EP0713980B1 - A driving device - Google Patents

Description

The invention relates to a drive device with two relative mutually motion-drivable units, with the first of the two units for control and / or Monitoring the relative movement between the two units used functional units such as sensors or valves are provided which are connected via signal conductors a node element attached to the first structural unit is connected are, the node element central signal processing electronics for those of the functional units coming and those to be transferred to the functional units Contains signals.

Such a drive device is known from the publication "Oil hydraulics and pneumatics" 30 (1986) No. 6, pages 458 - 460, 463. It is there (Fig. 6) as a hydraulic axis executed, on the housing several sensors, a valve and central signal processing electronics (local intelligence) are attached. The signals delivered by the sensors are processed in signal processing electronics, which then gives the valve the necessary actuation signals sends. Via a single signal line the signal processing electronics correspond in both Directions with a programmable logic controller. All Signal conductors are outside the various facilities Installed.

One in the form of a fluid-powered piston-cylinder unit executed drive device goes from the DE 39 23 063 C2. That of a multi-part housing The first structural unit formed there has a longitudinal groove in which sensors can be anchored. The sensor signals are over signal conductors in the form of conductor tracks integrated into the sensor groove led to a node element attached at the end, connectable to the further electrical lines are connected to an external control device are. Furthermore, valves are integrated into the housing the application of fluid to that forming the second structural unit Control the piston of the piston-cylinder unit, and so too Via signal conductors running in the housing to the specific one Guide trap plate-shaped node element. This drive device itself does not contain any signal processing electronics, so that it can link the node element with the control device of a not inconsiderable Cabling effort required. The installation a device that several of the piston-cylinder units described contains, therefore requires a relative great effort and provides a large number of possible later Sources of error in the operational process.

A piston-cylinder combination known from EP 0 417 024 A1 contains like DE 39 23 063 C2 one arranged on the cylinder Node element equipped with an electronic card which has integrated signal conductors through the signals from a sensor of an integrated microcontroller be fed. Via an electrical cable between the microcontroller and an external machine Signal exchange instead. About the way of mounting the electronic card and the signal exchange are not specified made.

It is the object of the present invention to provide a drive device to create the type mentioned at the beginning compact structure a reduction in time and costs during installation and an increase in reliability enabled in operation.

To solve this problem it is provided that the signal conductors integrated into the first unit and into a central one Connection point are performed on the first unit, where the Node element with simultaneous establishment of all contact connections is set that the node element a releasable node module fixed at the junction of the first structural unit is a first set of contact elements carries in with the signal conductors of the first unit releasable contact connection and that the signal processing electronics the node element as fieldbus communication electronics is formed between the functional elements and an external control electronics mediated, whereby for connecting the node element to the external control electronics a two-wire line is provided, which as Fieldbus cable designed for serial signal transmission is.

In this way, the wiring effort becomes a connection external facility considerably reduced, which on the one hand a reduction in the time and cost involved in Assembly of the drive device results and on the other hand promotes reliability because it is less prone to failure Cable connections must be laid. The signal processing technology of the node element is as fieldbus communication electronics trained over a serial Fieldbus with a small number of wires in the form of a Two-wire line connected to an external control device and the control signals received from it are correct forwards to the relevant functional units. Electronics can be a so-called ASI (Actor Sensor Interface) or a so-called LON (Local Operating network). Compared to a permanent assembly, where the signal conductors cannot be detached and, for example, by Solder connections connected to the node element have one detachable design of the node element has the advantage that in the event of a defect, a quick exchange can take place. The node module can be a plug-in module, for example. It includes a first set of contact elements during assembly on the first unit simultaneously with one second set of contact elements on the first assembly occur, these contact elements immediately can be formed by signal conductors, for example by Conductor tracks. With the assembly of the node module here all relevant for signal transmission at the same time Connections are made so that the connection effort is minimal is. All functional units provided on the drive device can be connected centrally to the node element be the only interface to the outside world represents and the practical installation of the drive device Relatively easy even for non-specialists designed.

The subclaims relate to advantageous refinements of Drive device.

An expedient embodiment provides that the first Unit is a multiple arrangement of signal conductors, starting from the node element via the Length of the first unit extends. This multiple arrangement of signal conductors can then be practically any Tap in or tap to open the signal connection functional units arranged in a suitable manner in the first structural unit Place.

Such a multiple arrangement of signal conductors could for example, consist of a multi-core ribbon cable, that in a extending along the first assembly Anchoring groove is installed, the installation depending depending on the design, can also be carried out by the user himself could. For example, to be fixed in the anchoring groove Connect the sensor to the assigned signal conductors, the sensor can have lancing elements that Insert the sensor into the signal conductor or press in and establish the signal connection.

Via the to connect the central node element with the external control device provided two-wire line can the required continuous operating voltage can be supplied (for example 24 volts) and are also available if required Signals can be transmitted which are superimposed on the voltage signal.

The signal processing electronics integrated in the node element can be designed as control electronics, the one preferably contains freely programmable control program and immediately control and monitoring of the drive device takes over. The intelligence of the control is therefore integrated into the drive device itself and controls, for example depending on the sensor signals received the actuation of also integrated valves, which in the In the case of a fluid-operated drive device, the pressurization control the second unit. Apart from the connections to an existing parent electronic Coordination unit in the form of external control electronics and to a power supply is in this If no further wiring is necessary.

Figur 1

eine erste Bauform der erfindungsgemäßen Antriebsvorrichtung in Gestalt eines fluidbetätigten Arbeitszylinders in perspektivischer Darstellung, wobei einige der Signalleiter gestrichelt schematisch angedeutet sind,

Figur 2

einen ausschnittsweisen Querschnitt durch die Antriebsvorrichtung aus Figur 1 gemäß Schnittlinie II-II,

Figur 3

eine schematische Darstellung einer möglichen Ausstattung der Antriebsvorrichtung gemäß Figuren 1 und 2 mit Funktionseinheiten und Signalleitern, wobei die erste und zweite Baueinheit der Übersichtlichkeit halber lediglich strichpunktiert angedeutet sind, und

Figur 4

den rückseitigen Endbereich der Antriebsvorrichtung aus Figur 1 mit einer weiteren Möglichkeit zur Ausgestaltung und Anordnung der Signalleiter und des Knotenelementes.

The invention is explained in more detail below with reference to the accompanying drawing. In this show:

Figure 1

1 shows a perspective view of a first design of the drive device according to the invention in the form of a fluid-operated working cylinder, some of the signal conductors being indicated schematically in dashed lines,

Figure 2

3 shows a sectional cross section through the drive device from FIG. 1 according to section line II-II,

Figure 3

2 shows a schematic representation of a possible configuration of the drive device according to FIGS. 1 and 2 with functional units and signal conductors, the first and second structural units being indicated only by dash-dotted lines for the sake of clarity, and

Figure 4

the rear end region of the drive device from Figure 1 with a further possibility for the design and arrangement of the signal conductors and the node element.

The embodiment shows a drive device 1, the is designed as a linear drive 2 and two translationally relative has mutually movable units 3, 4. It deals is expediently a fluid-actuated linear drive, the first assembly 3 of a housing 5 and the second Assembly 4 of a movement-drivable with respect to the housing 5 Output part 6 is formed. The housing 5 contains one partially apparent from Figure 2 and preferably cylindrical contoured chamber 7, in which a piston 8 guided linearly movable is arranged, which is connected to a piston rod 12 which protrudes from the front of the housing 5. The piston 8 and the piston rod 12 represent the driven part 6.

The housing 5 is both on the front and on the Back with an end cover 13, 14 provided. At the rear end cover 14 are two connection openings 15 arranged, each with one of the internal channels two working spaces divided by the piston 8 in the chamber 7 communicate. By suitable supply and / or discharge of one The driven part 6 can be fluid, in particular compressed air by acting on the piston 8 to a reciprocating Linear movement in the direction of the longitudinal axis 16 relative to drive the housing 5. At the outer end of the piston rod 12 an object to be moved can be attached.

The linear drive 2 can also be an electrical linear drive be, furthermore, the linear drive can be designed without piston rods be, the output part 6 in another way with an outside on the housing with a longitudinal sliding movement and suitable for power take-off Component is connected. This can be a so-called Act slit cylinder or a band cylinder, or but a rodless cylinder with magnetic Coupling between the piston and the outer component.

There are several functional units on the housing 5 of the linear drive 2 17 arranged to control and monitor the Relative movement between the two units 3, 4 serve. Two of these functional units 17 are sensors 18 which are used in certain address axial piston positions and for example by a permanent magnet 22 arranged on the piston 8 be operated. This can include so-called Reed sensors or magnetoresistive sensors. One in Figure 3 is functional unit 17 shown in addition to Figure 1 a position detection device 23 which, for example, on analogous way a constant determination of the current piston position enables. It extends along the piston stroke and can be based on an ultrasound principle in which the Duration of a sound wave in a magnetostrictive body is evaluated.

Two further functional units 17 are valves 24, which are designed as proportional valves or as switching valves can be and expediently via one in FIG have schematically indicated electromagnet 25, the as Actuating unit for the valve member functions. The example Valves 24 are designed like cartridges and in one housing-side cavity 26 in particular completely recessed, so that there are no disturbing protruding parts. These valves 24 are connected to the connection openings 15 internal fluid channels turned on, which in the both working spaces of the linear drive 2. Corresponding The respective actuation of the valves 24 is a fluid supply Controllable or removal with respect to the connected work space.

In the area of the rear end of the housing 5 is a node element 27 provided. It stands with all of the functional units 17 via signal conductors 28 in integrated into the housing 5 Signal connection. These signal conductors 28 are in FIGS. 1 and 4 indicated by dashed lines, in Figures 2 and 3 in solid lines shown. The term node element was chosen because in this component all signal conductors 28 converge centrally. In this way, all of the sensors 18 and the possibly existing position detection device 23 delivered Monitoring signals supplied to the node element 27. Likewise, the valves 24 and others receive control signals instructed functional units 17 their corresponding control signals from the node element 27.

However, the node element 27 is not only a simple one Transit station with 1: 1 transmission of the signals. It is rather with central signal processing electronics 32 equipped, which come from the functional units 17 and the signals to be transmitted to the functional units 17 processed.

In a simpler case is the signal processing electronics 32 designed as fieldbus communication electronics 31, which between the functional units 17 and external control electronics 33 conveyed. An arrangement would be conceivable here ASI (Actor Sensor Interface) or LON (Local Operating Network). The connection between the control electronics 33 and the fieldbus communication electronics 31 of the node element 27 takes place via a two-wire line 34, via which a serial Signal or data exchange takes place. From the control electronics The fieldbus communication unit processes 33 delivered signals 31 such that a correct forwarding to the functional units connected via the signal conductor 28 17 takes place. On the other hand, the functional units 17 coming signals via the communication electronics 31 converted so that they are in serial transmission mode The lowest possible number of wires can be transferred to the control electronics 33 are.

Especially if the node element 27 is an integral part of the Housing 5 is, it is recommended that the present one Two-wire line 34 formed line connection 35 in the frame to connect a detachable plug connection with the node element 27. A suitable interface is then at the node element 27 intended. The fieldbus communication electronics 31 can Be part of a fieldbus control device in which several Drive devices are available, each with a suitable node element 27 are equipped. In this case the node element 27 expediently has another Interface that enables the connection of subsequent node elements.

The two-wire line 34 serves in the exemplary embodiment at the same time for transferring the operating voltage to the node element 27 and on to the functional units 17. For this purpose is on the one wire 36 a voltage of 0 volts and on the another wire 37, for example, a voltage of 24 volts. Here it is preferably a continuous voltage. The tax- and monitoring signals can be modulated onto the operating voltage so that no additional wiring is required.

The connection of an external control electronics 33 is useful as coordination electronics if in a machine several drive devices are present, their operations must be coordinated. Again, here the transmission of energy via the line connection 35 take place for the operation of the signal processing electronics 32 and if necessary the functional units 17 is required.

It is understood that the drive device 1 still as needed can be equipped with further functional units 17 which one expediently integrates it into the housing 5 as well as possible. For example, other sensors would also be conceivable Detection of pressure in the work rooms, acceleration and / or speed of the driven part 6 and the exerted Operating force. A pressure sensor is shown in FIG. 3, for example 70 indicated.

In the exemplary embodiment, the node element 27 is a node module 42 formed, which forms a compact component, which a central connection point 43 of the housing 5 releasably fixed is. This junction 43 is in the embodiment on the rear of the housing opposite the piston rod 12 and expediently on the assigned rear cover 14. However, it is advantageous that the junction 43 is quite variable and in the embodiment provided along the entire length of the housing as required can be. This is achieved in that the signal conductors 28 a on the housing 5 forming the first structural unit 3 comprise a multiple array of signal conductors 28 'that are parallel to the longitudinal axis 16 over practically the entire length of the housing extends. According to Figures 2 and 3, said multiple arrangement comprises in the exemplary embodiment ten signal conductors 28 ', which are combined in two groups 44 to six signal conductors each are each between the two end caps 13, 14th run. It would be readily possible to have these signal conductors 28 ' run in the form of traces, at least partially are embedded in the housing 5 and each have a freely accessible Have tapping surface over which in any Longitude can be tapped by suitable contact elements can. In the case of the exemplary embodiment, the two are Groups 44 of signal conductors 28 ', however, each part a multi-core ribbon cable 45, in which the individual Veins form the different signal conductors 28 ', which in the Band level run parallel to each other lying side by side. The signal conductors 44 are from the insulating body 46 of the ribbon cable 45 envelops. The ribbon cables 45 are on the housing 5 fixed and thus integrated into this, the attachment can be done in any way, for example by sticking or clamping.

In the exemplary embodiment, the signal conductors 28 'and 13 are present the two ribbon cables 45 in an anchoring groove 47 laid, which is introduced into the housing 5 in the region of the outer circumference and extends parallel to the longitudinal axis 16. The anchoring groove 47 is open on both sides at the front, wherein their end sections run in the end caps 13, 14. In the anchoring groove 47 can be placed at any point several functional units 17 releasably set, where it in the present case the sensors 18 already mentioned are involved. Furthermore The embodiment provides that the node module 42 is releasably fixable in the anchoring groove 47. The Measures taken for releasable anchoring in the anchoring groove 47 can with the sensors 18 and the node module 42 be identical, so that the present description is based on 2 limited to the node module 42.

The anchoring groove 47 is alongside one in particular Flat-shaped outer surface portion 48 of the housing 5 open. This outer surface section 48 adjoins a groove neck 52 on which a wider anchoring section in the depth direction 53 follows, so that there is a total of a T-groove. The node module 42 and the sensors 18 essentially have one complementary outer contouring and can Push it into the anchoring groove 47 at the end. Here comes a wider attachment portion 54 in the anchor portion 53 and one of the attachment portion 54 protruding centering section 55 protrudes into the groove neck 52. The height of the fastening section 54 is less than that of the anchoring portion 53 so that the node module 42 or a respective sensor 18 in the depth direction of the anchoring groove 47 is movable according to double arrow 56. A respective one Component 42, 18 is also in the height direction of at least one formed by a threaded element in the embodiment Clamping element 57 penetrates the one, the base 58 of the anchoring groove 47 opposite clamping surface 59 and one in the area the top of the centering section 55 and from the outside Her accessible actuation section 63. The latter allowed in the exemplary embodiment the attachment of a screwing tool, around the tensioning element 57 in the height direction relative to the node module 42 or sensor 18 to adjust. By the clamping element 57 is screwed against the bottom 58, the attachment portion moves 54 in the opposite direction from the bottom 58, whereby the holding portions 64 of the fastening section projecting laterally beyond the groove neck 52 54 from below against the side adjoining the groove neck 52 and facing the base 58 Holding surfaces 65 of the anchoring portion 53 are pressed. In this way, the node module 42 or a respective sensor 18 releasably clamped in the anchoring groove 47.

The signal conductors 28 'are expediently in the anchoring section 53 arranged and conveniently on the mentioned Holding surface 65 set. In the embodiment is on both Holding surfaces 65 each have a multi-core ribbon cable 45 attached. When the respective component 42, 18 is clamped this with its holding parts 64 against the ribbon cable 45 pressed.

The node module 42 has at the top of its two holding parts 64 each have a plurality of contact elements are designed as piercing elements 66, each signal conductor 28 'is assigned at least one of its own lancing element 66 is the pin-like in the direction of the assigned Signal conductor 28 'protrudes. Via internal conductor 67 the lancing elements 66 are electrical with the signal processing electronics 32 connected. All lancing elements 66 taken together form a first set 68 of contact elements.

When assembling the node module 42, the tensioning element 57 becomes like this set that the node module 42 into the anchoring groove 47 can be inserted without the lancing elements 66, the ribbon cable 65 damage. After the node module 42 on the desired longitudinal position positioned along the anchoring groove 47 was - this point forms the central connection point 43 -, the clamping element 47 is actuated, the lancing elements 66 when tightening the fastening section 54 in the respectively assigned signal conductor 28 'of the ribbon cable 45 push in. The insulating body 46 is pierced. On this is an electrical contact between the signal processing electronics 42 and the signal conductors.

Each sensor 18 has a second set 69 of contact elements, which are also designed as lancing elements 66 and their basic arrangement is that of the node module 42 can correspond. The number of lancing elements 66 is in these second sets 69 of contact elements, however, less The number suitably corresponds to the number of those to be connected Signal conductor 28 '. Unless it is desired that several Sensors 18 are simultaneously connected to identical signal conductors 28 ' contain the second sets 69 of contact elements lancing elements 66 arranged at different distances, see that different signal conductors 28 'are contacted.

Both the node module 42 and the sensors can be seen 18 at different locations along the anchoring groove 47 positioned and at the appropriate point with the signal conductors 28, 28 'can be contacted.

The further functional units 17, in the present case the two valves 24 and the position detection device 23 are via signal conductors 28 "to the comparable of a highway along the second unit extending signal conductor 28 'connected. The same also applies to any further functional units 17, a pressure sensor 70 being shown in FIG. 3 as an additional variant which detects the fluid pressure of the operating fluid. This Signal conductors 28 "are preferably in the second structural unit 4 permanently installed and can also be used, for example, as lancing elements trained contact elements 74 to the signal conductors 28 ' be connected. Said contact elements 74 can in the area the anchoring groove 47 to be permanently installed, so that the Assembly of the ribbon cable 45 automatically takes place. The arrangement is in turn made such that a correct assignment Contact with selected signal conductors 28 ' he follows.

From Figure 3 it can be seen that several or all signal conductors 28 'of the multiple arrangement of signal conductors to one Coupling point 75 can lead to a only schematically Coupling element 73 is connected, which with further signal conductors 72 is connected. In this way can be linked to other facilities, which can also be controlled via the node element 27 are. This could be done with the driven part 6, for example connected gripper. The coupling point 75 can be such be designed so that an easy plug-in assembly is possible.

4 shows a construction variant in which the two Groups 44 of signal conductors in the form of conductor tracks are formed are, each on a strip or strip-shaped Printed circuit board 76 are arranged, which like the ribbon cable 45 of the other exemplary embodiment in the anchoring groove 47 are set. The second set 69 of contact elements of the In this case, sensors 18 (not shown here) can be and / or sliding contacts exist that the assigned Pick up conductor tracks. The junction 43 is at this Embodiment assigned to one end of the second structural unit 4, where the signal conductors 28 'in a third set 77 from the Printed circuit boards 76 provided contact elements end. The node module 42 is designed as a plug that is at the end can be plugged onto the printed circuit boards 76, the on it provided first set 68 of contact elements with said third set 77 of contact elements in touch and / or Inserted engagement.

It is understood that the drive device 1 as required further functional units 17 can be equipped, wherein there may be other anchoring grooves that the Definition of such functional units 17 enables. These anchoring grooves can match accordingly in terms of signal conductors be equipped as the anchoring groove described, wherein these further signal conductors expediently via connecting conductors connected to or to the mentioned signal conductors 28 ' the central junction 43 are performed, where the node element 27 is located.

Instead of anchoring grooves, raised anchoring rails could also be used Find use, the multiple arrangement of In this case, signal conductors 28 'expediently on one Anchoring rail is arranged.

The anchoring grooves or anchoring rails can be attached to the second assembly 4 be attached additional parts, so that a easy retrofitting of conventional drive devices is possible.

Claims (14)

1. Drive unit with two modules (3, 4) driveable to move relative to one another, wherein there are provided on the first (3) of the two modules, and used for control and/or monitoring of the relative movement between the two modules (3, 4), functional units (17) such as for example sensors (18) or valves (24), connected via signal lines (28, 28', 28") to a node element (27) fixed to the first module (3), wherein the node element (27) includes a central signal processor electronics unit (32) for the signals coming from and to be transmitted to the functional units (17), characterized in that the signal lines (28, 28', 28") are integrated in the first module (3) and guided to a central connection point (43) at the first module (3), where the node element (27) is attached to create all contact connections simultaneously, that the node element (27) is a node module (42) attached releasably at the connection point (43) of the first module (3) and carrying a first set (68) of contact elements (66) which are in releasable contact connection with the signal lines (28, 28', 28") of the first module (3), and that the signal processing electronics unit (32) of the node element (27) is in the form of a field bus communications electronics unit (31) which connects between the functional elements (17) and an external control electronics unit (33), wherein a two-wire line (34) in the form of a field bus line for serial signal transmission is provided for the connection of the node element (27) to the external control electronics unit (33).
2. Drive unit according to claim 1, characterized in that it is in the form of a linear drive (2) with a housing (5) forming the first module (3) and an output unit (6), guided with longitudinal movement facility in or on the housing (5) and connectable to an object to be moved, forming the second module (4).
3. Drive unit according to claim 2, characterized in that it is in the form of a fluid-operated linear drive (2), wherein the output unit (6) comprises a piston (8) guided with longitudinal movement facility in a chamber (7) of the housing (5) and driveable to movement by means of fluid pressure.
4. Drive unit according to any of claims 1 to 3, characterized in that provided on the releasable node module (42) are a multiplicity of contact elements, in particular in the form of plug-in or knife-edge elements (66), which form the first set (68) of contact elements, connected on the one hand via module-internal lines (67) to the signal processing electronics unit (32) and on the other hand during fitting of the node module (42) to the first module (3) make contact in a predetermined assignment with the signal lines (28'), into which they are expediently inserted or pressed so as to make contact, and which are guided to the connection point (43) and connected to the functional elements (17).
5. Drive unit according to any of claims 1 to 4, characterized in that there is located on the first module (3) a multiple arrangement of signal lines (28') connected to the node element (27), extending at least approximately over the full length of the first module (3) and expediently in part able to be tapped at any desired point along their length by second sets (69) of contact elements belonging to the functional elements (17).
6. Drive unit according to any of claims 1 to 5, characterized in that there is provided on the periphery of the first module (3) at least one anchoring slot (47) extending in the direction of movement of the second module (4), in which one or more sensors (18) may be located in varying longitudinal positions, wherein fixed in the area of the anchoring slot (47) are signal lines (28') extending over at least approximately its overall length and connected at one end to the node element (27) and at the other end making connection during sensor fitting, at least in part, with a second set (69) of contact elements connected to the sensor (18) concerned.
7. Drive unit according to claim 6, characterized in that the signal lines (28') run at least partly in the anchoring slot (47).
8. Drive unit according to claim 6 or 7, characterized in that at any particular sensor (18) there is provided a second set (69) of contact elements, in particular in the form of plug-in or knife-edge elements (66), which during location of the sensor (18) in the anchoring slot (47) makes contact in a predetermined assignment with the signal lines (28'), into which it expediently plugs or presses.
9. Drive unit according to any of claims 1 to 8, characterized in that several of the signal lines (28') connected to the node element (27) lead to a coupling point (75) of the first module (3), where a coupling element (73) linked to ongoing signal lines (72) may be connected.
10. Drive unit according to any of claims 1 to 9, characterized in that the signal processing electronics unit (32) of the node element (27) is in the form of a control electronics unit (38) containing a control program.
11. Drive unit according to claim 10, characterized in that the control program may be programmed by the user in accordance with requirements.
12. Drive unit according to any of claims 1 to 11, characterized in that the control signals of the external control electronics unit (33) are switched on to one of the two wires (36, 37) of the two-wire line (34), wherein this wire expediently simultaneously supplies the continuous operating voltage for the signal processing electronics unit (32) of the node element (27).
13. Drive unit according to any of claims 1 to 12, characterized in that one or more of the functional units (17) is formed by a valve (24), in particular a solenoid valve, integrated in the first module (3), via which the expediently fluid pressurisation of the second module (4) is controlled.
14. Drive unit according to any of claims 1 to 13, characterized in that provided as functional unit (17) is at least one position detection device (23) for detecting the position of the second module (4), extending over the length of the movement path of the second module (4) to be detected, and based for example on an ultrasonic operating principle.

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