Control device for a handling device

Patent metadata

Field	Value
Publication number	US-2018104875-A1
Application number	US-201715785491-A
Country	US
Kind code	A1
Filing date	Oct 17, 2017
Priority date	Oct 18, 2016
Publication date	Apr 19, 2018
Grant date	—

Abstract

A control device for a handling device includes a storage medium, a processing unit, an output for outputting signals, and an input for receiving signals from the handling device. A waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm. The signals received by the input represent a dynamic parameter of the end-of-arm of the handling arm and the threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium. The received signals can be compared with the threshold value by a comparison unit of the control device, and the end of the waiting phase can be determined when reaching the threshold value. Depending on the curve of the dynamic parameter, the threshold valuecan be determined and the end of the waiting phase can be determined when reaching the threshold value (G t ).

First claim

1 . A control device for a handling device, comprising:
a storage medium, a processing unit, an output for outputting signals, and an input for receiving signals from the handling device,
wherein the end of a waiting phase can be determined by the control device when reaching a threshold value, wherein the waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm and serves for decaying oscillations of the end-of-arm of the handling arm of the handling device, wherein:
the signals received by the input represent a dynamic parameter of the end-of-arm of the handling arm and the threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium, wherein the received signals can be compared with the threshold value by a comparison unit of the control device and the end of the waiting phase can be determined when reaching the threshold value, or
multiple oscillating profiles of the end-of-arm, each with a curve of a dynamic parameter of the end-of-arm, are stored in the storage medium, wherein in dependence on the curve of the dynamic parameter, the threshold value, which corresponds to a time limit, can be determined and the end of the waiting phase can be determined when reaching the threshold value.

2 . The control device according to claim 1 , wherein a continuation signal can be outputted by the control device in dependence on the determined end of the waiting phase.

3 . The control device according to claim 1 , wherein the dynamic parameter is an oscillation value which is determined, preferably measured or calculated, on the basis of the speed, the acceleration, the deflection, the stress state, and/or the position of the end-of-arm.

4 . A handling device for a molding machine, comprising
a handling arm which comprises an end-of-arm, an end-of-arm tool mounted to the handling arm for handling a molding part or a semi-finished product, at least one drive device for the handling arm, and a control device according to claim 1 .

5 . The handling device according to claim 4 , wherein the handling device comprises a handling control system, wherein the control device is signally connected to the handling control system or is integrated into the handling control system.

6 . The handling device according to claim 4 , wherein at least one procedure sequence for moving the end-of-arm along at least one movement axis is stored in the storage medium of the control device or in the handling control system.

7 . The handling device according to claim 6 , wherein the at least one procedure sequence comprises
a period of movement for moving the end-of-arm from a starting position to a handling position, the waiting phase, a handling phase initiated by the continuation signal, and a movement or transport phase for moving the end-of-arm from the handling position into an end position.

8 . The handling device according to claim 6 , wherein multiple procedure sequences are stored in the storage medium of the control device or in the handling control system, wherein the multiple procedure sequences differ from each other at least in the speeds of the end-of-arm in the handling phase wherein for each procedure sequence, a threshold value is stored in the storage medium, this threshold value being dependent on the executed action of the end-of-arm tool of each handling phase.

9 . The handling device according to claim 4 , further comprising at least one sensor, preferably arranged in the area of the end-of-arm or in the area of the end-of-arm tool, wherein the values measured by the sensor, preferably an acceleration sensor, can be transmitted to the input of the control device as signals representing the dynamic parameter.

10 . The handling device according to claim 6 , wherein in each period of the procedure sequence, corresponding signals can be transmitted by the control device via the output to the at least one drive device.

11 . A molding unit with a molding machine, in particular an injection molding machine, and a handling device according to claim 4 .

12 . The molding unit according to claim 11 , wherein the molding machine comprises an injection device and a closing unit with a molding tool, wherein by the handling device, a molding part produced in the molding tool can be handled—preferably accommodated, deposited, delivered and/or inserted—in the handling phase or a semi-finished product can be brought into the molding tool.

13 . The molding unit according to claim 11 , wherein the molding machine comprises a machine control system, wherein the handling control system is signally connected to the machine control system or is integrated into the machine control system.

14 . A method for controlling a handling device, wherein either initially the first step in which
signals of the handling device received via the input, the signals represent a dynamic parameter of the end-of-arm of the handling arm, are compared with a threshold value stored in a storage medium, the threshold value corresponds to a specific dynamic parameter (P dyn ) of the end-of-arm,
is carried out, or initially the steps of
determining, preferably calculating, of curves of a dynamic parameter of the end-of-arm,
storing of multiple oscillating profiles of the end-of-arm on the basis of the determined curves, and
determining a threshold value corresponding to a time limit for each oscillating profile in dependence on each curve of the dynamic parameter of the end-of-arm

are carried out, each followed by the step of
determining the end of a waiting phase when reaching the threshold value, wherein the waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end of arm of a handling arm and serves for subsiding of oscillations of the end-of-arm of the handling arm of the handling device.

15 . The method according to claim 14 , wherein a continuation signal is outputted in dependence on the determined end of the waiting phase.

16 . A method for moving a handling arm of a handling device on the basis of a procedure sequence, with the steps of
moving an end-of-arm of the handling arm from a starting position to a handling position, waiting according to a waiting phase of the procedure sequence, terminating the waiting phase in dependence on an end of the waiting phase determined by a method according to claim 14 , preferably by outputting a continuation signal, handling a molding part or a semi-finished product with an end-of-arm tool mounted to the handling arm, and moving the end-of-arm into an end position.

Assignees

• Engel Austria Gmbh

Inventors

• Hoeglinger Wolfgang

Classifications

• B29C45/80 Primary

  of relative position of mould parts · CPC title

• B29C45/76

  Measuring, controlling or regulating {(measuring in general G01; controlling or regulating in general G05)} · CPC title

• B29C45/14008

  Inserting articles into the mould (B29C45/14827 takes precedence) · CPC title

• B29C2045/4241

  Auxiliary means for removing moulded articles from the robot · CPC title

• B29C2945/76795

  robots, grippers · CPC title