• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Method and device for guiding a tool (2) for recurring application of a product moved along an X-axis, the tool being mounted on the Z-slide (12) of an X / Z-cross guide and thus running along the guide on the X-axis The Z-slide (12) is mounted on the X-carriage (10) of the X- / Z-cross guide, whose guide is mounted along the X-axis in a base plane, the X-carriage (10) is driven with an X-drive, wherein the Z-slide (12) is driven by a Z-drive, which is held stationary in the base plane and one provided by a provided for driving the Z-carriage first Servomotor (8) driven traction means (17) which is directed out of the base plane on the movable Z-slide (12), wherein a movement of the Z-carriage (12) by movement of the X-carriage (10) and a driving force caused thereby on the traction means (17) causes ht is, in the control of the provided for the drive of the Z-carriage first servo motor (8) is compensated.
    公开号:CH710970B1
    申请号:CH01076/16
    申请日:2015-02-12
    公开日:2017-08-31
    发明作者:Schellheimer Tobias；Schwärzler Hans-Peter
    申请人:Hochland Se；
    IPC主号:
    专利说明:

    Description: The present invention relates to a method and a device for guiding a tool for a recurring, object-impinging movement. In particular, the invention relates to guiding a cross-cutting knife for cross-cutting a raised object moving in the transport direction, in particular a soft food product such as a stack of adjoining cheese bands, wherein the transverse cutting is perpendicular to the transport direction of the article.
    Devices for processing, especially for cross-cutting, various objects are known from a number of production processes. In this regard, reference is made to WO 01/28 865 A1. In addition, in particular the transverse cutting of moving relatively flat cheese bands is known. For this purpose DE 10 2008 061 330 A1 discloses a device for cutting individual pieces from a cheese strip, which is first cut into longitudinal strips and then fed by means of a conveyor belt to a cross-cutting device. This cuts the longitudinal strips during the continuous movement into individual pieces, whereby the cross cutting knife is moved back to the starting position after each cut.
    While the cross-cutting of such a flat strip can be performed in a fairly easy to perform "hacking", requires the transverse cutting of a raised band, for example, a stack of several superimposed cheek bands, a more complex sequence of movements, since the transverse cutting blade during the entire cutting movement over a longer time must be performed exactly perpendicular to the movement of the tape. Moreover, it is often desirable not to be committed to a single cut, but to have the ability to cut the tapes to different lengths, for example.
    In order to be able to flexibly perform this type of complex cutting movements, devices are used which use separate drives for the movement along each axis. With such separate drives a freely parametrisierbarer and exact cutting process is possible. In addition, with such powerful cross-cutters endless cheese strips can be cut into individual stacks of any length, with no changeover times being necessary to change the cut.
    Known transverse cutting directions, as used in this technical field, have a knife holder, which is held on a guided by means of a cross guide carriage. In this case, such a cross guide is a two-axis system, comprising two single-axis linear guide systems, which allow movement of an object in two mostly offset by 90 ° directions within a plane. In the known transverse cutting directions, the carriage is driven pneumatically along the transverse cutting direction (Z-axis). On the other hand, the drive operates along the conveying direction (X-axis) of a stationary on a base plate servomotor, thus an electric motor, in which the angular position of the motor shaft and the rotational speed and acceleration can be controlled by a sensor. With this drive, the X-axis of the cross-cutting direction is synchronized with the exact position on the moving in the transport direction endless cheese strip according to the principle of «flying saw», wherein the knife cuts in this synchronized movement along the Z-axis.
    The problem with the known devices, however, is that during the pneumatically driven cutting in the Z direction no information about the true position of the knife and thus no position feedback in the cutting process is present. In addition, the growing demands for greater cutting height and speed exceed the process-reliably achievable performance limit of these systems. Another disadvantage of the pneumatic Z-drive is the high energy loss in the end positions of the knife.
    Although some of the above problems can be avoided with a second servomotor which drives the movement in the Z direction, this idea is out of the question for most applications as far as the second servomotor is mounted on the carriage moved in the Z direction and negatively affected the movement with its own weight and thus also the energy consumption. For example, the first servomotor would have to be dimensioned correspondingly larger.
    As another drive for such a cross table, in principle, a known from the mechanical engineering Gan-try drive could be considered. In this movement system, a geometric axis of the cross table by two separate feed motors, which are driven by the inverter control angle synchronously, moves. By means of angularly synchronous movement of the two drives, ie in the same direction of rotation and speed, a movement takes place in the horizontal direction, while a movement in the vertical direction is produced by unequal rotational senses of the two drives and speeds. Through the interaction of the two drive motors, it is possible to control any path and coordinate in the movement area. However, such a gantry drive is slow and limited in its dynamics, mainly because of its relatively large mass to be moved. For this reason, the gantry drive has hitherto not been used in the guidance of tools in recurrent production processes, but has been used only for individually adjustable systems, such as patient loungers in therapy and diagnostic equipment.
    The object of the present invention is therefore to provide a method for guiding a tool, in particular a cross-cutting blade, which acts in recurring motion on an object, in particular a moving product, which can be implemented with simple technical means and the one fast, flexible and precise tool handling with low energy consumption and high dynamics. It is also an object of the invention to provide an easy-to-use device for implementing the method.
    These objects are achieved by a method having the characterizing features of claim 1 and an apparatus according to claim 4. Advantageous embodiments of the invention are mentioned in the respective dependent claims.
    According to the basic idea of the invention, a tool mounted on a Z-carriage of an X / Z-cross guide is driven by a first servomotor, which is not mounted on the moving X-carriage, but in the base plane, stationary outside the cross-table. The first servo motor thus decoupled from the movement of the cross table is equipped with a traction means, in particular a belt, which acts on the Z slide and pulls it in the Z direction and at the same time allows the movement of the Z slide along the X axis ,
    To meet these conditions, the traction means is guided by means of deflecting roles along the outer contour of a T, wherein the X-axis forms the roof beam of the T and the Z-axis of the center bar of the T. In this arrangement, the center bar is initially displaceable parallel to the roof beam without movement of the traction means. With such a parallel displacement, however, a point of the traction means located at the middle beam travels along the middle beam. Correspondingly, a tool held at this point completes a forced movement along the Z-axis during the displacement of the X-carriage - when the traction means are fixed. A very important aspect of the invention is now to compensate for this forced movement along the Z-axis when moving along the X-axis by the first servomotor, respectively, to be considered mathematically in its control.
    For this purpose, the control of the first Z-servo motor information with respect to the position (sveränderung) along the X-axis is provided. Such position information can be taken from the control electronics of a second servomotor provided for the X-drive and fed to the control electronics of the first servomotor provided for the Z-drive. Such position information could also be derived from an external sensor which registers the position (change) along the X-axis.
    In other words, the basic idea of the invention is that first a drive system is used in which a movement along the X-axis is coupled directly to a movement along the Z-axis, so that a movement in the X-axis a "Synchronous" compensation movement in the Z-axis brings with it. Since this compensation movement is not desired during operation, this motion overlay for the Z axis is compensated by the control of the first servomotor. The feedback even results in the effect that a movement in the X axis can support the movement of the Z axis necessary for the process sequence.
    The invention thus manifests itself in that the X-carriage with an X-drive and the Z-carriage is driven by a Z-drive, wherein the Z-drive is mounted stationary in the base plane and one of a first servo motor driven traction means, in particular a belt having. This traction means is guided from the base plane to the Z-carriage, wherein a movement of the Z-carriage, which is caused by movement of the X-carriage and thereby caused displacement of the traction means along the Z-axis, in the control of the Z-drive is compensated.
    For compensation, it is advantageous if the movement of the X-carriage is registered in particular on the basis of the control data for a X-slide driving second servomotor and this value for the purpose of compensation as an input variable in the control of the Z-drive during the beaufschlagenden Movement of the Z-slide is considered.
    A special feature of the inventive concept is that it can be used wherever a held on a cross table tool is used to act in a recurring movement along a pre-trainable path an object in one axis, the is moved along the other axis of the cross table. In this case, the invention allows a temporary residence of the tool during the acting action in the moving coordinate system of the object.
    A typical application for the invention is the transverse cutting in the Z direction of a moving in a direction perpendicular to the transport direction (X direction) and raised, for example, several centimeters thick product band formed by a layered food product of a pasty consistency such as processed cheese can.
    It is particularly advantageous that by the inventive two-axis drive with the base plane held in the first servo motor at least for the Z drive - advantageously a second servo motor for the X-on-drive - the mass moved with the carriage is kept low, so that particularly fast and at the same time precise movements of the mounted on the cross guide tool are possible. By reducing the weight of the moving mass and increasing its performance, additional modules, such as a diagonal cut or an intermediate layer cut, can be installed.
    Overall, with the invention results in an increase in reliability, since the cutting process is completely regulated, as a constant feedback and control of SollVIst position of the tool takes place in the dynamic motion sequence. In addition, a high energy efficiency is given because the energy in the end positions over the Ser-votechnik recovered and not destroyed as in the case of the pneumatic drive of the Z-axis. This results in a longer life and a low-wear function. With the servomotors also the processing power (clock rate), and thus the cutting performance, can be increased.
    A particularly great advantage of the invention lies in the flexibility of the tool guide, which allows it in the case of cross-cutting to cut any formats without a mechanical conversion. In addition, the device can be operated symmetrically in both directions of movement along the X-axis because of their symmetrical structure. With the same device, it is possible to switch from clockwise to counterclockwise.
    A particular embodiment of the invention is shown in FIGS. 1 to 3 and will be described in more detail below. Show it:
    1 shows the cross-cutting blade of a device according to the invention during operation, and FIG. 2 shows the drive of the cross-cutting blade,
    Fig. 3 is a schematic diagram of the drive.
    Fig. 1 shows schematically a cross-cutting module, as it can be used in the production process for Fierstellung a single stack 1 of cheese slices. Such a single stack 1 is cut off by means of a cross-cutting knife 2 from a stack 3 of superimposed cheese bands, which moves on a conveyor belt 4 continuously in the transport direction along an X-axis (arrow X), which is horizontal in this example. The transverse cutting of the stack 3 occurs during transport along a Z-axis (arrow Z), which in this example is vertical. The narrow cross cutting knife 2, which is attached to the lower edge of a holding frame 5, performs a recurring cutting action of the stack 3 in a predetermined movement curve. In this case, the transverse cutting knife 2 is guided to the location of the stack 3, to which the cut attaches. Then it is carried along with the transport movement of the stack 3 along the X-axis and at the same time performs a cut along the Z-axis. After completion of the cut, the transverse cutting knife 2 is lifted up again and guided backwards to the next approach. The movement curve for this cutting load is given in terms of the product and the production cycle and driven by two independent drives in the form of the servomotors 7 and 8, which are located behind a shield 6 and are mounted there fixed.
    Fig. 2 shows the back of the shield on which the servo motors 7 and 8 are located, which are each driven by a programmable control electronics, not shown. Since the servomotors have information regarding their instantaneous angle of rotation, the control electronics knows the actual position of both servomotors and can take into account the current position of the other when controlling the one. Thus, a compensation means is realized in the drive electronics for driving the two servomotors, which takes into account the control parameters of the respective other servo motor in the control of one of the two servomotors. In this way, in particular a movement of the cross cutting knife 2 in the Z direction, which is caused by movement in the X direction, can be compensated for in the control of the Z drive. The influence of the movement in the Z direction by a movement in the X direction will be described with reference to FIG. 2.
    As can be seen from Fig. 2, the device comprises a cross guide two carriages, namely a guided by an X-guide with the rails 9a, 9b X-slide 10 and a through a Z-guide with the rails 11a, 11b guided Z-carriage 12. The cross cutter is held on the Z-carriage and the rails 11a, 11b for the Z-carriage are shown mounted on the X-carriage 10. On the other hand, the rails 9a, 9b for the X-carriage are fixedly mounted on a base plane 13 (base plate).
    The X-drive for driving the X-carriage is done by the mounted on the base plane 13 second servo motor 7, which drives a traction means in the form of a belt 14. The X-carriage is fixedly coupled to the belt 14 and is pulled forward or backward therefrom, depending on the direction of rotation of the second servomotor 7 along the X-axis. The belt 14 is deflected by means of a deflection roller 15, which is mounted "coaxially" with the second servomotor 7 on the base plane 13 with respect to the X-axis.
    The drive of the Z-carriage 12 is designed similar to that of the X-carriage 10 and also has a stationary in the base plane held first servo motor 8 and with respect to the X-axis «coaxial» with the first servo motor 8 on the base plane thirteenth mounted deflection roller 16. The first servo motor 8 and the guide roller 16 thus form two deflections held in the base plane. The first servomotor 8 drives a traction means in the form of a belt 17. In the case of the Z-drive, the belt 17 is steered in a T-shaped path having an X-leg with beam 18 and top pull 24 and a Z-leg 19.
    The principle of operation of the drive of the cross table on the belt is outlined in Fig. 3. The movement of the X-carriage 10 in the X-direction (arrow) is driven by the second servomotor 7, which acts on the X-carriage 10 via the belt 14. The belt 14 is fixed at the points 22 on the X-carriage 10. The drive of the Z-carriage 12 with the first servo motor 8 held stationary uses the belt 17, which is guided in a T-shaped track, whose upper run 24 has two tension rollers 20 and 20a held on the X-slide 10 in a Z-leg 19 branches off forming loop. The belt 17 is held by a roller 21 held on the X-carriage 10 at the end of the Z-leg 19
    权利要求:
    Claims (8)
    [1]
    diverted. The Z-carriage 12 is held at the points 23 on the belt 17 and is moved via the belt 17 in the Z-direction (arrow) on the X-carriage. From the schematic diagram of FIG. 3 it can be seen that a movement of the X-carriage with firmly held strap 17 causes a movement of the Z-carriage 12, as the Z-leg 19 forming loop shifts and at one point 23 of the belt 17 fixed Z-slide 12 performs a movement relative to the X-carriage. According to the invention, a compensating means is now provided which performs the control of the two servomotors 7 and 8 such that this movement of the Z carriage caused by movement of the X carriage is compensated by the Z drive at least as much as the desired movement sequence of requires the Z-slide 12 held Querschneidmessers. As described above, the method and apparatus for guiding a tool in a repeating and moving movement of a preferred embodiment along the X-axis object provides: An apparatus (forming a cross-guide) with an X-carriage 10 , which is suitable exclusively for movement along the X-axis, a Z-slide 12, which is held on the X-carriage 10 and suitable for a movement perpendicular to the X-axis and a tool 2, on the Z-slide is held. The X-carriage 10 is driven by an X-drive, wherein the X-carriage 10 is coupled in a preferred embodiment with a second belt 14 for driving the X-carriage along the X-axis of the second servo motor 7 driven and deflected about a second guide roller 15. The Z-carriage is coupled to a first belt 17, which is driven by the first servomotor 8 and deflected about a second deflection roller 16. In this embodiment, at least the first servo motor 8 and the first fixed pulley 16 and, if present, the second servo motor 7 and the second fixed pulley 15 are held at fixed positions relative to each other. The X-carriage 10 carries a first tensioning roller 20 and a second tensioning roller 20a, the first tensioning roller 20 and the second tensioning roller 20a respectively fixedly held on the X-carriage below the Z-carriage and the belt 14 from a horizontal orientation in one steer vertical alignment. The X-carriage 10 also has a third tension roller 21, wherein the third tension roller 21 is fixedly held on the X-carriage 10 above the Z-carriage 12 and the belt 14 from the first tensioning roller 20 to the second tensioning roller 20 a redirects the Z carriage 12 may be urged by the belt 14 between the first tension roller 20 and the third tension roller 21 to drive the Z carriage 12 perpendicular to the X axis. There may be provided an object 3 which moves along the X-axis. In a preferred embodiment, the X-carriage 10 is driven along the X-axis by the second servomotor 7 by means of the second belt 14, while the Z-carriage 12 is driven along the Z-axis by the first servomotor 8 by means of the first belt 17. As described above, the first servo motor 8 is driven so that movement of the Z carriage 12, which is generated by movement of the X carriage and the resulting tensile forces on the first belt 17, is compensated. It is advantageous to register the movement of the X-carriage 10 and to use as an input variable for the control of the second servo motor 8. The apparatus may further include an electronic controller for controlling the second servomotor 7 and the first servomotor 8 to coordinate the movement of the tool 2 by the second servomotor 7 and the first servomotor 8. claims
    A method of guiding a tool (2) for repetitive loading of a product (3) moved along an X-axis, said tool (2) being mounted on a Z-carriage (12) of an X / Z cross guide, and with it being moved along a Z-axis which is perpendicular to the X-axis, the Z-slide (12) being mounted on an X-carriage (10) of the X / Z-cross guide, whose guiding along the X-axis in FIG a base plane (13) is mounted, characterized in that the X-slide (10) is driven with an X-drive, that the Z-slide (12) is driven by a Z-drive, in the base plane (13) is held stationary and one of a provided for the drive of the Z-slide first servo motor (8) driven traction means (17) which is directed out of the base plane (13) on the movable Z-slide (12), wherein a movement of the Z-carriage (12) caused by movement of the X-carriage (10) at the gate tion of the provided for the drive of the Z-carriage first servo motor (8) is compensated.
    [2]
    2. The method according to claim 1, characterized in that for the control of the drive for the Z-carriage (12) provided for the first servo motor (8) registers the movement of the X-carriage (10) and during the pressurizing movement of the Z-carriage (12) for the purpose of compensation as an input variable in the control of the intended for the drive of the Z-slide first servo motor (8) is taken into account.
    [3]
    3. The method according to claim 1 or 2, characterized in that the X-carriage (10) via a second traction means (14) by a second servo motor (7) is driven, whose driving parameters in the control of the first servo motor (8) for driving of the Z-slide.
    [4]
    4. A device for carrying out the method according to one of claims 1 to 3 for guiding a tool (2) for a recurring loading of a moving along an X-axis product (3), wherein the device has an X / Z-cross guide, wherein the tool (2) is held on a Z carriage (12) whose guide defines a Z axis of the X / Z cross guide, the Z carriage (12) being movably supported on an X carriage (10) whose guide defines an X-axis perpendicular to the Z-axis, wherein the guide is mounted along the X-axis in a base plane (13), characterized in that an X-drive for driving the X-slide (10) is provided in that a Z-drive is held stationary in the base plane for driving the Z-slide (12), which has a traction means (17) driven by a first servomotor (8) provided for driving the Z-slide, wherein the traction means ( 17) is steered in a T-shaped path forming an X-Sch grandchild (18) and a Z-leg (19), wherein the X-leg (18) about two in the base plane (13) held deflections (8,16) leads and forms a top pull (24) and a beam, wherein the top pull (24) branches off via two tensioning rollers (20) held on the Z slide (12) in a loop (19) forming the Z-leg and around one on the X slide (10) at the end of the Z section held deflection roller (21) is guided around, wherein a compensating means is provided, which controls the provided for driving the Z-carriage first servomotor (8) such that a movement of the X-carriage (10) caused movement of the Z-carriage ( 12) is compensated.
    [5]
    5. Apparatus according to claim 4, characterized in that one of the deflections (8, 16) is a deflection roller, which is driven by the provided for driving the Z-carriage first servomotor (8), in particular on the shaft of the for Drive of the Z-carriage provided first servo motor (8) is mounted.
    [6]
    6. Apparatus according to claim 4 or 5, characterized in that the X-drive from a second servo motor (7) operated second traction means (14) which is deflected in a loop in the base plane.
    [7]
    7. Device according to one of claims 4 to 6, characterized in that the tool is a transverse cutting knife (2), in a recurring cutting operation with a conveying speed in the conveying direction along the X-axis moving product, in particular an endless strand of superposed bands of processed cheese (3), cutting applied.
    [8]
    8. Device according to one of claims 6 to 7, characterized in that the compensation means in the control electronics for driving the two servo motors (7, 8) is realized, which in the control of one of the two servomotors (8) the control parameters of the other servo motor (7).
    类似技术:
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    法律状态:
    2018-11-15| PCAR| Change of the address of the representative|Free format text: NEW ADDRESS: POSTFACH, 8032 ZUERICH (CH) |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014102713.2A|DE102014102713B4|2014-02-28|2014-02-28|Method and device for guiding a tool|
    PCT/EP2015/052958|WO2015128198A1|2014-02-28|2015-02-12|Method and device for guiding a tool|
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