EP3662345A2 - Dispositif de commande de machines industrielles - Google Patents

Dispositif de commande de machines industrielles

Info

Publication number
EP3662345A2
EP3662345A2 EP18765351.4A EP18765351A EP3662345A2 EP 3662345 A2 EP3662345 A2 EP 3662345A2 EP 18765351 A EP18765351 A EP 18765351A EP 3662345 A2 EP3662345 A2 EP 3662345A2
Authority
EP
European Patent Office
Prior art keywords
control device
rotation
torque
actuating member
generating means
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.)
Granted
Application number
EP18765351.4A
Other languages
German (de)
English (en)
Other versions
EP3662345B1 (fr
Inventor
Benjamin HACKL
Wolfgang MAHR
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.)
KEBA Industrial Automation GmbH
Original Assignee
Keba AG
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 Keba AG filed Critical Keba AG
Publication of EP3662345A2 publication Critical patent/EP3662345A2/fr
Application granted granted Critical
Publication of EP3662345B1 publication Critical patent/EP3662345B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

  • the invention relates to a control device for industrial machines with controlled motion drives for machine components, in particular for controlled machine axes, and a method for operating an electronic control device for industrial machines with controlled motion drives, as specified in claims 1 and 14.
  • electro-mechanical toggle switches are in use, which can either have two or three predefined switching stages. In this case, a zero or rest position is provided, which can also be referred to as inactive position.
  • a rotary actuation of the actuating element of the toggle switch by a specific angle of rotation in a first direction of rotation, for example to the right, up to a mechanical stop, a first active or switching state is triggered or detected.
  • the provision of the actuator from this mechanical stop in the physically predefined zero or rest position is accomplished by a return spring.
  • a rotary actuation in the opposite or in a second rotational direction, in particular to the left is also possible and manual initiation of a second active or switching state can be achieved.
  • the actuator is pressed by the operating force of the operator as long as against the first or second stop, as long as an activation of the respective switching state or the driven thereof driven drive is desired. When you release the actuator this is automatically reset by the permanently acting biasing or spring force in the zero or rest position.
  • an electronic operating system which is provided as part of a driver information system in motor vehicles.
  • this operating system should be used as a display and control device in connection with the control of machines, for example in industrial manufacturing.
  • This operating system comprises an electronic control unit, which has a computing unit, a Display unit which is suitable for the visualization of graphical representations, and an operating unit with which manual intervention can be made with regard to the functionalities of the respective system.
  • a display mark is moved over the display area of the display unit in the manner of a cursor, thereby selecting an available function. After appropriate selection of the desired function by cursor-like displacement of the indicator mark another control element is actuated in order to be able to change parameters.
  • an object of the present invention is to improve the operation or programmability of machines with controlled movable components or actively adjustable machine axes.
  • control device for industrial machines with controlled motion drives for machine components
  • control device comprises at least one man-machine interface, in particular control-technical input and output means.
  • at least one operating element for manually influencing or specifying adjustment movements of at least one of the machine components, for example in the manner of controlled adjustable machine axes, executed.
  • At least one of these controls is designed as a turntable control with a rotatably mounted about an axis of rotation actuator, which actuator is rotatable by applying an actuating torque of an operator.
  • the corresponding control device is distinguished by the fact that the actuating member or its axis of rotation is in mechanical interaction with or mechanically coupled to a controlled variable rotation resistance generating device, an electronic evaluation and control device for variably setting rotational resistances of the Drehwi the stand-generating means s is formed.
  • the evaluation and control device is configured to provide at least one toggle switch operating mode, in which the rotational resistance generating means of the evaluation and control device is controlled such that the rotational resistance Generi réellesstoff after returning a predefined angle of rotation of the actuator a brake or lock - builds moment or generated, which inhibits further rotatability of the actuator, inhibits or inhibits reinforced.
  • a switching state of the turntable operating element is activated or is considered active as long as acting against the braking or locking torque operating torque of the operator is the blocking torque or the blocking torque, or exceeds a comparatively lower deactivation threshold.
  • the switching state of the turntable control element is considered to be inactive or deactivated when the actuation torque exerted by the operator falls below the deactivation threshold or is zero.
  • the specified measures enable improved manual operation or control of motion drives or of machine components moved thereby.
  • this creates an operating system for an operator, which enables a quickly understandable or an intuitive manual operation of movable mesh components, in particular of so-called machine axes.
  • the corresponding operator actions can be carried out relatively comfortably and at the same time avoiding errors.
  • the unambiguous operator actions or the concomitant deliberate delivery of motion control commands can minimize the risk of damage to a controlled machine and increase personal safety. can be stopped.
  • variable rotational resistances can be generated.
  • the program or software-technical controllability starting from the evaluation and control device thereby opens up a high degree of flexibility or a high range of variants with respect to a haptic feedback that can be generated for an operator in the course of operation of the turntable operating element.
  • the Drehmomentverlauft or the course of the operating force of the operator is compared to the actuator evaluated and used to reproduce a toggle switch functionality in an advantageous manner.
  • the operator is haptically signaled by the controlled initiated increase in the braking torque that the activation threshold has been reached and, consequently, the desired switching or movement function is triggered.
  • the actuator it is therefore not necessary to look at the actuator and to observe or take into account the respective twist angle.
  • the further course of the actuation force or of the corresponding actuation torque is evaluated, and in the case of falling below a predefined torque threshold value, this is recognized or used as a clear switch-off or deactivation criterion.
  • a practicable measure for determining the operating force respectively applied by the operator or for determining the actuation member in each case introduced, temporally or rotational angle dependent varying actuating torque is given in claim 4.
  • Another advantage are the measures according to claim 5, as a predefined initial or rest position for the actuator, so a fixed zero position of the actuator is unnecessary. In particular, this makes it possible for each rotational angle position of the actuating member to function as an initial or zero position for the indicated toggle switch function.
  • An embodiment according to claim 6 is also practicable. This makes it possible to dispense with any return means for the actuating member, for example prestressed springs or motor drives. Nevertheless, the implementation of a toggle switch functionality is made possible in a reliable manner.
  • the operator can be given a clear haptic feedback on the achievement and the presence of the activation switching state.
  • the slow drift in terms of the rotatability of the actuator during the activation switching state of the actuator also favors the measurement or determination of the respective applied actuating torque or the determination of the required, counteracting braking torque.
  • a practicable, time or rotation angle-dependent course of the braking torque relative to the actuator, which course of the rotational resistance generating means and of the evaluation and control device is clearly defined and easy to implement, is specified in claim 10.
  • this can give the operator a particularly clear, haptic feedback with regard to the achievement or presence of the activation switching state.
  • this can be simulated a latching behavior, which clearly and unequivocally signals to the operator that the predefined angle of rotation of the actuator has been covered and thus an activation switching state has just occurred or is present.
  • the hardware engineering or mechanical structure can be further simplified, whereby the manufacturing or implementation costs can be kept low. In addition, this minimizes the risk of incorrect operation and the resulting destruction of the turntable operating element. In particular, by avoiding predefined mechanical end stops, it is not necessary to provide particularly massive rotary bearings or other mechanical components.
  • Fig. 1 is formed of a plurality of machines, in particular industrial robots, formed technical system and a thereby used, electronic control system, which Steering system comprises a plurality of control devices and a man-machine interface in the manner of a portable handheld terminal;
  • 2 shows a production machine, in particular an injection molding machine, which comprises an electronic control device and a human-machine interface connected to it in the manner of a stationary control panel;
  • FIG. 3 shows the operating panel of the production machine according to FIG. 2;
  • FIG. 1 is formed of a plurality of machines, in particular industrial robots, formed technical system and a thereby used, electronic control system, which Steering system comprises a plurality of control devices and a man-machine interface in the manner of a portable handheld terminal;
  • 2 shows a production machine, in particular an injection molding machine, which comprises an electronic control device and a human-machine interface connected to it in the manner of a stationary control panel;
  • FIG. 3 shows the operating panel of the production machine according to FIG. 2
  • FIG. 4 shows a control device for industrial machines with a turntable operating element, which serves to operate or influence movement drives; 5 shows a first characteristic curve with regard to the actuating torque and angle of rotation of an actuating member of a turntable operating element with an inhibiting and a blocking behavior with respect to the actuating member; 6 shows a second characteristic curve with regard to the actuating torque and angle of rotation of an actuating member of a turntable control element with an inhibition and a blocking behavior relative to the actuating member; 7 shows a third characteristic curve with regard to actuating torque and angle of rotation of an actuating member of a turntable operating element with an inhibiting behavior, a blocking behavior and a combined inhibition and blocking behavior with respect to the actuating member; Fig. 8 is a schematic representation of an actuator of a turntable control element, which is provided for simulating a toggle switch function and has a virtual reset function.
  • Such an industrial plant or its control system 1 comprises at least one electronic control device 2, 2 'or can also be provided with a plurality of distributed electronic control devices 2, 2'.
  • a corresponding system comprises at least one machine 3 or a plurality of optionally interacting machines 3 or machine components.
  • the at least one electronic control device 2, 2 ' is preferably designed to be software-controlled and serves primarily to implement the respective control functions of the respective industrial machine 3 or to monitor, influence and / or program the operations of the machine 3.
  • such an industrial machine 3 is formed by at least one industrial robot 4.
  • Such an industrial robot 4 may be part of an assembly or manufacturing plant.
  • a data networking of the respective control devices 2, 2 ' can be provided that the industrial robot 4 can interact with control technology.
  • Such a data or control technology networking between a plurality of industrial robots 4 may also comprise a central control computer S.
  • a central, decentralized, hierarchical or otherwise constructed control architecture and networking the most diverse embodiments are conceivable which can be selected according to the respective requirements.
  • At least one man-machine interface 6 is assigned or can be assigned to at least one control device 2 'in at least one machine 3.
  • control-relevant interactions between an operator 7 and the respective machine 3 are made possible.
  • the control-engineering human-machine interface 6 is formed by a mobile or portable hand-held operating device 8.
  • the man-machine interface 6 is defined by a stationary control panel 9.
  • the respective man-machine interfaces 6 can thus also be referred to as operator interfaces.
  • a generic handheld terminal 8 or control panel 9 has at least one input device 10, such as a touch-sensitive screen 11, input buttons 12, switches, or other electrical or electromechanical input means.
  • an input device 10 such as a touch-sensitive screen 11, input buttons 12, switches, or other electrical or electromechanical input means.
  • visually and / or acoustically detectable output means can be provided.
  • a generic hand-held operating device 8 or operating panel 9 in particular the aforementioned touch-sensitive screen 11, as well as lighting elements or signaling lamps, can be provided for displaying system-relevant data or states.
  • the functional scope and the embodiment of the respective input device or of the respective output device depend strongly on the respective application, in particular on the technical complexity of the machine 3 or system to be controlled. It is essential that the operator 7 by means of the input device 10 and a suitable output device, in particular by means of the aforementioned touch-sensitive screen 11, the required control engineering processes control or monitor, influence and / or can program.
  • control device 2 implemented in the man-machine interface 6, in particular in the hand-held operating device 8 or in the control panel 9, and the control device 2 'associated with a machine 3 can be in data-technical or control-technical interaction via wired and / or wireless communication interfaces ,
  • activatable and deactivatable motion drives 13 are provided, which are line-connected to the respective control device 2 '.
  • Such motion drives 13 can also be adjusted or changed as required with regard to their drive speed and / or drive power or drive force.
  • the corresponding motion drives 13 are also to be understood actuators, with which an adjustment movement of a machine component can be generated or initiated.
  • Such a movement drive 13 and the respective machine component can also be referred to as a machine axis.
  • the rotational resistance generating means 23 can be controlled by the evaluation and control device 20 in such a way that the rotational resistance generating means 23 after retraction or shortly before retraction of a predefined angle of rotation + ⁇ xi or - ⁇ xi of the actuating member 18 a braking and / or blocking MBR, BL builds up or generated, as exemplified in Figs. 5-7.
  • This braking torque and / or blocking torque MBR, MBL which is dependent on the length of the twisting path or torsion angle + ⁇ or ⁇ , causes a certain inhibition, an increased or increasing inhibition, or a blockage in relation to the rotatability or further rotatability of the actuating member 18.
  • FIG Angle of rotation + ⁇ or - ⁇ is preferably predefined and may have a value within a range of values between 10 ° and 90 °. According to a practicable design, the predefined angle of rotation + ai to - ⁇ in a range between about 30 ° and about 60 °, for example at about 45 ° to allow the most comfortable or intuitive operation of the turntable control 17.
  • the predefined angle of rotation + ⁇ or - ⁇ can be stored, for example, in the evaluation and control device 20 and detected or controlled by the sensor-technical detection means 21, for example via a corresponding incremental encoder of the evaluation and control device 20.
  • an operating torque Mu is applied by the operator, which counteracts the generated by Drehwi resistance-geni réellesmi means 23 or controlled regenerable braking and / or locking torque MBR, MBL or respectively acting braking torque MBR overcomes.
  • Examples of a varying actuation torque Mu which changes with respect to a time period or with respect to a time-varying angle of rotation ⁇ , are shown schematically or greatly simplified in FIGS. 5 to 7.
  • the applied or applied by the operator actuating torque Mu its rotation angle-dependent curve is illustrated in FIGS. 5 to 7 in solid lines.
  • the braking torque MBR which is applied or to be applied by the rotation resistance generating means 23 and which opposes the actuation torque Mu, or the optionally generated blocking moment BL, is shown in dotted lines.
  • the operating torque Mu of the operator In order to effect a rotation of the actuating member 18 and thus a change or influencing the angle of rotation + ⁇ or - ⁇ , the operating torque Mu of the operator must be at least slightly greater than the control-controlled by the rotational resistance generating means 23, respectively. varying braking torque MBR.
  • the blocking moment MBL optionally generated or initiated by the evaluation and control device 20 and generated by the rotational resistance generating means 23 is preferably high enough for the operator to clearly see that further rotatability of the actuating member 18 is not provided Turnability is considered locked.
  • the controllable rotational resistance generating means 23 can of course produce or provide only a finite or limited blocking moment MBL.
  • the blocking moment MBL of the rotational resistance generating means 23 relative to the actuating member 18 is so high that it can be clearly perceived or clearly perceived by the operator in the course of the operator actions.
  • a switching state of the turntable operating element 17 is active or its switching state is considered activated, as long as against the braking or locking torque MBR, MBL of the rotational resistance generating means 23 acting actuation torque Mu of the operator relative to the actuator 18 is the blocking moment MB or MB corresponds to the blocking moment, or exceeds a comparatively lower, predefined deactivation threshold MD.
  • the Switching state of the turntable control element 17 inactive or its switching state is considered disabled when the actuation torque exerted by the operator Mu falls below the predefined deactivation threshold MD or zero.
  • the actuation torque Mu is zero, if the operator does not exert any twisting force on the actuating member 18.
  • the actuation torque Mu decreases when the operator relative to the actuator 18 comparatively less torque exerts, for example, because a driven motion drive 13 is to be stopped or slowed down.
  • the deactivation threshold value MD can thus be in a value range between zero and less than the value of the maximum possible or applicable blocking torque MBL.
  • the deactivation threshold MD is in a range between 10% and 90%, preferably between 10% and 60% of the maximum application blocking torque MBL.
  • the predefined angle of rotation + ⁇ or - ⁇ is expediently at a value between 10 ° and 90 °, preferably between 20 ° and 60 °, more preferably between 30 ° and 50 °. As a result, the most ergonomic operation of the actuating member 18 is achieved. It is useful if for the achievement or until reaching the predefined angle of rotation + ai°.
  • a defined torsional resistance, ie a defined counter or braking torque MBR is constructed, as shown in FIGS. 5 to 7 can be seen.
  • a defined torsional resistance ie a defined counter or braking torque MBR is constructed, as shown in FIGS. 5 to 7 can be seen.
  • This initial braking torque MBR until reaching the predefined, absolutely measured angle of rotation + ⁇ or - ⁇ can be carried out at least approximately linearly rising, be defined stepwise or ramp-like (Fig. 5), or be performed gradually increasing according to a defined waveform ( Figures 6, 7).
  • This defined Activation threshold MA can also be constructed shortly before reaching or shortly after reaching the predefined angle of rotation + ⁇ or - ⁇ .
  • the actuation torque Mu exerted by the operator is detected or determined with respect to the actuator 18 by measuring or calculating the amount of electrical energy or power which is to be applied or applied in order to correlate with the angle of rotation + a. - ⁇ the actuator 18 each to be required or applied brake torque MBR to generate.
  • the braking or locking torque curve predefined by the evaluation and control device 20, as has been shown by way of example in FIGS. 5 to 7, is a measure of the required electrical energy or power required for defined braking or braking. Blocking of the actuator 18 is required, that is a measure of the electrical energy consumption of the controlled by the evaluation and control device 20 or controlled rotational resistance generating means 23rd As shown in FIGS.
  • the evaluation and control device 20 may be adapted to the rotational resistance generating means 23 to control such that after covering the predefined angle of rotation + ai designated. - ⁇ the actuator 18 and the concomitant presence of a rotational position in which the Drehstel- ller control element 17 signals or occupies an active switching state, the braking torque MBR of the rotational resistance generating means 23 in a drift value range 24 or held on a drift threshold is, which permits or allows a comparatively slower or heavier further rotation of the actuating member 18 against the prevailing braking torque MBR of the rotational resistance generating means 23.
  • This drift value range 24 lies in the value range between the deactivation threshold value MD and the blocking torque MBL, as can also be seen from FIGS. 5 to 7.
  • the evaluation and control device 20 can also be set up or programmed such that rotary resistance generating means 23 is activated in such a way that immediately before the predefined angle of rotation + ⁇ xi designated. - ⁇ , or in the course of reaching the predefined angle of rotation + ai designated. - ⁇ the actuator 18, the braking torque BR of the rotational resistance generating means 23 within a rotation angle range of up to about 10 ° (degrees) is at least lowered or canceled or disabled.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un dispositif de commande (2, 2') destiné à des machines industrielles et comprenant des entraînements de mouvement commandé (13) destinés à composants de machine. Selon l'invention, une interface homme-machine (6) est pourvue d'au moins un élément de commande (16) pour influencer ou spécifier manuellement des mouvements de réglage d'au moins un des composants de machine. Au moins un élément de commande (16) est conçu comme un élément de commande de table tournante (17) pourvu d'un élément d'actionnement (18) monté à rotation sur un axe de rotation (22). L'élément d'actionnement (18) ou son axe de rotation (22) est en interaction mécanique avec un moyen de génération de résistance à la rotation (23) pouvant varier de manière commandée. Un dispositif d'évaluation et de commande électronique (20) est conçu pour régler de manière variable des résistances à la rotation du moyen de génération de résistance à la rotation (23). Le dispositif d'évaluation et de commande (20) est conçu pour fournir au moins un mode de fonctionnement d'interrupteur à bascule dans lequel le moyen de génération de résistance à la rotation (23) peut être commandé par le dispositif d'évaluation et de commande (20) de sorte que, après que l'organe d'actionnement (18) a parcouru un angle de torsion prédéterminé, le moyen de génération de résistance à la rotation (23) établit ou génère un couple de freinage ou de blocage qui inhibe, inhibe de façon renforcée ou empêche la capacité de rotation supplémentaire de l'élément d'actionnement (18).
EP18765351.4A 2017-08-01 2018-07-27 Dispositif de commande de machines industrielles Active EP3662345B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT506412017 2017-08-01
PCT/AT2018/060167 WO2019023727A2 (fr) 2017-08-01 2018-07-27 Dispositif de commande de machines industrielles

Publications (2)

Publication Number Publication Date
EP3662345A2 true EP3662345A2 (fr) 2020-06-10
EP3662345B1 EP3662345B1 (fr) 2023-12-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18765351.4A Active EP3662345B1 (fr) 2017-08-01 2018-07-27 Dispositif de commande de machines industrielles

Country Status (3)

Country Link
EP (1) EP3662345B1 (fr)
JP (1) JP7232243B2 (fr)
WO (1) WO2019023727A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115708023A (zh) * 2021-08-20 2023-02-21 西门子股份公司 用于计算机数控系统的操作设备

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11786956B2 (en) 2021-05-14 2023-10-17 Stolle Machinery Company, Llc System and method for automated low-speed positioning of a can necking machine

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DE10029191A1 (de) 2000-06-19 2001-12-20 Philips Corp Intellectual Pty Elektronisch gesteuerter Flüssigkeitsdrehknopf als haptisches Bedienelement
DE10245333A1 (de) * 2002-09-27 2004-04-08 Robert Bosch Gmbh Eingabevorrichtung
JP2005019113A (ja) 2003-06-25 2005-01-20 Alps Electric Co Ltd 力覚付与型入力装置
JP4430988B2 (ja) 2004-06-24 2010-03-10 アルプス電気株式会社 力覚付与型入力装置
ES2333364T3 (es) 2005-07-01 2010-02-19 Preh Gmbh Actuador rotativo con freno magnetico.
JP5666375B2 (ja) 2010-09-21 2015-02-12 株式会社東海理化電機製作所 変速操作装置
FR3010548B1 (fr) 2013-09-09 2016-12-23 Dav Interface de commande a retour haptique
CN104908046B (zh) * 2015-06-16 2017-01-11 东南大学 一种基于旋钮式力反馈手控器及机械臂遥操作控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115708023A (zh) * 2021-08-20 2023-02-21 西门子股份公司 用于计算机数控系统的操作设备

Also Published As

Publication number Publication date
EP3662345B1 (fr) 2023-12-13
WO2019023727A2 (fr) 2019-02-07
JP2020529677A (ja) 2020-10-08
JP7232243B2 (ja) 2023-03-02
WO2019023727A3 (fr) 2019-03-28

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