EP0101573B1 - Driving element for handling devices - Google Patents

Driving element for handling devices Download PDF

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Publication number
EP0101573B1
EP0101573B1 EP83107357A EP83107357A EP0101573B1 EP 0101573 B1 EP0101573 B1 EP 0101573B1 EP 83107357 A EP83107357 A EP 83107357A EP 83107357 A EP83107357 A EP 83107357A EP 0101573 B1 EP0101573 B1 EP 0101573B1
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EP
European Patent Office
Prior art keywords
pressure
valve
control
tool
piston
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Expired
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EP83107357A
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German (de)
French (fr)
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EP0101573A1 (en
Inventor
Josef Nutt
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Wagner International AG
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Wagner International AG
J Wagner AG
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Priority to AT83107357T priority Critical patent/ATE17390T1/en
Publication of EP0101573A1 publication Critical patent/EP0101573A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area

Definitions

  • the invention relates to a drive device for a uniaxial handling device with an adjusting piston which can be acted upon on both sides by compressed air and which is displaceably inserted in a pressure cylinder, by means of which a height-adjustable tool, for example a spray gun, is connected directly or via intermediate links.
  • Drive devices of this type are known in numerous different configurations and have also proven themselves in practice.
  • compressed air of the same pressure is alternately supplied to the two pressure chambers of the cylinder, and the adjustment speed of the adjustment piston is regulated by venting the pressure chamber not connected to the pressure medium line. Since the weight of the tool acting on the adjusting piston is thus not compensated for, the adjustment speeds when lowering are sometimes considerably higher than when lifting the workpiece.
  • the adjusting piston remains at rest in the lower turning point for a relatively long period of time and that a considerably greater acceleration distance has to be covered than in the upper turning point.
  • the deceleration and acceleration characteristics are therefore very different in the reversal points.
  • the lifting speed cannot be changed or can only be changed with great effort for another purpose.
  • the known drive devices are therefore not to be used or can be used only with difficulty in automatic production systems.
  • the perpendicularly directed force caused by the mass of the tool should be without influence on the adjustment movements and thus be balanced.
  • this is achieved in that, in the rest position of the handling device, the two pressure chambers assigned to the adjusting piston are constantly pressurized with compressed air of different pressure in order to compensate for the weight force acting on them, and that in order to operate the handling device, the two pressure chambers can alternately also be pressurized with compressed air of different pressure and can be alternately ventilated via, preferably adjustable, throttles by means of control valves, and that a vent valve, which is open for an adjustable period of time, is connected to the pressure chamber, which is vented when the tool is lifted, for accelerated outflow of the compressed air.
  • both pressure medium supply lines can also be provided with a pressure regulator, or the pressure line leading to the higher pressure chamber can be branched off between two pressure regulators so that the pressures required in each case can be set exactly.
  • branch lines which are adjustable by limit switches which can be actuated directly by the adjusting piston or via intermediate elements, such that the valve interacting with the limit switch assigned to the lower operating position of the tool lowers the pressure chamber Pressure-associated vent valve and via the valve interacting with the limit switch assigned to the upper operating position of the workpiece, a changeover valve can be connected via the branch lines to the pressure medium supply line of low pressure or can be switched over by the pressure prevailing therein.
  • a switching valve to the low-pressure pressure line, which is connected via control lines to the changeover valve and an OR valve, that the changeover valve is connected via control lines to the control valves assigned to the pressure chambers of the pressure cylinder and through the OR -Valve and the pressure switch associated with the pressure chamber of the lower limit interacting valve supplied control pulses is switchable. This ensures that an upward stroke is always carried out when the drive device is started up.
  • the opening time of the vent valve can be set in a simple manner by means of a control cam cooperating with the adjusting piston, by means of a time switch relay or the like. It is also appropriate to arrange the limit switches to be height-adjustable in order to set the adjusting path of the adjusting piston.
  • the drive device designed according to the invention is not only economical to manufacture without great construction costs, since commercially available components can be used for this purpose to a large extent, but it also enables the function of a tool, the height of which can be changed by means of an adjusting piston, to be very cheap influence. If the two pressure chambers of the pressure cylinder are constantly subjected to pressure medium of different pressure, then the weight force acting on the adjusting piston is balanced and the adjusting movements are merely by venting one or the other pressure chamber. And if a vent valve that can be opened for a certain period of time is connected to the pressure chamber vented when the workpiece is lifted, the compressed air can flow out of this pressure chamber quickly.
  • the adjusting piston can thus be accelerated to the preselected adjusting speed in a short time, since the counterforce is low when the vent valve is open.
  • the additional outflow of air ensures that the force required to accelerate the mass and to overcome gravity is reached in a short time due to the pressure difference in the two pressure chambers.
  • the deceleration and acceleration characteristics are therefore almost the same for the upper and lower reversal point, so that the tool can be used over a large adjustment range of the adjustment piston under constant conditions.
  • the adjustment speeds to z. B. apply a layer of varnish of different thickness to a workpiece without difficulty adaptable to the respective conditions.
  • the drive device shown in FIGS. 1 and 2 and designated 11 is assigned to a handling device 1 which has a pressure cylinder 2, an adjusting piston 3 slidably inserted therein and a schematically illustrated tool 4, e.g. B. has a paint spray gun.
  • the pressure chambers 5 and 6 of the pneumatic pressure cylinder 2 are connected to a pressure medium source 12 via pressure medium supply lines 13 and 14, so that a pressure medium pressure can be built up therein.
  • the weight of the horizontally adjustable workpiece 4, which is indicated by the arrow 8, is balanced in the drive device 11, the adjusting piston 3 is thus clamped by different pressures prevailing in the pressure chambers 5 and 6, and its adjustment movement is only achieved by venting the pressure chambers 5 or 6 accomplished.
  • a pressure regulator 16 is inserted into the pressure medium supply line 14 after the pressure medium supply line 13 has branched off, by means of which the pressure can be reduced.
  • the upstream pressure regulator 15 only serves to eliminate pressure fluctuations in the pressure medium flowing in from the pressure source 12.
  • Valves 18 and 20 are inserted into the pressure medium supply lines 13 and 14, via which the pressure chambers and 6 are to be connected to the atmosphere via adjustable throttles 19 and 21. Furthermore, a switching valve 17 is connected to the pressure medium supply line 14, which via control lines 29 and 30 with an OR. Valve 28 and a changeover valve 27 which can also be influenced by this is connected.
  • the height-adjustable limit switches 23 and 25 are provided by the adjustment piston 3 via a control cam 7 which is attached to the control cam 7 and can thus be actuated by the valves 24 and 26 depending on the operating position of the adjustment piston 3.
  • the valves 24 and 26 are connected via branch lines 33 and 34 to the pressure medium supply line 14 and via control lines 35 and 36 to the vent valve 22 and the changeover valve 27, respectively, so that switching pulses are supplied to them in a specific operating position of the valves 24 and 26 can be.
  • the vent valve 22 is connected directly to the valve 20, so that the pressure chamber 6 can be vented rapidly in one of the two operating positions of the valve 20, in addition to the throttle 21 and also via the vent valve 22.
  • the valves 18 and 20 receive the switching impulses via control lines 31 and 32 from the changeover valve 27, which is also connected to the OR valve 28 via a control line 37.
  • a control pulse from the control line 35 can also be fed to the latter via a further control line 38.
  • both pressure chambers 5 and 6 are under pressure.
  • the pressure in the pressure chamber 6 is reduced by means of the pressure regulator 16 and is therefore smaller than the pressure prevailing in the pressure chamber 5, in such a way that the weight force 8 of the tool 4 is kept in balance due to the differential pressure.
  • the adjusting piston 3 can only move upwards be adjusted.
  • the switching valve 17 is brought into the position shown in FIG. 2.
  • the valve 26 is adjusted so that the reversing valve 27 receives a control pulse via the branch line 34 and the control line 36.
  • the control line 31 is connected to the control line 30 connected to the pressure medium supply line 14, the valve 18 is also adjusted as a result thereof, so that the pressure chamber 5 is thus vented via the throttle 19.
  • the adjusting movement of the adjusting piston 3 is automatically reversed in this way.
  • the rate of descent can be adjusted using throttle 1 9.
  • the adjusting movements of the adjusting piston can be interrupted at any time by actuating the switching valve 17, but when starting up again, an upward movement is always carried out again.
  • the branch line 33 connected to the pressure medium supply line 14 is connected to the control line 35 via the valve 24, the vent valve 23 thus receives a control pulse.
  • the OR valve 28 is also influenced and switched over via the control line 38, so that the reversing valve 27 is also actuated via the control line 37.
  • the control line 32 is connected to the pressure medium supply line 14 via the control line 30, the valve 20 is switched over and the pressure chamber 6 is additionally vented.
  • the venting takes place very quickly, namely the vent valve 22 is open as long as the valve 24 via the limit switch 23 and by the control cam 7 or an equivalent means remains activated. If the limit switch 23 assumes the position shown in FIG. 1, the valve 24 and also the vent valve 22 connected to it immediately drop off, the pressure medium located in the pressure chamber 6 can then only flow out via the throttle 21 with a delay, whereby the latter Adjustment speed can be adjusted.
  • the adjusting piston 3 can thus be quickly accelerated over a short distance to the predetermined adjusting speed by additionally reducing the pressure prevailing in the pressure chamber 6 for an adjustable period of time.
  • the acceleration and deceleration characteristics can therefore be designed the same in the upper and lower reversal point, since the additional flow of air from the pressure chamber 6 means that the force required to accelerate the workpiece 4 and to overcome gravity is reached in a short time due to the large pressure difference.
  • the reversing valve 27 is always brought into such a switching position by means of the OR valve 28 that only a vertical movement of the workpiece 3 can be carried out when starting up again, a high level of operational reliability is also provided.

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  • Fluid-Pressure Circuits (AREA)
  • Nozzles (AREA)

Abstract

1. Driving device for an one axle manipulator with an adjustment piston shiftable in a pressure cylinder by compressed air in both directions, by means of which piston directly or via intermediate parts a tool adjustable in height, for example a spray gun, is gearably connected, characterised in that both of the pressure chambers (5, 6) adjoined to the adjustment piston (3) in order to equalize the weight power (arrow 8) acting against the adjustment piston are permanently applied to compressed air of different pressure, that both of the pressure chambers (5, 6) via preferably adjustable throttles (19, 21) connectable via control valves (18, 20) are mutually vented and that in order to accelerate leading out the compressed air from the vented pressure chamber (6) when lifting the tool (4), to the pressure chamber a vent valve (22) is connected opened during an adjustable time.

Description

Die Erfindung bezieht sich auf eine Antriebseinrichtung für ein einachsiges Handhabungsgerät mit einem beidseitig von Druckluft beaufschlagbaren, in einem Druckzylinder verschiebbar eingesetzten Verstellkolben, mittels dem unmittelbar oder über Zwischenglieder ein höhenverstellbar angeordnetes Werkzeug, beispielsweise eine Spritzpistole, trieblich verbunden ist.The invention relates to a drive device for a uniaxial handling device with an adjusting piston which can be acted upon on both sides by compressed air and which is displaceably inserted in a pressure cylinder, by means of which a height-adjustable tool, for example a spray gun, is connected directly or via intermediate links.

Antriebseinrichtungen dieser Art sind in zahlreichen unterschiedlichen Ausgestaltungen bekannt und haben sich in der Praxis auch bewährt. Den beiden Druckräumen des Zylinders wird hierbei aber, um eine Verstellbewegung vorzunehmen, Druckluft gleichen Druckes wechselweise zugeführt und durch Entlüftung des nicht an die Druckmittelleitung angeschlossenen Druckraumes wird die Verstellgeschwindigkeit des Verstellkolbens geregelt. Da somit die auf den Verstellkolben einwirkende Gewichtskraft des Werkzeuges nicht ausgeglichen wird, sind die Verstellgeschwindigkeiten beim Absenken mituntererheblich höher als beim Anheben des Werkstückes. Vor allem ist von Nachteil, dass der Verstellkolben im unteren Umkehrpunkt eine verhältnismässig lange Zeitspanne in Ruhe verharrt und eine wesentlich grössere Beschleunigungsstrecke zu durchfahren ist als im oberen Umkehrpunkt. Die Verzögerungs- und Beschleunigungscharakteristiken sind daher in den Umkehrpunkten sehr unterschiedlich. Ausserdem ist die Hubgeschwindigkeit nicht oder nur mit grossem Aufwand für einen anderen Einsatzzweck veränderbar. In automatischen Fertigungsanlagen sind daher die bekannten Antriebseinrichtungen nicht oder nur unter Schwierigkeiten einzusetzen.Drive devices of this type are known in numerous different configurations and have also proven themselves in practice. In order to make an adjustment movement, compressed air of the same pressure is alternately supplied to the two pressure chambers of the cylinder, and the adjustment speed of the adjustment piston is regulated by venting the pressure chamber not connected to the pressure medium line. Since the weight of the tool acting on the adjusting piston is thus not compensated for, the adjustment speeds when lowering are sometimes considerably higher than when lifting the workpiece. Above all, it is disadvantageous that the adjusting piston remains at rest in the lower turning point for a relatively long period of time and that a considerably greater acceleration distance has to be covered than in the upper turning point. The deceleration and acceleration characteristics are therefore very different in the reversal points. In addition, the lifting speed cannot be changed or can only be changed with great effort for another purpose. The known drive devices are therefore not to be used or can be used only with difficulty in automatic production systems.

Es ist demnach Aufgabe der Erfindung, die Antriebseinrichtung der vorgenannten Gattung in der Weise zu verbessern, das nicht nur die Verstellgeschwindigkeit des Verstellkolbens in beiden Verstellrichtungen auf einfache Weise veränderbar und damit einstellbar ist, sondern dass auch gleiche Beschleunigungen beim Anheben und Absenken des Werkstückes gegeben sind, so dass die Verstellgeschwindigkeiten in beiden Verstellrichtungen in den Bereichen, in denen das Werkstück in Funktion ist, ebenfalls gleich sind. Die durch die Masse des Werkzeuges bedingte lotrecht gerichtete Kraft soll ohne Einfluss auf die Verstellbewegungen und somit ausgeglichen sein.It is therefore an object of the invention to improve the drive device of the aforementioned type in such a way that not only the adjustment speed of the adjustment piston can be easily changed and thus adjusted in both adjustment directions, but also that the same accelerations are given when lifting and lowering the workpiece , so that the adjustment speeds in both adjustment directions in the areas in which the workpiece is in operation are also the same. The perpendicularly directed force caused by the mass of the tool should be without influence on the adjustment movements and thus be balanced.

Gemäss der Erfindung wird dies dadurch erreicht, dass in der Ruhestellung des Handhabungsgerätes die beiden dem Verstellkolben zugeordneten Druckräume zum Ausgleich der auf diesen einwirkenden Gewichtskraft ständig mit Druckluft unterschiedlichen Druckes beaufschlagt sind, dass zum Betrieb des Handhabungsgerätes die beiden Druckräume wechselweise ebenfalls mit Druckluft unterschiedlichen Druckes beaufschlagbar und über mittels Steuerventilen anschliessbare, vorzugsweise verstellbare Drosseln wechselweise entlüftbar sind, und dass zum beschleunigten Abströmen der Druckluft aus dem beim Anheben des Werkzeuges entlüfteten Druckraum an diesen ein Entlüftungsventil angeschlossen ist, das für eine einstellbare Zeitdauer geöffnet ist.According to the invention, this is achieved in that, in the rest position of the handling device, the two pressure chambers assigned to the adjusting piston are constantly pressurized with compressed air of different pressure in order to compensate for the weight force acting on them, and that in order to operate the handling device, the two pressure chambers can alternately also be pressurized with compressed air of different pressure and can be alternately ventilated via, preferably adjustable, throttles by means of control valves, and that a vent valve, which is open for an adjustable period of time, is connected to the pressure chamber, which is vented when the tool is lifted, for accelerated outflow of the compressed air.

Um auf einfache Weise die auf den Verstellkolben einwirkende Gewichtskraft des Werkzeuges durch eine Druckreduzierung ausgleichen zu können, ist es angebracht, zumindest in die in den beim Anheben des Werkzeuges entlüfteten Druckraumführende Druckmittelzuführungsleitung einen Druckregler einzusetzen. Selbstverständlich können aber auch beide Druckmittelzuführungsleitungen mit einem Druckregler versehen sein bzw. die zu dem Druckraum höheren Druckes führende Druckleitung kann zwischen zwei Druckreglern abgezweigt werden, damit die jeweils erforderlichen Drücke exakt einzustellen sind.In order to be able to easily compensate the weight force of the tool acting on the adjusting piston by reducing the pressure, it is appropriate to use a pressure regulator at least in the pressure medium supply line leading to the pressure chamber leading to the lifting of the tool. Of course, both pressure medium supply lines can also be provided with a pressure regulator, or the pressure line leading to the higher pressure chamber can be branched off between two pressure regulators so that the pressures required in each case can be set exactly.

Zweckmässig ist es ferner, an die Druckmittelzuführungsleitung niederen Druckes mittels Zweigleitungen zwei Ventile anzuschliessen, die von durch den Verstellkolben unmittelbar oder über Zwischenglieder betätigbare Endschalter verstellbar sind, derart, dass über das mit dem der unteren Betriebsstellung des Werkzeuges zugeordneten Endschalter zusammenwirkende Ventil das dem Druckraum niederen Druckes zugeordnete Entlüftungsventil und über das mit dem der oberen Betriebsstellung des Werkstückes zugeordneten Endschalters zusammenwirkende Ventil ein Umschaltventil über die Zweigleitungen an die Druckmittelzuführungsleitung niederen Druckes anschliessbar bzw. durch den in dieser herrschenden Druck umschaltbar sind.It is furthermore expedient to connect two valves to the low-pressure pressure medium supply line by means of branch lines, which are adjustable by limit switches which can be actuated directly by the adjusting piston or via intermediate elements, such that the valve interacting with the limit switch assigned to the lower operating position of the tool lowers the pressure chamber Pressure-associated vent valve and via the valve interacting with the limit switch assigned to the upper operating position of the workpiece, a changeover valve can be connected via the branch lines to the pressure medium supply line of low pressure or can be switched over by the pressure prevailing therein.

Des weiteren ist es vorteilhaft, an die Druckleitung niederen Druckes ein Schaltventil anzuschliessen, das über Steuerleitungen mit dem Umschaltventil und einem Oder-Ventil verbunden ist, dass das Umschaltventil über Steuerleitungen mit den den Druckräumen des Druckzylinders zugeordneten Steuerventilen in Verbindung steht und durch über das Oder-Ventil und dem dem Druckraum niederen Druckes zugeordneten Endschalter zusammenwirkenden Ventil zugeführten Steuerimpulsen umschaltbar ist. Auf diese Weise ist gewährleistet, dass bei Inbetriebnahme der Antriebseinrichtung stets ein Aufwärtshub ausgeführt wird.Furthermore, it is advantageous to connect a switching valve to the low-pressure pressure line, which is connected via control lines to the changeover valve and an OR valve, that the changeover valve is connected via control lines to the control valves assigned to the pressure chambers of the pressure cylinder and through the OR -Valve and the pressure switch associated with the pressure chamber of the lower limit interacting valve supplied control pulses is switchable. This ensures that an upward stroke is always carried out when the drive device is started up.

Die Öffnungszeit des Entlüftungsventils kann in einfacher Weise mittels eines mit dem Verstellkolben zusammenwirkenden Steuernockens, mittels eines Zeitschaltrelais oder dgl. eingestellt werden, auch ist es angebracht, zur Einstellung des Verstellweges des Verstellkolbens die Endschalter höhenverstellbar anzuordnen.The opening time of the vent valve can be set in a simple manner by means of a control cam cooperating with the adjusting piston, by means of a time switch relay or the like. It is also appropriate to arrange the limit switches to be height-adjustable in order to set the adjusting path of the adjusting piston.

Die gemäss der Erfindung ausgebildete Antriebseinrichtung ist nicht nur ohne grossen Bauaufwand in wirtschaftlicher Weise, da dazu weitgehend handelsübliche Bauteile verwendet werden können, herzustellen, sondern diese ermöglicht es auch, die Funktion eines Werkzeuges, dessen Höhenlage mittels eines Verstellkolbens zu verändern ist, sehr günstig zu beeinflussen. Werden nämlich die beiden Druckräume des Druckzylinders ständig mit Druckmittel unterschiedlichen Druckes beaufschlagt, so ist die auf den Verstellkolben einwirkende Gewichtskraft ausgeglichen und die Verstellbewegungen werden lediglich durch Entlüften des einen oder anderen Druckraumes ausgeführt. Und ist an den beim Anheben des Werkstückes entlüfteten Druckraum des weiteren ein für eine bestimmte Zeitdauer zu öffnendes Entlüftungsventil angeschlossen, so kann das Abströmen der Druckluft aus diesem Druckraum rasch erfolgen. Der Verstellkolben kann somit, da bei offenem Entlüftungsventil die Gegenkraft gering ist, in kurzer Zeit auf die vorgewählte Verstellgeschwindigkeit beschleunigt werden. Durch das zusätzliche Abströmen der Luft wird somit erreicht, dass die zur Beschleunigung der Masse und zur Überwindung der Erdanziehung erforderliche Kraft aufgrund der Druckdifferenz in den beiden Druckräumen in kurzer Zeit erreicht wird. Die Verzögerungs- und Beschleunigungscharakteristiken sind daher für den oberen und den unteren Umkehrpunkt nahezu gleich, so dass das Werkzeug über einen grossen Verstellbereich des Verstellkolbens unter gleichbleibenden Bedingungen eingesetzt werden kann. Auch sind die Verstellgeschwindigkeiten, um z. B. eine Lackschicht unterschiedlicher Stärke auf ein Werkstück aufzubringen, ohne Schwierigkeiten an die jeweiligen Bedingungen anpassbar.The drive device designed according to the invention is not only economical to manufacture without great construction costs, since commercially available components can be used for this purpose to a large extent, but it also enables the function of a tool, the height of which can be changed by means of an adjusting piston, to be very cheap influence. If the two pressure chambers of the pressure cylinder are constantly subjected to pressure medium of different pressure, then the weight force acting on the adjusting piston is balanced and the adjusting movements are merely by venting one or the other pressure chamber. And if a vent valve that can be opened for a certain period of time is connected to the pressure chamber vented when the workpiece is lifted, the compressed air can flow out of this pressure chamber quickly. The adjusting piston can thus be accelerated to the preselected adjusting speed in a short time, since the counterforce is low when the vent valve is open. The additional outflow of air ensures that the force required to accelerate the mass and to overcome gravity is reached in a short time due to the pressure difference in the two pressure chambers. The deceleration and acceleration characteristics are therefore almost the same for the upper and lower reversal point, so that the tool can be used over a large adjustment range of the adjustment piston under constant conditions. The adjustment speeds to z. B. apply a layer of varnish of different thickness to a workpiece without difficulty adaptable to the respective conditions.

Des weiteren wird mittels des Schalventils und des Oder-Ventils erreicht, dass nach einem Ausschaltten der Antriebseinrichtung stets mit einer Aufwärtsbewegung des Verstellkolbens begonnen wird. Über das durch diese beeinflussbare Umsteuerventil wird nämlich beim Ausschalten das dem Druckraum höheren Druckes zugeordnete Ventil betätigt, so dass dieser an die Druckmittelzuführungsleitung angeschlossen ist, der Druckraum niederen Druckes ist aber über das diesem zugeordnete, von einem Steuersignal beaufschlagten Ventil entlüftet. Dadurch ist zuverlässig ein selbsthaltender Steuerimpuls vermieden, die Betriebsaufnahme ist somit, ohne dass die Gefahr von Störungen oder gar Unfällen besteht, ohne Schwierigkeiten jederzeit möglich.Furthermore, by means of the switching valve and the OR valve it is achieved that after the drive device has been switched off, an upward movement of the adjusting piston is always started. Via the reversing valve which can be influenced by this, the valve associated with the higher pressure chamber is actuated when it is switched off, so that it is connected to the pressure medium supply line, but the lower pressure chamber is vented via the valve assigned to it and acted upon by a control signal. As a result, a self-holding control pulse is reliably avoided, and the start of operation is therefore possible at any time without any risk of malfunctions or even accidents.

In der Zeichnung ist ein Ausführungsbeispiel der gemäss der Erfindung ausgebildeten Antriebseinrichtung für ein einachsiges Handhabungsgerät dargestellt und nachfolgend im einzelnen erläutert. Hierbei zeigen:

  • Fig. 1 die einem mit einem Druckluftzylinder ausgestatteten Handhabungsgerät zugeordnete, aus pneumatischen Schaltgliedern gebildete Antriebseinrichtung in einem statischen Betriebszustand, und
  • Fig. 2 die Antriebseinrichtung nach Fig.1 zu Beginn einer Aufwärtsbewegung des Werkzeuges.
In the drawing, an embodiment of the drive device designed according to the invention for a uniaxial handling device is shown and explained in detail below. Here show:
  • Fig. 1, the associated with a compressed air cylinder handling device, formed from pneumatic switching elements drive device in a static operating state, and
  • 2 shows the drive device according to FIG. 1 at the beginning of an upward movement of the tool.

Die in den Fig.1 und 2 dargestellte und mit 11 bezeichnete Antriebseinrichtung ist einem Handhabungsgerät 1 zugeordnet, das einen Druckzylinder 2, einen in diesen verschiebbar eingesetzten Verstellkolben 3 sowie ein schematisch dargestelltes Werkzeug 4, z. B. eine Farbspritzpistole, aufweist. Die Druckräume 5 und 6 des pneumatischen Druckzylinders 2 sind hierbei über Druckmittelzuführungsleitungen 13 und 14 an eine Druckmittelquelle 12 angeschlossen, so dass in diesen ein Druckmitteldruck aufgebaut werden kann.The drive device shown in FIGS. 1 and 2 and designated 11 is assigned to a handling device 1 which has a pressure cylinder 2, an adjusting piston 3 slidably inserted therein and a schematically illustrated tool 4, e.g. B. has a paint spray gun. The pressure chambers 5 and 6 of the pneumatic pressure cylinder 2 are connected to a pressure medium source 12 via pressure medium supply lines 13 and 14, so that a pressure medium pressure can be built up therein.

Die Gewichtskraft des horizontal verstellbaren Werkstückes 4, die durch den Pfeil 8 angedeutet ist, ist bei der Antriebseinrichtung 11 ausgeglichen, der Verstellkolben 3 ist somit durch unterschiedliche in den Druckräumen 5 und 6 herrschende Drücke eingespannt und dessen Verstellbewegung wird lediglich durch Entlüften der Druckräume 5 oder 6 bewerkstelligt.The weight of the horizontally adjustable workpiece 4, which is indicated by the arrow 8, is balanced in the drive device 11, the adjusting piston 3 is thus clamped by different pressures prevailing in the pressure chambers 5 and 6, and its adjustment movement is only achieved by venting the pressure chambers 5 or 6 accomplished.

Um den dem Anheben des Werkzeuges 4 zugeordneten Druckraum 5 mit Druckmittel höheren Druckes zu beaufschlagen als den Druckraum 6 ist in die Druckmittelzuführungsleitung 14 nach der Abzweigung der Druckmittelzuführungsleitung 13 ein Druckregler 16 eingesetzt, mittels dem der Druck abgesenkt werden kann. Der vorgeschaltete Druckregler 15 dient nur dazu, Druckschwankungen des von der Druckquelle 12 zuströmenden Druckmittels zu eliminieren.In order to pressurize the pressure chamber 5 associated with the lifting of the tool 4 with higher pressure medium than the pressure chamber 6, a pressure regulator 16 is inserted into the pressure medium supply line 14 after the pressure medium supply line 13 has branched off, by means of which the pressure can be reduced. The upstream pressure regulator 15 only serves to eliminate pressure fluctuations in the pressure medium flowing in from the pressure source 12.

In die Druckmittelzuführungsleitungen 13 und 14 sind Ventile 18 bzw. 20 eingesetzt, über die die Druckräume und 6 über verstellbare Drosseln 19 bzw. 21 mit der Atmosphäre zu verbinden sind. Des weiteren ist an die Druckmittelzuführungsleitung 14 ein Schaltventil 17 angeschlossen, das über Steuerleitungen 29 und 30 mit einem Oder- . Ventil 28 und einem auch von diesem beeinflussbaren Umschaltventil 27 in Verbindung steht.Valves 18 and 20 are inserted into the pressure medium supply lines 13 and 14, via which the pressure chambers and 6 are to be connected to the atmosphere via adjustable throttles 19 and 21. Furthermore, a switching valve 17 is connected to the pressure medium supply line 14, which via control lines 29 and 30 with an OR. Valve 28 and a changeover valve 27 which can also be influenced by this is connected.

Ferner sind durch den Verstellkolben 3 über einen an diesem angebrachten Steuernocken 7 betätigbare in der Höhe einstellbare Endschalter 23 und 25 vorhanden, durch die Ventile 24 bzw. 26 somit in Abhängigkeit von der Betriebsstellung des Verstellkolbens 3 betätigbar sind. Die Ventile 24 und 26 stehen über Zweigleitungen 33 bzw. 34 mit der Druckmittelzuführungsleitung 14 und über Steuerleitungen 35 bzw. 36 mit dem Entlüftungsventil 22 bzw. dem Umschaltventil 27 in Verbindung, so dass diesen in einer bestimmten Betriebsstellung der Ventile 24 bzw. 26 Schaltimpulse zugeleitet werden können. Das Entlüftungsventil 22 ist unmittelbar an das Ventil 20 angeschlossen, so dass der Druckraum 6 in einer der beiden Betriebsstellungen des Ventils 20 ausser über die Drossel 21 zusätzlich auch über das Entlüftungsventil 22 rasch zu entlüften ist.Furthermore, the height-adjustable limit switches 23 and 25 are provided by the adjustment piston 3 via a control cam 7 which is attached to the control cam 7 and can thus be actuated by the valves 24 and 26 depending on the operating position of the adjustment piston 3. The valves 24 and 26 are connected via branch lines 33 and 34 to the pressure medium supply line 14 and via control lines 35 and 36 to the vent valve 22 and the changeover valve 27, respectively, so that switching pulses are supplied to them in a specific operating position of the valves 24 and 26 can be. The vent valve 22 is connected directly to the valve 20, so that the pressure chamber 6 can be vented rapidly in one of the two operating positions of the valve 20, in addition to the throttle 21 and also via the vent valve 22.

Die Ventile 18 und 20 erhalten die Schaltimpulse über Steuerleitungen 31 bzw. 32 von dem Umschaltventil 27, das ausserdem über eine Steuerleitung 37 mit dem Oder-Ventil 28 in Verbindung steht. Über eine weitere Steuerleitung 38 kann diesem auch ein Steuerimpuls aus der Steuerleitung 35 zugeleitet werden.The valves 18 and 20 receive the switching impulses via control lines 31 and 32 from the changeover valve 27, which is also connected to the OR valve 28 via a control line 37. A control pulse from the control line 35 can also be fed to the latter via a further control line 38.

In der in Fig. 1 dargestellten Betriebsstellung des Handhabungsgerätes 1 stehen beide Druckräume 5 und 6 unter Druck. Der Druck in dem Druckraum 6 ist jedoch mittels des Druckreglers 16 reduziert und somit geringer bemessen als der in dem Druckraum 5 herrschende Druck, und zwar derart, dass der Gewichtskraft 8 des Werkzeuges 4 aufgrund des Differenzdruckes das Gleichgewicht gehalten wird. In dieser Betriebsstellung kann, da diese Antriebseinrichtung mit der Bedingung ausgestattet ist, dass bei Inbetriebnahme nur eine Aufwärtsbewegung ausgeführt werden kann, der Verstellkolben 3 nur nach oben verstellt werden. Dazu wird das Schaltventil17 in die in Fig. 2 dargestellte Lage gebracht. Da das Umsteuerventil 27, das Oder-Ventil 28 und auch das Ventil 18 die Betriebsstellungen beibehalten, das Ventil 20 aber über die Steuerleitungen 30 und 32 einen Schaltimpuls erhält, wird durch dieses die Druckmittelzuführungsleitung 14 abgesperrt und es wird der Druckraum 6 über einen Teil 14' der Druckmittelzuführungsleitung 14 mit der Drossel 21 verbunden. Die in den Druckraum 6 eingesperrte Druckluft kann somit gedrosselt abströmen, so dass der Verstellkolben 3 mit einer einstellbaren Geschwindigkeit bis zur Betätigung des Endschalters 25 durch den Schaltnocken 7 vertikal verstellt wird.In the operating position of the handling device 1 shown in FIG. 1, both pressure chambers 5 and 6 are under pressure. However, the pressure in the pressure chamber 6 is reduced by means of the pressure regulator 16 and is therefore smaller than the pressure prevailing in the pressure chamber 5, in such a way that the weight force 8 of the tool 4 is kept in balance due to the differential pressure. In this operating position, since this drive device is equipped with the condition that only an upward movement can be carried out during commissioning, the adjusting piston 3 can only move upwards be adjusted. For this purpose, the switching valve 17 is brought into the position shown in FIG. 2. Since the reversing valve 27, the OR valve 28 and also the valve 18 maintain the operating positions, but the valve 20 receives a switching impulse via the control lines 30 and 32, the pressure medium supply line 14 is shut off by this and the pressure chamber 6 becomes part 14 'The pressure medium supply line 14 connected to the throttle 21. The compressed air locked in the pressure chamber 6 can thus flow in a throttled manner, so that the adjusting piston 3 is vertically adjusted by the switching cam 7 at an adjustable speed until the limit switch 25 is actuated.

Sobald der Endschalter 25 betätigt wird, wird das Ventil 26 verstellt, so dass über die Zweigleitung 34 und die Steuerleitung 36 das Umsteuerventil 27 einen Steuerimpuls erhält. Dadurch wird die Steuerleitung 31 mit der an die Druckmittelzuführungsleitung 14 angeschlossenen Steuerleitung 30 verbunden, das Ventil 18 wird infolge davon ebenfalls verstellt, so dass somit der Druckraum 5 über die Drossel 19 entlüftet ist. Die Verstellbewegung des Verstellkolbens 3 wird auf diese Weise selbsttätig umgekehrt. Die Absinkgeschwindigkeit ist mittels der Drossel 1 9 einstellbar. Die Verstellbewegungen des Verstellkolbens können durch Betätigen des Schaltventils, 17 jederzeit unterbrochen werden, bei erneuter Inbetriebnahme wird aber stets wiederum eine Aufwärtsbewegung ausgeführt.As soon as the limit switch 25 is actuated, the valve 26 is adjusted so that the reversing valve 27 receives a control pulse via the branch line 34 and the control line 36. As a result, the control line 31 is connected to the control line 30 connected to the pressure medium supply line 14, the valve 18 is also adjusted as a result thereof, so that the pressure chamber 5 is thus vented via the throttle 19. The adjusting movement of the adjusting piston 3 is automatically reversed in this way. The rate of descent can be adjusted using throttle 1 9. The adjusting movements of the adjusting piston can be interrupted at any time by actuating the switching valve 17, but when starting up again, an upward movement is always carried out again.

Sobald über den Steuernocken 7 der Endschalter 23 betätigt wird, ist die an die Druckmittelzuführungsleitung 14 angeschlossene Zweigleitung 33 über das Ventil 24 mit der steuerleitung 35 verbunden, das Entlüftungsventil 23 erhält somit einen Steuerimpuls. Gleichzeitig wird über die Steuerleitung 38 auch das Oder-Ventil 28 beeinflusst und umgeschaltet, so dass über die Steuerleitung 37 auch das Umsteuerventil 27 betätigt wird. Dadurch wird die Steuerleitung 32 über die Steuerleitung 30 an die Druckmittefzuführungsleitung 14 angeschlossen, das Ventil 20wwird umgeschaltet und somit der Druckraum 6 zusätzl ich entlüftet.As soon as the limit switch 23 is actuated via the control cam 7, the branch line 33 connected to the pressure medium supply line 14 is connected to the control line 35 via the valve 24, the vent valve 23 thus receives a control pulse. At the same time, the OR valve 28 is also influenced and switched over via the control line 38, so that the reversing valve 27 is also actuated via the control line 37. As a result, the control line 32 is connected to the pressure medium supply line 14 via the control line 30, the valve 20 is switched over and the pressure chamber 6 is additionally vented.

Da aber an das Ventif 20 nicht nur die Drossel 21, sondern auch das Entlüftungsventil 22 angeschlossen sind, erfolgt die Entlüftung sehr rasch, und zwar ist das Entlüftungsventil 22 so lange geöffnet, wie das Ventil 24 über den Endschalter 23 und durch den Steuernocken 7 oder einem äquivalenten Mittel betätigt bleibt. Nimmt der Endschalter 23 die in Fig. 1 dargestellte Stellung ein, fällt das Ventil 24 und auch das mit diesem verbundene Entlüftungsventil 22 sofort ab, das in dem Druckraum 6 befindliche Druckmittel kann dann nur noch über die Drossel 21 verzögert abströmen, wobei mittels dieser die Verstellgeschwindigkeit eingestellt werden kann.However, since not only the throttle 21, but also the vent valve 22 are connected to the valve 20, the venting takes place very quickly, namely the vent valve 22 is open as long as the valve 24 via the limit switch 23 and by the control cam 7 or an equivalent means remains activated. If the limit switch 23 assumes the position shown in FIG. 1, the valve 24 and also the vent valve 22 connected to it immediately drop off, the pressure medium located in the pressure chamber 6 can then only flow out via the throttle 21 with a delay, whereby the latter Adjustment speed can be adjusted.

Mit Hilfe des Entlüftungsventils 22 kann somit der Verstellkolben 3 über eine kurze Wegstrecke rasch auf die vorgegebene Verstellgeschwindigkeit beschleunigt werden, in dem der in dem Druckraum 6 herrschende Druck für eine einstellbare Zeitspanne zusätzlich abgebaut wird. Die Beschleunigungs- und Verzögerungscharakteristiken können demnach im oberen und unteren Umkehrpunkt gleich gestaltet werden, da durch das zusätzliche Abströmen der Luft aus dem Druckraum 6 die zur Beschleunigung des Werkstückes 4 und zur Überwindung der Erdanziehung notwendige Kraft aufgrund der grossen Druckdifferenz in kurzer Zeit erreicht wird. Und da mittels des Oder-Ventils 28 das Umsteuerventil 27 stets in eine derartige Schaltstellung gebracht wird, dass bei einer erneuten Inbetriebnahme nur eine Vertikalbewegung des Werkstückes 3 ausführbar ist, ist auch eine hohe Betriebssicherheit gegeben.With the aid of the vent valve 22, the adjusting piston 3 can thus be quickly accelerated over a short distance to the predetermined adjusting speed by additionally reducing the pressure prevailing in the pressure chamber 6 for an adjustable period of time. The acceleration and deceleration characteristics can therefore be designed the same in the upper and lower reversal point, since the additional flow of air from the pressure chamber 6 means that the force required to accelerate the workpiece 4 and to overcome gravity is reached in a short time due to the large pressure difference. And since the reversing valve 27 is always brought into such a switching position by means of the OR valve 28 that only a vertical movement of the workpiece 3 can be carried out when starting up again, a high level of operational reliability is also provided.

Claims (6)

1. Driving device for an one axle manipulator with an adjustment piston shiftable in a pressure cylinder by compressed air in both directions, by means of which piston directly or via intermediate parts a tool adjustable in height, for example a spray gun, is gearably connected, characterised in that both of the pressure chambers (5, 6) adjoined to the adjustment piston (3) in order to equalize the weight power (arrow 8) acting against the adjustment piston are permanently applied to compressed air of different pressure, that both of the pressure chambers (5, 6) via preferably adjustable throttles (19, 21) connectable via control valves (18, 20) are mutually vented and that in order to accelerate leading out the compressed air from the vented pressure chamber (6) when lifting the tool (4), to the pressure chamber a vent valve (22) is connected opened during an adjustable time.
2. Device of Claim 1, characterised in that a pressure control (15) is inserted at least into the line (14) leading pressure fluid and being connected to the pressure chamber (6) vented when lifting the tool (4).
3. Device of one of the Claims 1 or 2, characterised in that two valves (24, 26) are connected by means of branch lines (33, 34) to the line (14) leading low pressure fluid, which valves are controllable by means of limit switches (23, 25) directly acted by the adjustment piston (3) or by means of intermediate parts (control cams 7) in that way that the valve (24) co-operating with the limit switch (23) adjoined to the lower operative condition of the tool (4), the vent valve (22) adjoined to the low pressure chamber and via the valve (26) co-operating with the higher operative condition limit switch (25) adjoined to the tool (4) a change over valve (27) is connectable via branch lines (33 or 34 respectively) to the low pressure fluid line (14) or may be switched over by the pressure in said line respectively.
4. Device of one or more of the Claims 1 through 3, characterised in that a switch valve (17) is connected to the low pressure line (14), which switch valve is connected to the switch valve (27) and an OR-valve (28) via control lines (30, 29), that the switch valve (27) via control lines (31,32) is connected to control valves (18,20) adjoined to the pressure chambers (5,6) of the pressure cylinder (2) and that the switch valve is switchable by means of control pulses (control lines 37, 36) led via the OR-valve (28) and the limit switch (25) adjoined to the low pressure chamber (6).
5. Device of one or more of the Claims 1 through 4, characterised in that the time durations when the vent valve (22) is open is adjustable by means of a control cam (7) co-operating with the control piston (3), by means of a time switch relais or the like.
6. Device of one or more of the Claims 1 through 5, characterised in that the limit switches (23,25) are adjustable in height in order to adjust the control piston's (3) distance of adjustment.
EP83107357A 1982-08-21 1983-07-27 Driving element for handling devices Expired EP0101573B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83107357T ATE17390T1 (en) 1982-08-21 1983-07-27 DRIVE DEVICE FOR HANDLING EQUIPMENT.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19823231209 DE3231209A1 (en) 1982-08-21 1982-08-21 DRIVING DEVICE FOR HANDLING DEVICES
DE3231209 1982-08-21

Publications (2)

Publication Number Publication Date
EP0101573A1 EP0101573A1 (en) 1984-02-29
EP0101573B1 true EP0101573B1 (en) 1986-01-08

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Application Number Title Priority Date Filing Date
EP83107357A Expired EP0101573B1 (en) 1982-08-21 1983-07-27 Driving element for handling devices

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EP (1) EP0101573B1 (en)
AT (1) ATE17390T1 (en)
DE (1) DE3231209A1 (en)

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Publication number Priority date Publication date Assignee Title
US6205336B1 (en) 1998-08-14 2001-03-20 Telefonaktiebolaget Lm Ericsson (Publ) Method and system for improving network resource utilization in a cellular communication system
WO2015026039A1 (en) * 2013-08-21 2015-02-26 대우조선해양 주식회사 Pneumatic pressure device for laying power lines and method for controlling same

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE567148A (en) * 1957-04-27
DE1928855A1 (en) * 1969-06-06 1971-02-04 Erich Henke Lifting device, especially for paint spray systems
BE792041A (en) * 1971-11-30 1973-03-16 Adeola Ag INVERSION DEVICE FOR THE PISTON CONTROL OF A PNEUMATIC MOTOR UNIT
DE2843543C2 (en) * 1978-10-05 1982-05-06 Siemens AG, 1000 Berlin und 8000 München Control device for a double-acting pressure medium-operated working cylinder and for the differential pressure-dependent control of the contact force

Also Published As

Publication number Publication date
ATE17390T1 (en) 1986-01-15
EP0101573A1 (en) 1984-02-29
DE3231209A1 (en) 1984-02-23

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