one or both of the valve modules. Suitably, in each valve module there is a valve mechanism 14 with suitably four valve units 15. The compressed air supply 2 preferably comprises a control module comprising a control unit 12 and is arranged, for example, on a coupling plate. Furthermore, the control unit 12 can also be integrated in a coupling plate or a valve module.

According to an alternative embodiment, the first valve unit and/or the second valve unit is/are designed as a 3/3-way selector valve. Suitably, the first valve unit provides a first working outlet connected to the first pressure chamber and the second valve unit provides a second working outlet connected to the second pressure chamber. The first pressure chamber 10 can optionally be ventilated, vented or locked by means of a first valve unit. The second pressure chamber 20 can optionally be ventilated, vented or locked by means of a second valve unit.

The actuator 3 is exemplarily implemented as a pneumatic cylinder. Exemplarily, the actuator 3 is implemented as double-acting. The actuator 3 comprises an actuating element 11 which can be brought into two different positions, in particular two different end positions, by the application of compressed air. The actuator 3 comprises a first pressure chamber 10 and a second pressure chamber 20, through the ventilation of which the actuating element 11 can be actuated. The actuating element 11 can be brought into a first position, in particular a first end position, by the ventilation of the first pressure chamber 10 (and, expediently, the venting of the second pressure chamber 20). Furthermore, the actuating element 11 can be brought into a second position, in particular a second end position, which is different from the first position, by venting the first pressure chamber 10 (and, expediently, by venting the second pressure chamber 20).

According to a possible embodiment, the actuator 3 can be embodied as single-acting and, for example, comprise a spring element which presses the actuating element 11 into the second position. In a single-acting embodiment, the actuator 3 suitably does not comprise a second pressure chamber.

The actuating element 11 is embodied as an exemplary piston assembly and comprises in particular a piston 25 and/or a piston rod 26 coupled, in particular fixed, to the piston 25. The piston 25 delimits the first pressure chamber 10 (and the second pressure chamber 20, if present). The actuating element 11, in particular the piston rod 26, is coupled to the manipulation object 9, which is manipulated by the movement of the actuating element 11.

The actuator 3 can be configured, for example, as a grasping mechanism for grasping the manipulation object 9 (as a manipulation to be performed). The actuating link 11 is suitably a gripping element.

The actuator 3 is designed, for example, to carry out a long stroke (compared to the diameter of the first pressure chamber 10) by means of the actuating element 11. For example, the distance traveled by the actuating element 11 from the second position into the first position is greater than the diameter of the first pressure chamber 10. Furthermore, the distance traveled by the actuating link 11 from the second position into the first position can be smaller than the diameter of the first pressure chamber 10.

The upstream control unit 4 is communicatively connected to the compressed air supply device 2, in particular to the control unit 12. The control unit 4 of the upper stage is configured, for example, as a programmable control unit, i.e., as an SPS, and/or as a cloud server. The control unit 4 of the previous stage serves in particular to provide the control unit 12 with operating presets.

The sensor means 6 preferably comprise pressure sensor means for detecting one or more pressure values, which are dependent on the pressure in the first pressure chamber 10 and/or the second pressure chamber 20. For example, the pressure sensor arrangement is configured to detect the pressure in the first pressure chamber 10, the pressure in the second pressure chamber 20 and/or the pressure difference between the first pressure chamber 10 and the second pressure chamber 20 and to provide it as a pressure value. The pressure in the first pressure chamber 10 can also be referred to as first pressure and the pressure in the second pressure chamber as second pressure. The pressure sensor means is suitably part of the compressed air supply means 2. The pressure sensor device is integrated in particular in the compressed air supply device 2. The sensor device 6 is suitably communicatively connected to the control unit 12. Alternatively, the pressure sensor mechanism can be arranged at the actuator 3. The sensor device 6 can furthermore comprise a position sensor device for detecting the position of the actuating element 11.

In the following, the ventilation of the first pressure chamber 10 according to the calculated ventilation duration bd should be explained in more detail with reference to fig. 2.

Fig. 2 shows a first diagram (upper diagram), in which the pressure p10 in the first pressure chamber 10 is plotted over the time t. Fig. 2 furthermore shows a second diagram (lower diagram), in which the switching states of the first valve unit 16 are plotted over time. The "1" marked on the vertical axis represents the open switching state of the first valve unit 16 and the "0" represents the closed switching state of the first valve unit 16. The horizontal time axes of the two graphs are synchronized with each other.

As already mentioned above, the compressed air supply device 2 comprises a first valve unit 16 for the ventilation of the first pressure chamber 10. The compressed air supply device 2 is expediently designed to keep the ventilation duration bd calculated by the first valve unit 16 open, i.e. in the open switching state, in order to ventilate the first pressure chamber 10. Furthermore, the compressed air supply device 2 is expediently designed such that the first valve unit 16 is closed directly after the calculated ventilation duration bd has ended.

As shown in fig. 2, the control unit 12 sets the ventilation duration bd calculated by the first valve unit 16 into the open switching state (i.e. the duration of the calculated ventilation duration bd has elapsed) and before and after this (in particular before the start of the ventilation duration bd and after the end of the ventilation duration bd) into the closed switching state.

An exemplary manipulation of the actuating element 11 should be explained with reference to fig. 2. The actuation element 11 is exemplarily brought from the second position into the first position by the manipulation. The actuation takes place within the scope of an actuation process performed by the compressed air supply device 2. The operating process comprises exemplarily three phases directly successive in time to one another, namely an initial phase ip, a ventilation phase bp and a dilation phase ep.

The compressed air supply device 2 is expediently designed to keep the first valve unit 16 closed in the initial phase ip. The compressed air supply device 2 is expediently furthermore designed to keep the second valve unit 17 open or closed in the initial phase ip. Expediently, the compressed air supply device 2 is configured for maintaining the first pressure chamber 10 in a (in particular completely) vented state in the initial phase ip, for example by placing the first working outlet 21 in a vented state, so that the first working outlet 21 is pneumatically connected with the compressed air drop 8.

Exemplarily, the control unit 12 is configured for providing a manipulation preset in the initial phase ip. For example, the control unit 12 receives a manipulation preset from the control unit 4 of the previous stage or the control unit 12 generates a manipulation preset based on the sensor signal of the sensor device 6, for example. The actuation presets exemplarily comprise position presets which preset the position in which the actuating element 11 is to be placed, in particular the first position. Optionally, the actuation presets furthermore comprise a pressure preset, which presets the final pressure pe. The pressure preset, in particular the final pressure pe, is expediently a pressure value range, in particular a pressure value interval. The final pressure pe is preferably the pressure which should be present when the position presets are met (that is to say, in particular, when the actuating element is in the first position). The final pressure pe is suitably the pressure in the first pressure chamber 10 and/or the pressure difference between the first pressure chamber 10 and the second pressure chamber 20.

The compressed air supply device 2 is designed to bring the first valve unit 16 into the open position in response to actuation, and thus to suitably initiate the ventilation phase bp. Exemplarily, the compressed air supply 2 retains or places the second valve unit 17 in a closed switching state. With the first valve unit 16 in the open position, the first pressure chamber 10 is ventilated. Exemplarily, the first pressure chamber 10 is supplied with compressed air from the compressed air source 7 through a first valve unit 16. The first working outlet 21 is exemplarily in a ventilation state in which the first working outlet 21 is pneumatically connected with the compressed air source 7.

Due to the aeration of the first pressure chamber 10, the pressure p10 in the first pressure chamber 10 rises until a starting pressure lbd is reached, at which the pressure p10 in the first pressure chamber 10 is sufficiently high to set the actuating element 11 (out of the rest state) into motion. Exemplarily, the actuating element 11 is moved from a time point at which the pressure p10 reaches the starting pressure lbd into the first position. The pressure p10 drops temporarily after reaching the starting pressure lbd and continues to rise again as long as the first valve unit 16 is opened and the first pressure chamber 10 is ventilated.

The compressed air supply device 2, in particular the control unit 12, is designed to calculate the ventilation duration bd, suitably during the ventilation phase bp and/or during the initial phase ip.

The compressed air supply 2 is designed to monitor the duration of the aeration of the first pressure chamber 10, i.e. exemplarily the duration of the aeration phase bp. The compressed air supply 2 is configured to end the ventilation of the first pressure chamber 10 in response to the duration of the ventilation of the first pressure chamber 10 (that is to say, exemplarily the duration of the ventilation phase bp) reaching the calculated ventilation duration bd, for example by the compressed air supply 2 placing the first valve unit 16 in a closed switching state. The control unit 12 is expediently designed to actuate the valve unit 16 in such a way that the duration of the gas exchange of the first pressure chamber 10 is equal to the calculated gas exchange duration bd. The duration of the ventilation (that is to say the duration from the first valve unit 16 being placed in the open switching state to the first valve unit 16 being placed in the closed switching state) is expediently equal to the calculated ventilation duration bd. The duration of the ventilation phase bd is equal to the calculated ventilation duration bd.

The ventilation of the first pressure chamber 10 and thus in particular the ventilation phase bp is ended by placing the first valve unit 16 in the closed switching state. The ventilation of the first pressure chamber 10 which takes place during the ventilation phase bp can also be referred to as ventilation pulse. The duration of the ventilation pulse is equal to the calculated ventilation duration bd. The ventilation, in particular the ventilation pulse, is expediently continuous, that is to say in particular uninterrupted.

Expediently, the actuation of the actuation element 11 is not yet completed at the time point at which the ventilation phase bp is completed. For example, the actuating element 11 has not yet reached a position preset by a position preset, in particular the first position, and/or the pressure p10 in the first pressure chamber 10 has not yet reached a final pressure pe preset by a pressure preset. Furthermore, the actuating element 11 is moved in the direction of the first position, in particular at the time at which the ventilation phase bp ends.

The inflation phase ep follows the ventilation phase bp. The compressed air supply 2 is configured for closing the first valve unit 16 and preferably the second valve unit 17 in the expansion phase ep. The first working outlet 21 is in a locked state in which the compressed air present in the first line 23 and in the first pressure chamber 10 is locked. The actuating element 11 is also moved in the direction of the first position during the expansion phase. The first pressure chamber 10 becomes larger due to the movement of the actuating element 11. That is, there is an expansion of the first pressure chamber 10. The amount of compressed air in the first system volume formed by the first pressure chamber 10 and the first line 23 is suitably kept constant or at least not increased. The pressure p10 in the first pressure chamber 10 decreases exemplarily, in particular monotonically, in the expansion phase ep.

The actuating element 11 reaches a position preset by the position presetting, for example a first position, and remains stationary. At the point in time when the actuating element 11 reaches the predetermined position, the expansion phase ep is ended. The pressure p10 in the first pressure chamber 10 does not continue to drop. The first working outlet 21 is suitably also maintained in a locked state after the expansion phase ep.

Exemplarily, the pressure p10 in the first pressure chamber 10 reaches a final pressure pe preset according to the pressure at the end of the expansion phase ep.

Preferably, the compressed air supply device 2 is designed to open and close the first valve unit 16 at most once in order to completely actuate the actuating element 11 according to the actuation specification. One opening and one closing shall also be referred to together as a (unique) switching movement of the valve unit 16. In an exemplary manner, the compressed air supply device 2 executes only a single switching movement, i.e. only a single opening and a single closing of the first valve unit 16, during the entire actuation process (i.e. from the provision of the actuation presets until the actuation presets, for example the position presets and/or the pressure presets, are met).

Exemplarily, the compressed air supply device 2 only executes a single closing (and not opening) of the second valve unit 17 or does not execute a single opening and not execute a single closing of the second valve unit 17 during the entire actuation process (that is to say from the provision of the actuation presets until the actuation presets, for example, the position presets and/or the pressure presets, are met). In particular, the compressed air supply device 2 does not perform a venting of the first pressure chamber 10 during the entire actuation process and expediently does not place the first working outlet 21 in a venting state in which the first working outlet 21 is fluidically connected to the compressed air drop 8.

The compressed air supply device 2 can be configured to check (after the execution of the actuation process, in particular after the execution of the first ventilation as a function of the calculated ventilation duration bd) whether a preset actuation is met, for example by means of the sensor device 6, in particular by means of the pressure sensor device and/or the position sensor device. This check is performed, for example, in response to an expired timer and/or in response to the position sensor system detecting that the actuating element 11 has reached a predetermined position. The compressed air supply device 2 is configured to execute a second purging of the first pressure chamber 10 in response to the actuation preset (after execution of the actuation process, in particular, execution of the first purging in accordance with the calculated actuation duration) not being met. For example, the compressed air supply 2, in particular the control unit 12, calculates a second ventilation duration for the second ventilation and executes the second ventilation as a function of the calculated second ventilation duration. The second ventilation can also be referred to as a correction ventilation.

The compressed air supply device 2 can be designed in particular to open the first valve unit 16 at most twice and to close it twice in order to actuate the actuating element 11 completely according to an actuation specification (i.e. in particular to satisfy the actuation specification). The compressed air supply device 2 is in particular designed to execute at most two switching movements by means of the first valve unit 16 in order to satisfy the actuation specification.

The compressed air supply 2 is expediently designed to terminate the ventilation of the first pressure chamber 10 before the actuating element 11 is completely actuated, depending on the calculated ventilation duration bd. As already explained above, the compressed air supply 2, in particular the control unit 12, is expediently configured to end the ventilation of the first pressure chamber 10 at a point in time at which the actuating preset, in particular the position preset, and/or the pressure preset has not yet been met. For example, the compressed air supply 2 ends the ventilation of the first pressure chamber 10 at a point in time at which the actuating element 11 is still moved toward the position preset by the position preset and/or the pressure p10 of the first pressure chamber 10 has not yet reached the final pressure pe preset by the pressure preset.

The compressed air supply device 2, in particular the control unit 12, is preferably designed to calculate the ventilation duration bd in such a way that it is shorter than the duration required (since the start of the ventilation phase bp) in order to satisfy the actuation presets, in particular the position presets and/or the pressure presets.

Fig. 2 shows the assumed pressure profile p10a as a dashed line. The assumed pressure course p10a is given in the assumed case in which the first pressure chamber 10 is also being ventilated in the expansion phase ep; for example when the first valve unit 16 is kept in an open switching state during the expansion phase ep. Exemplarily, in this case the pressure in the first pressure chamber 10 continues to rise (or at least not fall) during the expansion phase ep. At the end of the assumed pressure course p10h, an assumed final pressure peh in the first pressure chamber 10 results. The assumed final pressure peh is greater than the actual final pressure pe. Between the assumed final pressure peh and the actual final pressure pe, a pressure difference is obtained which indicates how much pressure is saved and, accordingly, how much compressed air is saved, by terminating the ventilation of the first pressure chamber 10 before the actuation, in particular the movement of the actuating element into the first position, has been completely carried out.

Subsequently, the calculation of the ventilation duration bd should be discussed in more detail. The ventilation duration bd can also be referred to as ventilation time and is expediently a time value, in particular a time value which describes a time period. The calculation of the ventilation duration bd takes place in particular by the control unit 12.

The compressed air supply 2 is in particular designed to calculate the ventilation duration bd on the basis of one or more pressure values and/or operating presets of one or more system parameters, in particular position presets and/or pressure presets.

The compressed air supply 2 is preferably designed to take into account one or more pressure values when calculating the ventilation time period bd, in particular pressure values which depend on the pressure and/or the pressure change in the first pressure chamber 10 and/or the second pressure chamber 20. The compressed air supply 2 is expediently configured to take into account the starting pressure lbd in the first pressure chamber 10, the feed pressure, the initial pressure in the second pressure chamber 20, the target pressure for the first pressure chamber 10, the final pressure of the first pressure chamber 10 during a previous actuation of the actuating element 11 and/or the pressure change in the pressure in the first pressure chamber 10 and/or the second pressure chamber 20 as one or more pressure values.

The compressed air supply device 2 is expediently designed to determine the continuously measured difference between the pressures of the first pressure chamber 10 and the second pressure chamber 20 when calculating the ventilation period bd.

The supply pressure is, for example, the pressure provided by the compressed air source 7, in particular the maximum pressure. The initial pressure (in the first pressure chamber 10 and/or the second pressure chamber 20) is, for example, the pressure present in the initial phase ip and/or in the ventilation phase bp. The initial pressure is, for example, the pressure prevailing directly after the start of the ventilation phase bp and/or after the start of the ventilation phase bp after the end of a predetermined time. The target pressure is suitably a pressure preset by a pressure preset. The final pressure is expediently the pressure which has already been detected by means of the sensor device 6 during a previous actuation of the actuating element 11 if the actuation preset is met, in particular if the position preset is met. The pressure change, in particular the pressure increase, is for example the rate of pressure change of the pressure in the ventilation phase bp, in particular in the first pressure chamber 10 directly after the start of the ventilation phase bp.

Preferably, the compressed air supply 2 is configured for calculating a ventilation duration bd during ventilation of the first pressure chamber 10. Expediently, the compressed air supply 2 is designed to calculate the ventilation duration bd during the ventilation phase bp, that is to say in particular after the first valve unit 16 has been placed in the open switching position. The compressed air supply 2 is in particular designed to take into account one or more pressure values when calculating the ventilation duration bd, which can be detected after the start of the ventilation phase bp and/or are dependent on the ventilation of the first pressure chamber 10 (during the ventilation phase bp).

The compressed air supply 2 is preferably designed to take into account one or more system parameters, in particular system constants, when calculating the ventilation duration bd. The system parameters depend, for example, on the geometry, in particular the volume and/or the nominal width of the system volume to be ventilated during the ventilation of the first pressure chamber 10. The system volume comprises for example the volume of the first pressure chamber 10 and the volume of the first line 23.

The compressed air supply 2 is preferably designed to calculate the ventilation duration bd using machine learning, in particular using regression of random forests and/or artificial neural networks. The regression includes, for example, a linear regression and/or a support vector regression. The compressed air supply device 2 is in particular designed to calculate the ventilation duration bd when an algorithm is applied, in particular when a machine-learned algorithm is applied. Suitably, the compressed air supply means 2 is configured to calculate the ventilation duration bd as an estimated value. That is to say, the control unit 12 is configured in particular for estimating the ventilation duration bd. Preferably, the compressed air supply 2, in particular the control unit 12, comprises a predictor unit in order to estimate the ventilation duration bd.

Optionally, the compressed air supply means 2 is configured to calculate the ventilation duration bd based on a model. Suitably, the model takes into account a plurality of variables of parameter values of one or more system parameters. The model is suitably provided in the control unit 12. Preferably, the model describes, for the ventilation duration bd, a manipulation preset, one or more pressure values and/or one or more system parameters. The control unit 12 is configured to calculate the ventilation duration bd, applying the model.

The compressed air supply 2 is expediently designed to adapt the model in continuous operation, in particular on the basis of a previous actuation of the actuating element 11. Preferably, the compressed air supply 2 is configured to adapt the model on the basis of the detected final pressure in the first pressure chamber 10 that is present after the previous actuation of the actuating element 11 has been carried out (and has been detected, for example, by the sensor device 6). For example, the compressed air supply 2 is designed to compare the detected final pressure with a corresponding associated pressure preset in order to determine a pressure deviation and to adapt the model on the basis of said pressure deviation. The compressed air supply 2 is configured to form an average value of the pressure deviations and to provide a sliding correction factor for adapting the model on the basis thereof.

Preferably, the compressed air supply mechanism 2 is configured to perform pressure correction of the first pressure chamber 10 in random intervals, for example, intervals from 50 to 200 ms.

The compressed air supply device 2 is expediently designed to carry out a plurality of manipulations of the actuating element 11 and to calculate a corresponding ventilation duration bd for each manipulation. The compressed air supply 2 is in particular designed to calculate a respective individual ventilation duration bd for each maneuver to be performed. Expediently, the compressed air supply device 2 is designed to carry out a plurality of manipulations of the actuating element 11, and a respective ventilation duration bd is calculated for each manipulation individually. The compressed air supply device 2 is in particular designed to calculate a respective ventilation time bd at each actuation of the actuating element 11, taking into account a respective actuation preset for the actuation and/or one or more respective pressure values, which are detected in particular in a respective ventilation phase bp.

In the following, possible variants for the venting of the second pressure chamber 20 during the actuation process should be discussed with reference to fig. 3.

Fig. 3 shows a first (uppermost) diagram, which corresponds to the second diagram of fig. 2 and shows the switching state of the first valve unit 16. Fig. 3 furthermore shows a second (intermediate) diagram which shows the switching state of the fourth valve unit 19 according to the first variant. Fig. 3 furthermore shows a second (lowermost) diagram which shows the switching state of the fourth valve unit 19 according to a second variant.

The fourth valve unit 19 serves to pneumatically connect the second working outlet 22 to the compressed air drop 8 in order to bring the second working outlet 22 into the exhaust state and thus to (in particular completely) exhaust the second pressure chamber 20.

Exemplarily, the compressed air supply mechanism 2 is configured to keep the second pressure chamber 20 in a ventilation state at the beginning of the initial phase ip and/or at the beginning of the ventilation phase bp. In the ventilating state, the second pressure chamber 20 counteracts the actuation of the actuating element 11, in particular the movement of the actuating element into the first position.

The compressed air supply 2 is preferably designed to vent the second pressure chamber 20 (in particular completely) within the scope of the actuation of the actuating element 11 before the beginning of the ventilation of the first pressure chamber 10. As shown in the second diagram of fig. 3, the compressed air supply device 2 is exemplary configured such that the second pressure chamber 20 is already vented in the initial phase ip. For example, the compressed air supply device 2 places the fourth valve unit 19 in the open switching position during the initial phase ip (i.e., before the ventilation phase bp).

Furthermore, the compressed air supply 2 can be designed in such a way that, within the scope of the actuation of the actuating element 11, the second pressure chamber 20 is vented only after the beginning of the ventilation of the first pressure chamber 10. As shown in the third diagram of fig. 3, the compressed air supply device 2 is configured in an exemplary manner such that the second pressure chamber 20 is vented only during the ventilation phase bp. For example, the compressed air supply device 2 does not place the fourth valve unit 19 in the open switching position until after the first valve unit 16 has been placed in the open switching position. In this way, the movement of the actuating element 11 can be suitably damped and/or braked.

According to a further variant, the compressed air supply device 2 can be configured to simultaneously place the fourth valve unit 19 and the first valve unit 16 in an open switching position.

Subsequently, the automatic mode should be explained with reference to fig. 4. Fig. 4 shows the temporal profile of the first pressure p10 in the first pressure chamber 10 and the second pressure p20 in the second pressure chamber 20 during the actuation process.

The compressed air supply 2 is exemplary configured to occupy an automatic mode and in the automatic mode an actuation preset, in particular a pressure preset, is determined independently, in particular individually for each actuation. For example, in the automatic mode, the compressed air supply 2 automatically determines the final pressure pe that the first pressure chamber 10 should have when the actuating element 11 has reached the first position as the pressure preset. Exemplarily, the compressed air supply device 2 is configured to determine an actuation preset, in particular a pressure preset, for example a final pressure pe, on the basis of a starting pressure lbd detected during the ventilation of the first pressure chamber 10. The starting pressure lbd is suitably the pressure difference between the first pressure chamber 10 and the second pressure chamber 20. The starting pressure lbd is the pressure at which the actuating element 11 starts moving (out of the standstill) in the ventilation phase bp. Exemplarily, the compressed air supply device 2 is configured to use the detected starting pressure lbd as the pressure preset, in particular the final pressure pe.

The compressed air supply 2 is in particular designed to determine the actuation setpoint on the basis of the starting pressure lbd in the second pressure chamber 20 and/or the initial pressure and/or the continuously measured difference between the pressures of the first pressure chamber 10 and the second pressure chamber 20.

The compressed air supply device 2 expediently has an operating device and/or a communication interface, by means of which a user can optionally activate or deactivate the automatic mode. If the automatic mode is deactivated, the compressed air supply 2 preferably assumes a preset mode in which the compressed air supply 2 uses a target pressure (for example, by the control 4 of the previous stage) as a pressure preset, in particular the final pressure pe.

Subsequently, a method for operating the compressed air supply mechanism 2 should be described with reference to fig. 5.

The method comprises an optional step S1 in which a plurality of training maneuvers are performed. During each training maneuver, the first pressure chamber 10 and/or the second pressure chamber are ventilated and one or more pressure values, in particular one or more pressure profiles, are detected by means of the sensor device 6. The training maneuver is used, in particular, to generate a model on the basis of which the calculation of the ventilation duration bd is performed. In other words, training data are generated in particular by means of a training operation in order to create a model, for example a statistical model. The model is, for example, a measurement database and can have, for example, a curve region. The training manoeuvre is suitably performed by means of a training system and/or a training compressed air supply. Exemplarily, the training maneuver is performed before the compressed air providing mechanism 2 is used in the system 1. For a training maneuver, suitably parameter values of one or more system parameters, such as the volume of the first pressure chamber and/or the volume of the first line 23, are changed. Suitably, various combinations of different line assemblies 5, actuators 3, valve mechanisms 14 and/or valve units 15 are used in performing the training manoeuvre.

The method continues with a further optional step S2, wherein one or more configuration manipulations are performed. During each configuration operation, the first pressure chamber 10 and/or the second pressure chamber 20 are/is ventilated, preferably in a state in which the actuating element 11 is fixed in the first position or in the second position. In each configuration operation, one or more pressure values, in particular one or more pressure profiles, are detected by means of the sensor device 6. The configuration operation is carried out when the compressed air supply device is put into operation in the application system, for example, the system 1. One or more configuration manipulations are performed in a state in which the compressed air supply mechanism 2 is installed in the application system. In particular, system parameters of the evaluation application are determined by means of configuration manipulation. Preferably, no manual input of system parameters is made. By means of configuration management, the compressed air supply 2 matches a model, by means of which the ventilation time period bd is calculated, to the system parameters of the application system, that is to say, for example, to the volume of the first line 23 and/or to the volume of the first pressure chamber 10. That is, based on the configuration manipulation, the compressed air supply mechanism 2 matches the calculation of the ventilation duration bd with the application system.

Based on one or more configuration manipulations, in particular, a time constant can also be determined as a system parameter, which time constant indicates how quickly the pressure p10 in the first pressure chamber 10 rises when the first pressure chamber 10 is ventilated.

The method furthermore comprises a third step S3, in which the ventilation duration bd is calculated. The calculation is carried out in particular as already explained above, that is to say, for example, during the ventilation phase bp.

The method further comprises a fourth step S4 in which the first pressure chamber 10 is ventilated as a function of the calculated ventilation duration bd in order to initiate a preset maneuver as a function of the maneuver. The ventilation takes place in particular as already explained above.

Optionally, the method further comprises a fifth step S5, in which the model on which the ventilation duration bd is calculated is adapted taking into account the actuation of the actuating element 11 performed in step S4, for example taking into account the final pressure pe achieved in this case. The method then optionally continues with step S3.

As explained above, the system 1 can thus comprise (in particular four independently switchable) 2/2-way switching valves (for example the valve unit 15), two pressure sensors (for example the sensor device 6) and an algorithm (in particular provided on the control unit 12) for actuating the four switching valves. The switching valve is switched on for a certain time (for example the calculated ventilation duration bd) at the end of the movement of the actuating element 11 (or at the end of the ventilation of the volume of the first pressure chamber 10, for example) to reach the previously determined final pressure pe (for example the pressure preset).

The necessary time (for example, the ventilation duration bd) can be determined before the goal is achieved, i.e. before the actuating element 11 has performed the movement completely or before the determined final pressure pe has been reached. The necessary time can be determined based on a combination of a previously determined system parameter (e.g., time constant) and a current operating pressure (e.g., pressure value). The switching valve has for example only the positions "on" and "off". In normal operation, the target range (e.g., actuation preset) is preferably implemented by means of only one single switching movement. In continuous operation, the algorithm can be further optimized for its accuracy based on experience (e.g., previous manipulations), particularly by correction factors or reinforcement learning.

The system 1 can comprise an automatic mode in which the force (e.g. pressure preset) required for the current movement of the control object 9 is estimated from the pressure course (e.g. from the starting pressure) and the required target range (in particular pressure preset) is determined on the basis thereof, in particular independently and/or in a situation-dependent manner.

Preferably, that is to say that the pressure in the first pressure chamber 10 can be set by means of a simple switching valve (for example the valve unit 15) with only one single switching movement. This makes it possible to avoid particularly disturbing noises, such as rattling, which occur when a plurality of switching movements are performed in sequence for pressure adjustment.

Furthermore, the ventilation time (e.g. ventilation duration bd) can be predicted on the basis of an algorithm which links its support point (St ü tzpunkte) to a known combination of system parameters and system states (e.g. pressure values). For example using a machine-learned algorithm that has been trained by means of laboratory tests (for example during the first step S1 mentioned before).

Furthermore, the system 1 can be operated in an automatic mode, in which preferably only as much compressed air (for the ventilation of the first pressure chamber 10) as is necessary with the currently existing load (that is to say, for example, the force acting on the actuating element 11) is used in order to carry out the movement according to the movement preset and to keep the actuating element 11 stable in the final position.

Claims (22)

1. Compressed air supply device (2) for industrial automation for ventilating a first pressure chamber (10) of a pneumatic actuator (3) in order to operate an actuating element (11) of the pneumatic actuator (3) according to an operating preset, in particular a position, movement, pressure and/or force preset, wherein the compressed air supply device (2) is designed to calculate a ventilation duration (bd) and to ventilate the first pressure chamber (10) according to the calculated ventilation duration (bd) in order to cause the actuating element (11) to be operated according to the operating preset.

2. Compressed air providing mechanism (2) according to claim 1, comprising a first valve unit (16) for ventilating the first pressure chamber (10), wherein the compressed air providing mechanism (2) is configured for keeping open the first valve unit (16) for as long as the calculated ventilation duration (bd) for ventilating the first pressure chamber (10) and for closing the first valve unit (16) directly after the calculated ventilation duration (bd) has ended.

3. The compressed air providing mechanism (2) according to claim 2, wherein the first valve unit (16) is a switching valve.

4. A compressed air supply mechanism (2) according to claim 2 or 3, wherein the compressed air supply mechanism (2) is configured for opening and closing the first valve unit (16) at most twice, in particular at most once, for fully actuating the actuating link (11) in accordance with the actuation presets.

5. The compressed air providing mechanism (2) according to the preceding claim, wherein the compressed air providing mechanism (2) is configured to end the ventilation of the first pressure chamber (10) according to the ventilation duration (bd) before the actuation link (11) is fully manipulated.

6. The compressed air providing mechanism (2) according to the preceding claim, wherein the compressed air providing mechanism (2) is configured for calculating the ventilation duration (bd) during ventilation of the first pressure chamber (10).

7. A compressed air supply mechanism (2) according to any of the preceding claims, wherein the compressed air supply mechanism (2) is configured for performing a plurality of manipulations of the actuation link (11) and for each manipulation separately calculating a respective ventilation duration (bd).

8. Compressed air providing mechanism (2) according to the preceding claim, wherein the compressed air providing mechanism (2) is configured to calculate the ventilation duration (bd) applying machine learning, in particular applying regression of random forests and/or artificial neural networks.

9. The compressed air supply device (2) according to the preceding claim, wherein the compressed air supply device (2) is configured to calculate the ventilation duration (bd) on the basis of a model and to adapt the model in continuous operation, in particular on the basis of a previous manipulation of the actuating element (11).

10. Compressed air providing mechanism (2) according to the preceding claim, wherein the compressed air providing mechanism (2) is configured to take into account one or more pressure values, in particular pressure values depending on the pressure and/or pressure changes in the first pressure chamber (10) and/or second pressure chamber (20), when calculating the ventilation duration (bd).

11. The compressed air supply mechanism (2) according to claim 10, wherein the compressed air supply mechanism (2) is configured to take into account a starting pressure in the first pressure chamber (10), a supply pressure, an initial pressure in the second pressure chamber (20), a target pressure for the first pressure chamber (10), a final pressure of the first pressure chamber (10) upon a previous manipulation of the actuation ring (11) and/or a pressure change of the pressure in the first pressure chamber (10) as the one or more pressure values.

12. The compressed air providing means (2) according to the preceding claim, wherein the compressed air providing means (2) is configured to take into account one or more system parameters, in particular system constants, when calculating the ventilation duration (bd).

13. Compressed air providing mechanism according to claim 12, wherein the system parameters depend on the geometrical dimensions, in particular the volume and/or the nominal width of the system volume to be ventilated when the first pressure chamber (10) is ventilated.

14. The compressed air providing means (2) according to claim 12 or 13, wherein the compressed air providing means (2) is configured to calculate the ventilation duration (bd) based on a/the model, the model taking into account a plurality of variables of parameter values of the one or more system parameters.

15. The compressed air supply device (2) according to the preceding claim, wherein the compressed air supply device (2) is configured to determine the actuation presets, in particular the pressure presets and/or the force presets, independently, in particular individually for each actuation.

16. The compressed air providing mechanism (2) according to claim 15, wherein the compressed air providing mechanism (2) is configured to determine the manipulation preset based on a starting pressure (lbd) detected when the first pressure chamber (10) is ventilated.

17. The compressed air providing mechanism (2) according to claim 15 or claim 16, wherein the compressed air providing mechanism (2) is configured to determine the manipulation preset based on an initial pressure in the second pressure chamber (20) and/or a continuously measured difference between the pressures of the first and second pressure chambers (10, 20).

18. Compressed air supply device according to the preceding claim, further comprising a/the second pressure chamber (20) which, in the ventilated state, counteracts the actuation of the actuating element (11), wherein the compressed air supply device (2) is configured to vent the second pressure chamber (20) within the range of the actuation of the actuating element (11) before or after the ventilation of the first pressure chamber (10) has started.

19. System (1) comprising a compressed air providing mechanism (2) according to the preceding claim and an actuator (3).

20. Method for operating a compressed air supply device (2) according to one of claims 1 to 18 or a system (1) according to claim 19, comprising the following steps: -calculating (S3) the ventilation duration (bd) and ventilating (S4) the first pressure chamber (10) according to the calculated ventilation duration (bd) in order to cause a manipulation preset according to a manipulation.

21. The method according to claim 20, comprising the further step of: when the compressed air supply device is put into operation in an application system, one or more configuration operations of the actuating element (11) are carried out (S2) in a state in which the compressed air supply device (2) is installed in the application system in order to adapt the calculation of the ventilation time period (bd) to the application system.

22. The method according to claim 20 or 21, comprising the further step of: performing (S1) a plurality of training maneuvers, wherein parameter values of one or more system parameters are varied for generating a model, based on which the calculation of the ventilation duration (bd) is performed.

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