EP1316732B1 - Dispositif de travail actionné par un fluide - Google Patents

Dispositif de travail actionné par un fluide Download PDF

Info

Publication number
EP1316732B1
EP1316732B1 EP01128503A EP01128503A EP1316732B1 EP 1316732 B1 EP1316732 B1 EP 1316732B1 EP 01128503 A EP01128503 A EP 01128503A EP 01128503 A EP01128503 A EP 01128503A EP 1316732 B1 EP1316732 B1 EP 1316732B1
Authority
EP
European Patent Office
Prior art keywords
operating
unit
fluid
control
operating device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01128503A
Other languages
German (de)
English (en)
Other versions
EP1316732A1 (fr
Inventor
Andreas Dr. Muth
Jari Haajo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to EP01128503A priority Critical patent/EP1316732B1/fr
Priority to DE50103560T priority patent/DE50103560D1/de
Priority to US10/294,347 priority patent/US6715400B2/en
Publication of EP1316732A1 publication Critical patent/EP1316732A1/fr
Application granted granted Critical
Publication of EP1316732B1 publication Critical patent/EP1316732B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/006—Hydraulic "Wheatstone bridge" circuits, i.e. with four nodes, P-A-T-B, and on-off or proportional valves in each link
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0401—Valve members; Fluid interconnections therefor
    • F15B13/0405—Valve members; Fluid interconnections therefor for seat valves, i.e. poppet valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B2013/002—Modular valves, i.e. consisting of an assembly of interchangeable components
    • F15B2013/006—Modular components with multiple uses, e.g. kits for either normally-open or normally-closed valves, interchangeable or reprogrammable manifolds
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31588—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/5109—Convertible
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/877—With flow control means for branched passages
    • Y10T137/87885—Sectional block structure

Definitions

  • the invention relates to a fluid-operated working device according to the preamble of claim 1.
  • DE-U-20105448 describes a fluid-operated parallel gripper formed fluid-operated working device out.
  • the parallel gripper is in with two working elements Shape of fluid actuated drives equipped by controlled fluid application can be actuated. Usually is actuated by upstream, electrically operated Control valves controlled.
  • the control valves used are in terms of their design to the control task to be mastered customized.
  • control valves executed as separate, external components.
  • the control valves in the form of an electro-fluidic Control unit as a direct part of the to perform fluid-operated working device.
  • control units for space and cost reasons, for example Control valves with 3/2, 5/2 and / or 5/3 valve function be combined in a suitable manner.
  • they are always specific Unit of work or a specific movement assigned depending on whether within the work unit for example linear drives or rotary drives or a different one Number of drives is used.
  • EP 0 955 473 A1 describes a working device at the beginning mentioned type, which has a microvalve battery, which contains an electro-fluidic control unit and with control electronics and a plurality of 2/2 control valves Is provided. With the micro valve battery individual work units can be coupled in connection with a specific, individual link required in each case of the existing fluid channels.
  • control unit can be flexible and preferably freely programmable Function arrays from a maximum compact multiple arrangement of control valves with identical basic function, which can also be piloted, are built in Connection with application-related different work units, which is already the one required for their operation contain function-defining linking of fluid channels, but not the associated control valves themselves.
  • application-related different work units which is already the one required for their operation contain function-defining linking of fluid channels, but not the associated control valves themselves.
  • There is a type-specific one on each work unit Coding the assigned type of work unit corresponds and that of the control electronics for the control valves required operation, so in particular the functional connection of the valve-side 2/2 basic functions, pretends.
  • the working units intended for operation with the control unit can at least partially form tools, for example mechanical or vacuum gripping tools or other tools used in handling technology can be used.
  • the control electronics can in principle be external the electro-fluidic control unit can be arranged.
  • A enables particularly compact arrangement with short connections however, a design in which the control electronics as Part of the control unit is executed.
  • a coding of the operating units can also for the Z uowski be used by sensor signals, when the working units are equipped with sensor means, which at each scheduled first and second mounting interfaces may transmit to the control electronics of the operating state of the sensor signals concerned to the control unit working unit, and in particular.
  • the control electronics can be designed to by groups Functional linkage of control valves different Get valve functionalities. For example can perform higher-quality valve functions in this way logical combination of individual 2/2 valve functions achieved or larger flow cross-sections through parallel connection or quasi-proportional valve functions Parallel connection and logical connection.
  • the switching status of the control valves can be controlled via the control electronics to the requirements of the respective work unit can be flexibly specifically tailored.
  • the control electronics expediently contain a memory, in which the data of for different work units required operating modes of the control valves available are saved. It is then particularly provided that the unit of work applied is automatic Calling up the operating mode data intended for them.
  • FIG. 1 shows an example of a possible design of a fluid-operated working device 1, which has fasteners 2, which it has, in particular detachably, with a Handling device 3 indicated by dash-dotted lines connected is.
  • a Handling device 3 indicated by dash-dotted lines connected is.
  • the working device 1 contains an electro-fluidic Control unit 4 and several detachable and thus interchangeable the control unit 4 attachable work units 5.
  • FIG. 1 shows the working device 1 with a detachably attached thereto first working unit 5, 5a.
  • 2 shows one second work unit 5, 5b, which is an alternative to the first work unit 5, 5a can be coupled to the control unit 4.
  • the work units 5 each contain at least one fluid-operated working element 6a. It can become Example of any kind of drives 6 act like this is the case in the embodiment.
  • drives 6 act like this is the case in the embodiment.
  • are possible Rotary actuators. Are in the embodiment fluid-operated drives 6 provided in the form of linear drives, in the specific case, fluid-operated working cylinders.
  • fluid actuated drive element would be an ejector device. It can be used to create vacuum, for example for supply of suction elements that are used to hold manageable Objects can be used.
  • the work unit 5 with the appropriate equipment also one Form suction pads.
  • One and the same work unit can also work at the same time equipped with several different working elements 6a his.
  • the first working unit 5, 5a is in the exemplary embodiment with two fluid-operated drives 6 as working element 6a fitted.
  • the second work unit 5, 5b only contains a fluid-operated drive 6.
  • the working units 5 are designed such that they each form a tool, for example a handling tool.
  • both work units 5 designed as a gripping tool. They contain movable ones Gripping means 7, for example gripping jaws - in the Drawing indicated by dash-dotted lines - each with at least a drive 6 are in drive connection and can be actuated by actuating the drives 6. In this way there is, for example, the possibility of the work device 1 to detect any objects and transport it to another place.
  • the control unit 4 has one side - in the exemplary embodiment on the underside - via a first assembly interface 8.
  • a complementary second assembly interface 9 is provided on each of the work units 5.
  • the second assembly interfaces 9 of the individual work units 5 are preferably identical.
  • first assembly interface 8 block-like control unit 4 with the first Fasteners 12a equipped.
  • second fastening means 12b are located on a respective one Working unit 5 in the area of the second assembly interface 9.
  • the attached work unit 5 be releasably attached to the control unit 4.
  • the first fasteners 12a as according to Double arrow 13 movable clamping means formed.
  • the control unit 4 can be activated with a plurality of electrically Control valves 14 equipped. It can happen for example solenoid valves, piezo valves or through Micro valves manufactured using micromechanical manufacturing processes act. If necessary, they can be equipped with pilot valves be equipped. They are operated with electrical Actuating signals supplied via the control unit 4 provided electrical signal conductors 15 from one Control electronics 16 are supplied.
  • the control electronics 16 is preferably part of the Control unit 4 executed and attached to or in it integrated. Compared to an also possible external This results in more compact dimensions and arrangement shorter routes. It is an immediate bus connection possible for sensor and control signals.
  • control valves 14 - are in the embodiment eight pieces available - these are similar valves each with a 2/2 valve function. Every control valve 14 has an inlet and an outlet, between which, each after switching position, a fluid connection is established or can be interrupted. It is convenient around switching valves.
  • part of the Control valves 14 - in the embodiment of four pieces of the control valves 14 - stand with a common feed channel 17 in connection to one provided on the outer surface of the control unit 4 Feed port 18 leads.
  • part of the Control valves 14 are constantly supplied with a fluid, that is an operating pressure above atmospheric pressure having.
  • compressed air is used as the fluid intended.
  • a hydraulic fluid could also be used.
  • the inlets of the other control valves 14 are in common Relief channel 22 connected to one at the External surface of the control unit 4 provided relief connection 23 leads.
  • the relief channel 22 is a ventilation channel, the one directly via the relief connection 23 can lead to the atmosphere.
  • One fluid line for one ducted exhaust air discharge or a silencer can be found here be connected.
  • the outlets of all control valves 14 each communicate with its own first fluid channel 24, which with a fixed, standardized route to the first assembly interface 8 leads and there with a first fluid connection 25 opens out.
  • the individual first fluid connections 25 with actuating fluid be pressurized or vented. It can on this way often at the first assembly interface 8 four states “operating pressure shut off”, “atmospheric pressure shut off “,” operating pressure applied “and” atmospheric pressure attached ". The states are also possible “Vacuum applied” and “Vacuum shut off” if one appropriate vacuum equipment is available.
  • the fluid-operated provided on a respective work unit 5 Drives 6 are each with one or more second fluid channels 26 in connection, which on or in the relevant work unit 5 are fixed and the second Assembly interface 9 lead, where they each with a or several second fluid connections 27 open out.
  • About the second fluid channels 26 can be fed actuating fluid or be dissipated to the respective connected drive 6 to operate with fluid power.
  • the drives 6 of the embodiment are of the so-called type double-acting working cylinder designed and included one each arranged in a cylinder housing movable drive piston 28 which with a piston rod or another force tapping part 29 coupled in motion is that act on the gripping means 7 in the embodiment can.
  • the drive piston 28 divides within the cylinder housing two working spaces from each other, of which a second Fluid channel 26 starts, which in a corresponding embodiment the work unit 5 - such as in the second work unit 5b - have a branch can.
  • the second fluid connections 27 are at the second assembly interface 9 arranged in the same distribution pattern as the first fluid connections 25 at the first assembly interface 8. At least in the embodiments is also provided that every second fluid channel 26 of the work unit 5 with at least two second fluid connections 27 for second assembly interface 9 opens, which then the are assigned to the first fluid connections 25 that the relevant one second fluid channel 26 simultaneously with two control valves 14 is connected, one of which is the feed the actuating fluid and the other the vent can control.
  • the working units 5 of the working device 1 - the working device of the exemplary embodiment contains two working units, but more than two could easily be Work units are provided - differ how already mentioned, in their fluid technology equipment. So contains the first working unit 5a two drives 6, while the second working unit 5b equipped with only one drive 6 is. Nevertheless, the work units 5 can despite their different types of fluidic equipment, so their different Type, alternatively on one and the same first mounting interface 8 of the control unit 4 installed become. All work units 5 are in this regard their respective fluid technology equipment function-specific pre-assembled. In particular, course and Design of the second fluid channels 26 each specifically matched the type of work unit 5 concerned, for example taking into account the number and type of existing fluid-operated drives 6.
  • control unit 4 can be used to to operate the alternative work units 5.
  • the only necessary adjustment on the part of the control unit 4 lies in the correspondingly coordinated activation of Control valves 14 by appropriate control by means of Control electronics 16.
  • the control electronics 16 is able to control the valves 14 actuation signals to be sent, one on the other coordinated actuation of the control valves 14 taking into account the specification of the work unit used in each case 5 enables.
  • a Variation of valve functionality can be obtained in order for example the already mentioned higher-quality valve functions to realize, for the purpose of increasing the flow, To make parallel connections, or to connect in parallel and logical combination a quasi-proportional To achieve behavior.
  • control electronics 16 contains a memory 32 in which the data for different Work units 5 required modes of operation the control valves 14 are stored in a retrievable manner. It is then only when changing the working unit 5 required for the unit of work currently in use 5 required operating data.
  • the retrieval of the work unit 5 required Operating mode data expediently becomes automatic when or after attaching a work unit 5 to the Control unit 4 triggered.
  • the individual work units can do this 5, 5a, 5b via type-specific codes 35a, 35b have the correct access to the operating data cause.
  • the codes 35a, 35b which are mechanical, for example, are optically or electronically realizable, cooperate with installed work unit 5 with on the control unit 4 provided identification means 36 which signaling are connected to the control electronics 16.
  • the same mutually cooperating codes 35a, 35b and identification means 36, or additionally provided, can also be used to cause the sensor unit 5 provided in each case according to the type of work unit used 5 from the control unit 4 and in particular the control electronics 16 can be processed specifically.
  • each fluid-operated drive is 6 equipped with sensor means 37, for example position sensor means, the via second sensor lines 39 of the relevant Work unit 5 to the second assembly interface 9 associated second sensor connections 43 lead.
  • the control electronics 16 can control the sensor signals Consider actuation of the individual control valves 14.
  • the working device stands out 1 through one of the two assembly interfaces 8, 9 defined interface, which is a separation between specifically interconnected work units 5 and the non-specific, variably linkable multiple arrangement of identical Provides 2/2 valve functions in the form of the control valves.
  • the 2/2-valve basic functions can be done electronically can be combined with one another as required.
  • the control electronics 16 expediently contains a control program that the Control valves 14 can work unit-specific, especially based on work unit-specific Data.
  • the application-specific linking of the first Fluid connections 25 tapped operating states is only within the individual work units 5 by means of there fixed predetermined course of the second fluid channels 26 to higher quality Switching functions added.
  • the work units 5 in addition to the specific Channel links also include additional functional elements can contain, in addition to the sensor means already mentioned 37, for example also fluid technology elements such as Check valves, chokes, amplifiers etc.
  • a single control unit can 4 multiple, with different types of work units 5, can be used. Also exists with corresponding Use cases the possibility of the control unit 4 or their control valves 14 outside the work area to provide the working unit 5.
  • the application-specific link the fluid channels take place within the work units 5 instead of in the control unit 4.
  • the channel guide within the work unit 5 can be in shape conventional channels or also using Fluid lines can be realized. Furthermore, the so-called Integration technology are applied in which the fluid channels are at least partially defined by grooves that are in the Transition area of attached panel body. In this way, a particular one can be particularly simple Logical connection of the second fluid channels 26 realized become.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (19)

  1. Dispositif de travail actionné au moyen d'un fluide avec une unité de commande (4) électrofluidique qui comporte une première interface de montage (8), et avec au moins une unité de travail (5) échangeable contenant au moins un élément de travail (6a) actionné au moyen d'un fluide, laquelle comporte une deuxième interface (9) prévue pour être placée de manière séparable sur la première interface de montage (8), l'unité de commande (4) contenant une pluralité de soupapes de commande (14) pouvant être activées électriquement avec chacune une fonction de soupape à 2/2 voies, qui sont prévues pour la commande fluidique de l'unité de travail (5) insérée et qui peuvent être actionnées au moyen d'une électronique de commande (16) de différentes manières adaptées les unes aux autres pour pouvoir faire fonctionner des unités de travail (5, 5a, 5b) accouplées alternativement à l'unité de commande (4) avec un équipement fluidique de type différent, caractérisé par un codage (35a, 35b) spécifique du type prévu sur l'unité de travail (5, 5a, 5b) respective, lequel codage peut imposer à l'électronique de commande (16) le mode d'actionnement nécessaire aux soupapes de commande (14), lorsque l'unité de travail (5, 5a, 5b) est placée sur l'unité de commande ou lors de la mise en place de cette unité de travail (5, 5a, 5b).
  2. Dispositif de travail selon la revendication 1, caractérisé en ce que les unités de travail (5, 5a, 5b) pouvant être placées alternativement sur l'unité de commande (4) sont préconfectionnées de manière fixe et spécifique à la fonction en ce qui concerne leur équipement fluidique respectif.
  3. Dispositif de travail selon la revendication 1 ou 2, caractérisé en ce que les unités de travail (5, 5a, 5b) forment au moins en partie des outils, par exemple des outils de manipulation tels que des pinces mécaniques, des pinces aspirantes, etc.
  4. Dispositif de travail selon l'une des revendications 1 à 3, caractérisé en ce que l'électronique de commande (16) est réalisée en tant que partie intégrante directe de l'unité de commande (4).
  5. Dispositif de travail selon l'une des revendications 1 à 4, caractérisé en ce que l'électronique de commande (16) est conçue pour obtenir, par liaison fonctionnelle par groupe de soupapes de commande (14), des fonctionnalités différentes des soupapes, par exemple des fonctions de soupape de valeur supérieure, des montages parallèles ou des fonctions de soupape quasi-proportionnelles.
  6. Dispositif de travail selon l'une des revendications 1 à 5, caractérisé en ce que l'électronique de commande (16) contient une mémoire (32) dans laquelle les données des modes de fonctionnement des soupapes de commande (14), nécessaires aux différentes unités de travail (5, 5a, 5b), sont mémorisées de manière à pouvoir être appelées.
  7. Dispositif de travail selon la revendication 6, caractérisé par un appel déclenché automatiquement par l'unité de travail (5, 5a, 5b) mise en place dans chaque cas, des données de mode de fonctionnement qui lui sont destinées.
  8. Dispositif de travail selon l'une des revendications 1 à 7, caractérisé par des premiers raccords de fluide (25) prévus sur la première interface de montage (8) et reliés par des premiers canaux de fluide (24) de l'unité de commande (4) aux soupapes de commande (14), raccords auxquels sont affectés des deuxièmes raccords de fluide (27), disposés suivant le même modèle de distribution, de l'unité de travail (5, 5a, 5b) mise en place dans chaque cas, lesquels sont reliés par des deuxièmes canaux de fluide (26) de l'unité de travail (5, 5a, 5b) à l'élément de travail (6a) au moins unique appartenant à celle-ci.
  9. Dispositif de travail selon l'une des revendications 1 à 8, caractérisé en ce que les soupapes de commande (14) sont reliées, par des premiers canaux de fluide (24) présentant un parcours standardisé prédéfini de manière fixe, à des premiers raccords de fluide (25) prévus dans la zone de la première interface de montage (8), lesquels raccords communiquent avec des deuxièmes raccords de fluide (25) prévus dans la zone de la deuxième interface de montage (9) de l'unité de travail (5, 5a, 5b) mise en place dans chaque cas, lesquels font partie de deuxièmes canaux de fluide (26) de l'unité de travail (5, 5a, 5b) mise en place, qui sont conçus de manière spécifique à l'application conformément à la construction spécifique de l'unité de travail (5, 5a, 5b) concernée.
  10. Dispositif de travail selon l'une des revendications 1 à 9, caractérisé en ce que chaque unité de travail (5, 5a, 5b) est équipée de moyens de détection (37) qui peuvent transmettre des signaux de capteurs à l'unité de commande (4) et en particulier à l'électronique de commande (16), lorsque la première et la deuxième interfaces de montage (8, 9) sont placées l'une contre l'autre.
  11. Dispositif de travail selon la revendication 10, caractérisée en ce que l'électronique de commande (16) peut traiter de manière spécifique les signaux de capteurs reçus à l'aide d'un codage (35a, 35b) des unités de travail (5, 5a, 5b), conformément au type de l'unité de travail (5, 5a, 5b) mise en place.
  12. Dispositif de travail selon l'une des revendications 1 à 11, caractérisé par au moins deux unités de travail (5, 5a, 5b) de type différent qui peuvent être placées au choix sur l'unité de commande (4).
  13. Dispositif de travail selon l'une des revendications 1 à 12, caractérisé en ce qu'une partie des soupapes de commande (14) est prévue pour être soumise en permanence à l'action d'un fluide sous une pression de service supérieure à la pression atmosphérique ou à une dépression, et une autre partie des soupapes de commande (14) est prévue pour être soumise en permanence à la pression atmosphérique.
  14. Dispositif de travail selon la revendication 13, caractérisé en ce qu'une partie des soupapes de commande (14) est raccordée à un canal d'alimentation (17) commun et une autre partie des soupapes de commande (14) est raccordée à un canal de détente (23) commun.
  15. Dispositif de travail selon l'une des revendications 1 à 14, caractérisé en ce que les soupapes de commande (14) sont réalisées au moins en partie en tant que soupapes magnétiques, piézo-soupapes ou microsoupapes.
  16. Dispositif de travail selon l'une des revendications 1 à 15, caractérisé par des moyens de fixation (12a, 12b) prévus sur l'unité de commande (4) et sur chaque unité de travail (5, 5a, 5b) pour la fixation mécanique réciproque à l'état placé l'une contre l'autre.
  17. Dispositif de travail selon l'une des revendications 1 à 16, caractérisé par une connexion de bus (34) reliée à l'électronique de commande (16) pour la liaison avec un bus de champ (33).
  18. Dispositif de travail selon l'une des revendications 1 à 17, caractérisé en ce qu'au moins un élément de travail (6a) est formé par un dispositif d'entraínement (6) actionné au moyen d'un fluide.
  19. Dispositif de travail selon l'une des revendications 1 à 8, caractérisé en ce qu'au moins un élément de travail (6a) est formé par un dispositif d'éjection servant à produire une dépression.
EP01128503A 2001-11-29 2001-11-29 Dispositif de travail actionné par un fluide Expired - Lifetime EP1316732B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP01128503A EP1316732B1 (fr) 2001-11-29 2001-11-29 Dispositif de travail actionné par un fluide
DE50103560T DE50103560D1 (de) 2001-11-29 2001-11-29 Fluidbetätigte Arbeitsvorrichtung
US10/294,347 US6715400B2 (en) 2001-11-29 2002-11-14 Fluid power operative instrumentality

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP01128503A EP1316732B1 (fr) 2001-11-29 2001-11-29 Dispositif de travail actionné par un fluide

Publications (2)

Publication Number Publication Date
EP1316732A1 EP1316732A1 (fr) 2003-06-04
EP1316732B1 true EP1316732B1 (fr) 2004-09-08

Family

ID=8179406

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01128503A Expired - Lifetime EP1316732B1 (fr) 2001-11-29 2001-11-29 Dispositif de travail actionné par un fluide

Country Status (3)

Country Link
US (1) US6715400B2 (fr)
EP (1) EP1316732B1 (fr)
DE (1) DE50103560D1 (fr)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1016385C2 (nl) * 2000-10-11 2002-04-12 El O Matic Bv Aandrijving, afsluitklep en functiedeel.
GB0026650D0 (en) * 2000-10-31 2000-12-13 Imi Norgren Ltd Improvements relating to fluid flow control valves
DE102004006683A1 (de) * 2004-02-11 2005-09-01 Zf Friedrichshafen Ag Schalteinheit
SE530787C2 (sv) * 2007-01-16 2008-09-09 Xerex Ab Ejektoranordning med luftningsfunktion
DE102009017861A1 (de) * 2009-04-17 2010-10-21 Festo Ag & Co. Kg Ventileinrichtung
DE102009026604A1 (de) * 2009-05-29 2010-12-09 Metso Paper, Inc. Hydraulikzylinderbaugruppe für eine Maschine zur Herstellung einer Faserstoffbahn, insbesondere einer Papier- oder Kartonmaschine
DE102009026605A1 (de) * 2009-05-29 2010-12-02 Metso Paper, Inc. Hydrauliksystem für eine Maschine zur Herstellung einer Faserstoffbahn
DE102010000833A1 (de) * 2010-01-12 2011-07-14 Metso Paper, Inc. Maschinenstraße zur Herstellung einer Faserstoffbahn
DE102010001337A1 (de) * 2010-01-28 2011-08-18 Metso Paper, Inc. Anordnung zur Steuerung der Position einer Vorrichtung mit einer fluiddruckgetriebenen Kolben-Zylinder-Einrichtung
DE102010042780A1 (de) * 2010-10-21 2012-04-26 Metso Paper, Inc. Fluidsystem
DE102011083069A1 (de) * 2011-09-20 2013-03-21 Metso Paper, Inc. Fluidsystem für eine Maschine zur Herstellung einer Faserstoffbahn
DE102014101542A1 (de) * 2014-02-07 2015-08-13 Marco Systemanalyse Und Entwicklung Gmbh Pneumatikventil und Ventileinheit
CN104912860A (zh) * 2014-12-30 2015-09-16 北京理工大学 一种数字式液压控制阀及其控制方法
US11274683B2 (en) * 2017-05-03 2022-03-15 Festo Se & Co. Kg Electropneumatic controller and process control device equipped therewith
DE102019209335A1 (de) 2019-06-27 2020-12-31 Robert Bosch Gmbh Hydraulik-Steuerblock und hydraulische Achse mit dem Steuerblock
DE102019210622A1 (de) * 2019-06-27 2020-12-31 Robert Bosch Gmbh Hydraulik-Steuerblock und hydraulische Achse damit
DE102019218485B4 (de) * 2019-11-28 2022-03-31 Festo Se & Co. Kg Arbeitseinrichtung

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2933704A1 (de) * 1979-08-21 1981-03-26 Festo Kg, 73734 Esslingen Druckmittelverbindung zwischen einem ventilblock und einem zumindest einen doppelt wirkenden druckmittelmotor aufweisenden verbraucher
CH666943A5 (de) * 1983-04-29 1988-08-31 Festo Maschf Stoll G Ventilbank.
JPH0510308A (ja) * 1991-10-28 1993-01-19 Smc Corp アクチユエータ用検出装置
ATE256252T1 (de) * 1998-05-08 2003-12-15 Festo Ag & Co Mikroventilbatterie
DE29909529U1 (de) * 1999-06-01 1999-08-12 Festo AG & Co, 73734 Esslingen Fluidtechnisches Steuergerät
DE20006295U1 (de) * 2000-04-06 2000-07-20 Festo Ag & Co Ventilanordnung
DE20105448U1 (de) 2001-03-28 2001-08-09 Festo Ag & Co Fluidbetätigter Parallelgreifer

Also Published As

Publication number Publication date
US6715400B2 (en) 2004-04-06
DE50103560D1 (de) 2004-10-14
EP1316732A1 (fr) 2003-06-04
US20030097923A1 (en) 2003-05-29

Similar Documents

Publication Publication Date Title
EP1316732B1 (fr) Dispositif de travail actionné par un fluide
EP1350606B1 (fr) Organe de préhension actionné par fluide
DE102008014964B4 (de) Positionssteuermechanismus für doppelt wirkende Pneumatikzylinder
DE102018205637A1 (de) Drehantriebsvorrichtung und damit ausgestatteter Roboterarm eines Roboters
DE102017207414A1 (de) Pneumatische Steuervorrichtung und damit ausgestattete Prozesssteuervorrichtung
EP1350960B1 (fr) Dispositif d'entraínement actionné par fluide
EP0708890B1 (fr) Bloc de soupapes
EP0955473A1 (fr) Batterie de soupapes
DE9211109U1 (de) Elektro-pneumatische Steuereinrichtung
EP0629783B1 (fr) ContrÔle combiné de valves pneumatiques et hydrauliques
DE102018200680A1 (de) Drucküberwachungsvorrichtung und damit ausgestattete Ventilanordnung
DE10208390A1 (de) Mehrwegeventil mit freikonfigurierbarer Ventilfunktion
EP1878958A1 (fr) Soupape
EP2530334B1 (fr) Agencement de vannes
EP3601808A1 (fr) Dispositif de commande de processus
EP2606240A1 (fr) Dispositif de commande électrofluidique
EP2577122B1 (fr) Soupape à voies multiples et méthode pour l'actionner
DE29903825U1 (de) Spannvorrichtung
DE19727158C2 (de) Steuervorrichtung
DE4422528C2 (de) Fluidbetätigte Antriebseinheit
DE102019202898A1 (de) Antriebssystem
EP1586777B1 (fr) Kit pour vanne proportionnelle et vanne assemblée avec un tel kit.
DE102013017076B4 (de) Sicherheitsventilanordnung
EP1284371B1 (fr) Assemblage de valves sous forme de matrice
DE10116507B4 (de) Ventilanordnung

Legal Events

Date Code Title Description
GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20020723

AK Designated contracting states

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR

AX Request for extension of the european patent

Extension state: AL LT LV MK RO SI

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

AKX Designation fees paid

Designated state(s): DE FI FR GB IT

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FI FR GB IT

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20040908

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: GERMAN

REF Corresponds to:

Ref document number: 50103560

Country of ref document: DE

Date of ref document: 20041014

Kind code of ref document: P

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

ET Fr: translation filed
26N No opposition filed

Effective date: 20050609

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20081015

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20091129

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20121108

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20131119

Year of fee payment: 13

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20131105

Year of fee payment: 13

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20131129

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20131129

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20150731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20141201

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20141129

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20150930

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 50103560

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170601