DE102011006322B4 - Rotary feedthrough for a handling unit - Google Patents

Abstract

Rotary feedthrough (10) for a handling unit, comprising a base part (12) and a rotatable part (14) rotatable relative to the base part (12), with fluid-side and base-side media connections (48, 50 and 18, 20) and electrical connections (72, 74 and 22 , 24), and with between the media ports (48, 50 and 18, 20) and the electrical connections (72, 74 and 22, 24) provided lines (26, 28), wherein the base part side and Drehteilseitig each have a media port (18, 48) and a media line (26) between the two media ports (18, 48) is provided, wherein the rotary part side media port (48) for supplying a valve unit (16) is provided, and wherein the base part (12) and the rotary member (14) each have a electrical converter is provided, characterized in that the electrical signals from the base-side converter are converted into digital signals, that the digital signals from the base part (12) to the rotary part (14) via an electrical Leitun g (66, 68) are transmitted and that the digital signals are converted back into electrical signals from the rotary part-side converter, wherein the rückgeschelten electrical signals for driving the valve unit (16), wherein for transmitting the power for actuating the valve unit (16) and / or the digital signals between the rotary part (14) and the base part (12) one or more slip rings (66, 76) with associated contact pickups (68, 78) are provided; the base-side-side media ports (18 and 20) being connected to pneumatic media lines (26, 28) each opening into an annulus (36, 38) connecting the rotary member (14) and the slip rings (66, 76) ) in the radial direction surrounding the annular spaces (36, 38).

Description

The invention relates to a rotary feedthrough for a handling unit, comprising a base part and a rotary part rotatable relative to the base part, with fluid-side and base-side media connections and / or electrical connections, and with lines provided between the media connections and / or the electrical connections. Such rotary unions are known from the prior art in a variety of ways. They are used in particular in handling technology. For example, they may be provided on a robot arm. The rotary unions are then followed in particular actuators. These may be formed, for example, as a gripper. In order to be able to supply the actuators with, in particular, electrical energy and / or compressed air, it is necessary that pneumatic passages and / or electrical lines are also passed through the rotary feedthroughs. If the rotary feedthrough is followed by several or different actuators, a corresponding electrical line or corresponding pneumatic lines must be provided for each individual actuator. The individual pneumatic lines must be sealed, which is why comparatively many seals are required. Overall, this leads to an increased friction torque between the base and rotary part. Since seals are wearing parts, a high number of seals also leads to unfavorable conditions and the susceptibility to failure is increased. As a result, rotary feedthroughs, which are suitable for having a plurality of actuators connected downstream, build comparatively large. To carry out the electrical signals a separate line are provided in known rotary unions for each signal to be performed. In the implementation of many signals, this means many lines, with a contact between the rotating part and the base part can be provided for example by a slip ring. For many signals, many slip rings must therefore be used. Overall, this also leads to a large space and increased wear or an increased error rate. From the US 5,632,625 A For example, a rotary feedthrough is known in which decoders are provided for converting signals transmitted through the rotary feedthrough.

The present invention is based on the object, at the outset rotary feedthroughs in such a way that they build comparatively small and have a relatively simple structure.

This object is achieved by a rotary feedthrough having the features of claim 1. According to the invention, it is therefore provided that a media connection and a media line between the two media connections is provided on the base part side and on the rotary part side, wherein the medium side connection is provided for supplying a valve unit. Furthermore, it is provided that in each case an electrical converter is provided on the base part and on the rotary part, so that the electrical signals from the base-side converter are converted into digital signals, that the digital signals are transmitted from the base to the rotary part via an electrical line and that the digital signals be converted back into electrical signals from the rotary part-side converter again. The reconverted electrical signals serve to control the valve unit.

When providing multiple actuators several parallel control signals are basically required. With the invention, these electrical signals for driving a valve unit on only one electrical line from the base to the rotating part can be transmitted. Since only one media line is provided, the valve unit can be supplied via this one line with the medium. In particular, the converters are analog-to-digital converters that first convert the analog signals into digital signals and then convert the digital signals back into analog signals. In particular, the transducers may each have a printed circuit board, wherein a printed circuit board in the base part and a printed circuit board in the rotary part is provided.

To transmit the power for actuating the valves and / or the digital signals between the rotating part and the base part, one or more slip rings may be provided with associated contact pickups. In particular, the slip rings are arranged on the rotating part and the contact takers on the base part. Furthermore, the base part side media connections are connected to pneumatic media lines, each of which opens into an annular space, which connects to the rotary part ( 14 ). The slip rings surround the annular spaces in the radial direction.

Furthermore, it is conceivable that an electrical converter is provided on the rotary part and on the base part in each case such that electrical signals coming from the valve unit and / or actuators are converted to rotationally-spaced digital signals, that the digital signals from the rotary part to the base part via an electrical line be transferred and that the digital signals are converted back to the base part in electrical signals. In a signal transmission in both directions, therefore, converters can be used, which can convert the signals in both directions.

The rotary feedthrough can according to the invention, the valve unit, in which a distribution of the guided in a media line medium takes place on several of the rotary feedthrough downstream actuators include. The valve unit can also be flange-mounted on the rotary part. In particular, when the valve unit is arranged on the rotary member or is integrated in this, the media connection of the rotary member may then be directly connected to the input of the valve unit and may not be accessible.

Due to the provision of the valve unit, it is therefore sufficient to supply the medium with only one media line, in particular an air line. The valve unit can be mounted directly or indirectly on the rotary part. The distribution of the medium downstream of the rotary feedthrough actuators takes place downstream of the base. As a result, far less space is required and also the number of seals is reduced to a minimum. This is accompanied by a minimized friction, whereby improved turning properties are provided. Depending on the control of the valve unit downstream actuators can be controlled differently via valves provided in the valve unit of the rotary feedthrough.

In particular, the base part side and the rotating part side media connection and the associated media line for guiding compressed air is formed. In particular, via compressed air downstream actuators, such as grippers, can be operated favorably.

According to a further embodiment of the invention, it is conceivable that, in addition to the respective media-side and media-side media connection, a further media-side and media-side media port are provided, and another media conduit is provided between the other media ports. This media line can then be designed in particular for the guidance of negative pressure, wherein in the valve unit, a distribution of the guided in the media line negative pressure on the rotary feedthrough downstream actuators can be done.

According to the invention it can also be provided that the electrical connections and the electrical line are designed such that electrical power is transmitted for actuating the valve unit. For this purpose, in particular, the valves provided in the valve unit are designed as electromagnetically operable valves. Advantageously, two electrical lines for transmitting electrical power in the rotary feedthrough are provided. When using DC then a line for the positive terminal and a line for the negative terminal is present.

Alternatively or additionally, further electrical connections and electrical lines can be designed such that electrical signals for controlling the valve unit are transmitted. The electrical signals thus serve to control individual provided in the valve unit valves. Electrical signals can also be control signals, which include, for example, different operating states of different actuators or sensors.

Electrical signals for controlling the valve unit are generated in particular in an electrical control and passed through the rotary feedthrough to the valve unit. Control signals that can be generated for example in the valve unit or on the actuators are supplied via the electrical lines of the control unit.

In another embodiment of the invention, it is conceivable that electrical signals for controlling and / or regulating the valve unit and / or of actuators are transmitted via a radio link. Since these signals are control and / or regulating signals, they can be supplied by radio directly to a higher-level control unit or sent by radio from the control unit to the corresponding valve unit or the actuators.

Further details and advantageous embodiments of the invention will become apparent from the following description, with reference to which an embodiment of the invention is described and explained in detail.

Show it:

1 a perspective view of a rotary feedthrough including valve unit;

2 the front view of the rotary feedthrough according to 1 ;

3 the rotary union according to 2 without valve unit in partial section along the line ZZ according to 7 ;

4 a section through the rotary feedthrough along the line AA 7 ;

5 one of the 4 corresponding section without electrical contact tracks;

6 a cross section through the rotary feedthrough along the line FF of 5 ; and

7 a section through the rotary feedthrough along the line GG of 5 ,

The rotary feedthrough shown in the figures 10 is intended for placement on a handling unit. The rotary feedthrough 10 includes a basic part 12 and a rotatable relative to the base rotatable part 14 , In 1 and in 2 is on the turning part 14 also a valve unit 16 intended.

At the base 12 are a total of two media connections 18 and 20 intended. Furthermore, at the base 12 two electrical connections 22 and 24 intended.

As in particular from the 3 and 7 becomes clear, are the media connections 18 and 20 with pneumatic media lines 26 . 28 connected, the first transverse to the central longitudinal axis 30 run the rotary feedthrough and then each in two parallel, parallel to the central longitudinal axis 30 running line sections 32 and 34 split. The pipe sections 32 and 34 then each lead into an annulus 36 . 38 , which the connection to the rotating part 14 represents. Starting from there, the lines point 26 and 28 two likewise parallel to the central longitudinal axis line sections 40 and 42 on, which in a perpendicular to the central longitudinal axis 30 extending line section 44 and 46 towards fluid-side media connections 48 and 50 to lead. Instead of the respective parallel and mutually associated line sections 32 . 34 and 40 . 42 can also be provided only a line section having a correspondingly large cross-section.

As a result, there is a media connection on the basic part side 18 provided, which the rotating part side media connection 48 assigned. In addition to these connections is the base part side another media connection 20 provided, the the rotating part side media connection 50 assigned. In the embodiment, the media connections serve 18 and 48 as well as the associated media management 26 for the guidance of compressed air. The other media connections 20 and 50 as well as the associated media management 28 serves to guide a negative pressure. The wires 26 and 28 can also be occupied the other way, so in the line 26 Negative pressure and in the pipe 28 Overpressure is performed; The type of gaskets must then be selected accordingly.

Because of the valve unit 16 on the turned part 14 is intended, it is sufficient in principle, a media line 26 through the rotary union 10 to lead through. In the valve unit 16 will then be the one in this line 26 guided air on several of the rotary union 10 subordinate, not shown actuators distributed. These are in the valve unit 16 Various valves are provided in 1 and 2 with the reference number 52 are indicated. Consequently, over the one media line 26 Compressed air for in the valve unit 16 provided valves provided. About the other media line 28 a negative pressure is provided, which also on corresponding valves of the valve unit 16 distributed to the supply of actuators.

In the embodiment, as shown in the figures, to the media connections 48 and 50 with corresponding, not shown in the figures, valve connections on the valve unit 16 connected.

As in particular from the 3 . 4 and 5 becomes clear, points the basic part 12 , which itself may be formed in several parts, a central breakthrough 54 on which of the rotary part 14 is penetrated. The turned part 14 Overall, it is designed so that it is the two end faces of the rotary feedthrough 10 forms. The turned part 14 has a basic body 58 as well as with the main body 58 screwed cover body 60 on. Between the main body 58 and the cover body 60 is the basic part 12 arranged. The main body 58 is with the cover body 60 via connecting screws 62 connected.

Between the turned part 14 and the basic part 12 are a total of two rotating bearings 56 intended. Furthermore, in the area of the annular spaces 36 and 38 suitable sealing means for sealing the annular spaces 36 . 38 or the line 26 and 28 intended.

With the rotary feedthrough 10 On the one hand, electric power and, on the other hand, control and regulation signals from the base are also used 12 to the turned part 14 transfer.

For this purpose, have the electrical connections 22 and 24 each have a plurality of electrical contacts. The contacts with which control signals are transmitted are converted into digital signals by a converter, not shown in the figures. These digital signals are, as in particular 4 and 6 becomes clear, via two slip rings 66 with associated contactors 68 from the base 12 to the turned part 14 transfer. The thus transmitted control and regulating signals are then from a Drehteilseitigen converter, which on one in the 5 illustrated, ring-shaped board 70 is arranged, reconverted into analog signals. The individual signals are then to individual contacts of the rotating part-side electrical connections 72 and 74 directed. In this respect, a plurality of control and regulating signals can basically only one line, in the embodiment of two slip rings 66 with associated contactors 68 is formed, between the rotating part 14 and the basic part 12 be transmitted. In the 3 and 5 are to clarify the structure of the rotary feedthrough 10 the slip rings 66 and 76 as well as the contact customers 68 and 78 Not shown.

In addition to the control and regulating signals, electrical power is also provided by two larger slip rings 76 and associated contact persons 78 from the base 12 , or its electrical connections 22 . 24 , to the turned part 14 , or its electrical connections 72 . 74 , transfer.

In principle, it is conceivable that in particular the control and control signals not through the rotary feedthrough 10 be passed, but are sent by radio from a higher-level control unit to the valve assembly or to the actuators. Accordingly, detected controlled variables can be transmitted by the actuators directly by radio to the higher-level control and control unit.

To make sure the basic part 12 not with the rotating part 14 is twisted, is at the base an anti-rotation in the form of two protruding cylinder rods 80 intended. However, the anti-rotation device only works if a counter-stop is provided for the rods.

The turntable-side electrical connections 72 and 74 are in operation of the rotary feedthrough 10 with valve unit side electrical connections 82 and 84 connected. The electrical connection 74 the rotating part is connected to the electrical connection 84 the valve assembly electrically connected. The electrical connection 72 with the electrical connection 82 ,

In the rotary feedthrough shown in the figures 10 become the Drehteilseitigen media connections 48 and 50 connected via corresponding hose connections with valve unit side media connections.

In another embodiment, it is conceivable that the valve unit is integrated in the rotary feedthrough. In this respect, the respective associated connections of the rotating part 14 be directly connected to the associated terminals of the valve assembly, in particular they can be directly coupled together without removable connectors are required.

As in the rotary feedthrough shown in the figures 10 only two media lines, a pressure line and a vacuum line, through the rotary feedthrough 10 be passed and only four electrical lines, two lines for control and control signals and two lines for the electrical power to actuate the valves 52 , can the rotary union 10 overall very compact build. Due to the Drehteilseitigen valve assembly 16 and the conversion of the control and control signals into digital signals can still be arranged downstream of a large number of actuators of the rotary feedthrough.

Claims (8)

Rotary feedthrough ( 10 ) for a handling unit, with a base ( 12 ) and one opposite the base ( 12 ) rotatable rotary part ( 14 ), with Drehteilseitigen and base part-side media connections ( 48 . 50 and 18 . 20 ) and electrical connections ( 72 . 74 and 22 . 24 ), and with between the media connections ( 48 . 50 and 18 . 20 ) and the electrical connections ( 72 . 74 and 22 . 24 ) ( 26 . 28 ), whereby on the base part side and on the rotation part side in each case a media connection ( 18 . 48 ) and a media line ( 26 ) between the two media connections ( 18 . 48 ), wherein the rotary part side media connection ( 48 ) for supplying a valve unit ( 16 ) is provided, and wherein at the base ( 12 ) and on the rotating part ( 14 ) in each case an electrical converter is provided, characterized in that the electrical signals from the base-side converter are converted into digital signals that the digital signals from the base ( 12 ) to the rotating part ( 14 ) via an electrical line ( 66 . 68 ) and that the digital signals are converted back into electrical signals by the rotary part-side converter, wherein the reconverted electrical signals for controlling the valve unit ( 16 ), wherein for transmitting the power for actuating the valve unit ( 16 ) and / or the digital signals between rotary part ( 14 ) and basic part ( 12 ) one or more slip rings ( 66 . 76 ) with associated contact customers ( 68 . 78 ) are provided; wherein the base media side ports ( 18 and 20 ) with pneumatic media lines ( 26 . 28 ), each in an annulus ( 36 . 38 ), which connects to the rotating part ( 14 ) and wherein the slip rings ( 66 . 76 ) in the radial direction, the annular spaces ( 36 . 38 ) surround. Rotary feedthrough ( 10 ) according to claim 1, characterized in that the rotary feedthrough ( 10 ) the valve unit ( 16 ), in which a distribution of the in the one media line ( 26 ) guided medium takes place on several of the rotary feedthrough downstream actuators includes and / or the valve unit ( 16 ) to the rotary part ( 14 ) is flanged. Rotary feedthrough ( 10 ) according to claim 1 or 2, characterized in that the base part side and the rotary part side media connection ( 18 . 48 ) and the associated media line ( 26 ) are designed and provided for guiding compressed air. Rotary feedthrough ( 10 ) according to any one of claims 1 to 3, characterized in that in addition to the respective one part of the base side and rotating part side media connection ( 18 . 48 ) in each case a further base-side and Drehteilseitiger media connection ( 20 . 50 ) and another between the other media connections ( 20 . 50 ) lying media line ( 28 ) are provided, which are designed and provided for the guidance of negative pressure, wherein in the valve unit ( 16 ) a distribution of the in the further media line ( 28 ) guided negative pressure on the rotary feedthrough ( 10 ) downstream actuators takes place. Rotary feedthrough ( 10 ) according to one of the preceding claims, characterized in that the electrical connections ( 22 . 24 and 72 . 74 ) and the electrical line are designed such that electrical power for actuating the valve unit ( 16 ) is transmitted. Rotary feedthrough ( 10 ) according to one of the preceding claims, characterized in that the electrical connections ( 22 . 24 and 72 . 74 ) and the electrical line is designed such that electrical signals for driving and / or regulating the valve unit ( 16 ) be transmitted. Rotary feedthrough ( 10 ) according to one of the preceding claims, characterized in that on the rotary part ( 14 ) and at the base ( 12 ) in each case an electrical converter is provided such that of the valve unit ( 16 ) and / or electrical signals coming from actuators on the rotary part ( 14 ) are converted into digital signals, that the digital signals are transmitted from the rotary part to the base part via an electrical line and that the digital signals at the base part ( 12 ) are converted back into electrical signals. Rotary feedthrough ( 10 ) according to one of the preceding claims, characterized in that electrical signals for actuating the valve unit ( 16 ) and / or the valve unit ( 16 ) and / or electrical signals coming from actuators are transmitted via a radio link.

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