Abstract:
A valve cluster comprises several valve modules arranged in row direction adjacent to each other for the fluid power control of fluid power device, and at least one fluid power device coupled with and controlled by the valve cluster, such device constituting a unit separate from the valve cluster. The valve cluster comprises a receiving means which is assigned to the fluid power device and is designed for receiving device identification data characterizing the at least one fluid power device, said device identification data being transmitted by an ident data transmission means assigned to the fluid power device, the receiving means being, for passing on the device identification data, connected or being able to be connected with a control means for the control of the fluid power device.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority based on European Patent Application No. 07 400 007.6 filed on Mar. 29, 2007, which is incorporated herein by reference. 
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The invention relates to a valve cluster comprising a plurality of valve modules arranged in a row direction adjacent to each other for the fluid power control of fluid power devices and at least one fluid power device connected with the valve cluster and controlled by the valve cluster, said fluid power device constituting a unit separate from the valve cluster. 
     The said fluid power device may for example be a pneumatic drive cylinder, which is controlled by the valve cluster. The configuration of an automation system, as for example the valve cluster, is however a complex and onerous task. Thus for example operating parameters of the fluid power device must be saved for control or regulation of the valve cluster or a master control device thereof. In the case of the operating data or identification data it is a question for example of the displacement travel of the pneumatic drive, the diameter of its piston or the like. 
     SUMMARY OF THE INVENTION 
     One object of the invention is accordingly to provide a valve cluster which is simple to configure and parameterize. 
     In order to achieve these and/or other objects appearing from the present specification, claims and drawings, in the invention a valve cluster of the type initially mentioned comprises a receiving means which is assigned to the fluid power device and is designed for receiving device identification data characterizing the at least one fluid power device, said device identification data being transmitted by an ident data transmission means assigned to the fluid power device, the receiving means being, for passing on the device identification data, connected or being able to be connected with a control means for the control of the fluid power device. 
     One basic principle of the invention is that the valve cluster with the receiving means—it may be a question of several receiving means—receives device identification data so that separate input of such data, for example to a parameterizing interface of the valve cluster, is not necessary. The fluid power device may for example be a valve, a pneumatic power cylinder, a hybrid drive (electrical or fluid power and more particularly pneumatic), a vacuum means or, respectively, a vacuum materials handling means such as a suction means, a hydraulic drive or the like. The device specific data, as for example the respective working stroke, permissible pressures or the like, are received by the valve cluster at the receiving means and are then available for further usage. 
     The device identification data may for example be for the type of the device, a serial number of the device, physical dimensions such a length, working surface of an actuator member or piston, pressure values, and in particular the maximum pressure and rated operating pressures, output force values, output force values as related to the set pressures, a working stroke or the like. Furthermore kinematic data for the fluid power device, such as for example speed values, for example a maximum speed or a rated operational speed, the braking travel or the like may represent device identification data. 
     The control means may for example constitute a component of the valve cluster or a master control means. Preferably the respective control means will include a regulator for regulation of the fluid power device or may itself constitute such a regulator. 
     In accordance with one advantageous modular concept the control means constitutes a regulation module or a control module able to be lined up with the valve module. It is possible that the control means is part of a stacked arrangement. 
     The receiving means may be provided at various different positions on the valve cluster. For instance it may be a component of a control means, or it may be provided on an input or output module for the analog or, advantageously, the digital input output of data. Furthermore the receiving means can be arranged on a valve cluster communication means, for example on a field bus coupling module. The receiving means may also constitute a component of a regulator communication interface for the regulation of the at least one fluid power device. The regulator communication interface is preferably provided on a regulation module of the valve cluster. 
     The receiving means is preferably connected with a valve cluster communication means, as for example with a communication module, for an external communication of the valve cluster. By way of the valve cluster communication means it is possible for the device identification data received at the receiving means in accordance with the invention to be passed on to further components of a automation system, as for example a parameterizing tool, to a master control or to a diagnostic device or the like. 
     For internal communication within the valve cluster it is preferred for an internal communication bus to be provided. The modules of the valve cluster, that is to say in particular such modules as well, which have a receiving means for device identification data, are connected with this communication bus 
     The receiving means for the device identification data may include a wired or a wireless interface. Installation is simpler in the case of a wireless interface. A wireless interface is for example a radio interface or an optical interface. 
     It is an advantage if the receiving means includes a bus interface. Then it is readily possible to produce an appropriate configuration, in which the receiving means is designed for a concatenated coupling arrangement. In the case of this coupling arrangement a first ident data transmission means of a first fluid power device and at least one second ident data transmission means of a second fluid power device is connected with the receiving means serially. The ident data transmission means are for example connected in series or in parallel with the bus. Furthermore a cascaded arrangement, in which one ident data transmission means sweeps or receives and passes on the device identification data of the other ident data transmission means, is an advantage. 
     The ident data transmission means may be in many different ways. For instance they can constitute a component of the fluid power device. Thus an ident data transmission means may for example be a component of a pneumatic cylinder, of a pneumatic valve or the like. However a modular, separate concept of the structure is also advantageous, in which the ident data transmission means constitutes a unit separate from the respective fluid power device. For instance it may in this case be a question of an indent module, which includes a conductor connection placed between the fluid power device and the receiving means on the side of the valve cluster. However a sensor means, which is assigned to the fluid power device, may transmit the device identification data to the valve cluster. Although the sensor device may also be a component of the fluid power device, it is however advantageous to have a modular concept, in which the receiving means constitutes a unit divorced from the fluid power device. Via its sensor communication interface the sensor device transmits the device identification data to the valve cluster. The device identification data may in this case be saved in the sensor device and/or in the fluid power device. The sensor device will then read the device identification data save in the fluid power device and will transmit same by way of its sensor communication interface to the valve cluster. 
     The fluid power device may be a valve means remote from the valve cluster, as for example a servo valve, which control a fluid power actuator. The actuator is for example a pneumatic positioning drive. In the case of this arrangement it is an advantage if the fluid power actuator or a sensor device associated with the actuator, which for example comprises a sensor module arranged on the actuator, serially communicates actuator communication data by way of the valve means remote from the valve cluster to said cluster. In the case of this configuration as well it is possible for an ident module to be placed in circuit between the valve means and the fluid power actuator, such ident module transmitting the actuator identification data to the valve means and via same farther on to the valve cluster. 
     Admittedly it is possible for the receiving means to possess separate data lines, as for example bus lines, by way of which the ident data transmission means is connected with the valve cluster. A simplified installation is possible if the receiving means is coupled with the ident data transmission means of the fluid power device via a fluid connecting line, which in addition to a fluid duct additionally comprises at least one data line for the transmission of device identification data. The data line may for example be an optical or and electrical line. The data line may for example be arranged in a casing for the fluid duct. 
     Further advantageous developments and convenient forms of the invention will be understood from the following detailed descriptive disclosure of embodiments thereof in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  diagrammatically shows an automation system with two valve clusters and a central routing controller. 
         FIG. 2  shows a fluid line with integrated electrical conductors for the connection of an actuator in a valve cluster in accordance with  FIG. 1 . 
         FIG. 3  shows diagrammatic side elevation of a fluid power actuator with a sensor device which transmits device identification data characterizing the actuator by way of a sensor communication means. 
         FIG. 4  shows an actuator with a sensor device installed on it, the sensor device being a separate unit, such sensor device also transmitting device identification data of the actuator by way of a sensor communication interface. 
         FIG. 5  shows an actuator with a memory for device identification data characterizing the actuator, such data being employed by a sensor device, installed on the actuator as a separate unit, for transmission using the sensor communication interface thereof. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     In the description of the working embodiments of the invention partially similar or functionally equivalent components are provided with the same reference numerals and are only described once over. 
     In the case of an automation system  10  valve clusters  11   a  and  11   b  are controlled by a master, central control means  12 , as for example a routing computer  13 . The valve clusters  11   a  and  11   b  are connected with valve cluster communication means  14   a  and  14   b  for external communication with a system bus  15 , as for example a field bus, by way of external interfaces  96 , for example bus interfaces. The control means  12  controls the valve clusters  11   a  and  11   b  by way of the system bus  15 , which may be wired or wireless. 
     The valve clusters  11   a  and  11   b  comprise valve modules  16  lined up with the communication means  14   a  and  14   b . The valve modules  16  serve for fluid power control of fluid power devices  17 , as for instance pneumatic actuators  18   a  and  18   b . The actuators  18   a  and  18   b  are pneumatic power cylinders  66 , which are illustrated by way of example as power cylinders with piston rods, although designs or modifications would be possible without piston rods and having an additional electrical drive part. The regulation modules  25   a  and  25   b  are also designed for the regulation of electrical or hybrid fluid power and electrical drives. Thus for example instead of the pneumatic actuator  18   d  an electrical drive may be provided. 
     The valve clusters  11   a  and  11   b  are run on compressed air, for example from a compressed air source  19 . The compressed air source  19  supplies servicing devices  20  for instance such as filters or oilers, which condition compressed air for the valve clusters  11   a  and  11   b . The servicing device  20  are in the present case separate from the valve clusters  11   a  and  11   b , although they could however also be components of the valve cluster  11   b.    
     The valve modules  16  receive control instructions from the central control means  12  for the pneumatic control of the actuators  18   a  and  18   b  by way of the system bus  15 . The communication means  14   a  and  14   b  transmit the control instructions so received by way of the internal communication buses  21  to the valve modules  15 . The communication buses  21  serve for internal communication of the valve clusters  11   a  and  11   b.    
     Whereas the valve cluster  11   a  is exclusively externally controlled by way the system bus  15 , the valve cluster  11   b  has local control competence in the form of control means  22 . The control means  22  are in the form of control modules, which are placed in circuit between the valve modules  16  and the communication means  14   b  designed in the form of a communication module. 
     Optionally the valve cluster  11   b  may include a local control means  94  for its control, f. i. of the valve modules  16 , f. i. a separate control module. Furthermore the communication means  14   b  can be in the form of a local control means  94  for the valve cluster  11   b . For this purpose the communication means  14   b  may for example comprise a processor  95 , which by way of the communication bus  21  sends control instructions, for example to the valve modules  16 . 
     The control means  22  control valve means  23 , which for their part drive actuators  18   c  and  18   d . The actuators  18   c  and  18   d  for example constitute servo drives. 
     Admittedly the actuators  18   c  and  18   d  could be independent drives. However in the present case they are mechanically coupled together. In the drawing this is diagrammatically indicated because the actuator  18   d  is arranged on the force output part of the actuator  18   c , for example on its piston rod. A mechanical coupling may however also be indirectly provided for, for example if the actuators  18   c  and  18   d  constitute the drives of gantry or a carriage able to travel in the X and Y directions. 
     The valve means  23  are valves separate from the valve cluster  11   b , which are connected with a compressed air line distributing system  24  supplied from the compressed air source  19 . The valve means  23  control the supply of compressed air to the actuators  18   c  and  18   d , which are for example pneumatic drive cylinders. The valve means  23  and the actuators  18   c  and  18   d  are also fluid power devices  17 . 
     The control means  22  regulate the actuators  18   c  and  18   d  by a control of the valve means  23  in a regulation mode. The control means  22  are for example regulation modules  25   a  and  25   b . The regulation modules  25   a  and  25   b  satisfactorily fit into the modular concept of the valve cluster  11   b . They are able to be lined up with valve modules  16  and also the communication means  14   b.    
     The regulation modules  25   a  and  25   b  are coupled with internal bus interfaces  26  on the internal communication bus  21  of the valve cluster  11   b . The regulation modules  25   a  and  25   b  may receive messages by way of the communication bus  21 , as for example control instructions from the control means  12  and may also transmit messages, for example indications, which are passed by the communication means  14   b  to the control means. 
     For their regulation tasks the regulation modules  25   a  and  25   b  have separate regulator communication interfaces  27  for the output of setting values  28  and the reception of actual values  29 . The communication interfaces  27  are real time interfaces. The communication interfaces  27  comprise digital bus interfaces  27   a . The valve means  23  are coupled by way of bus lines  30   a  and  30   b  with the communication interfaces  27  so that each fluid power component group to the regulated, consisting of a valve means  23  and one actuators  18   c  and  18   d , has a separate regulator bus line  30   a  or  30   b  for it. This means that a rapid communication is possible between the component groups to be regulated and the assigned regulation module  25   a  and  25   b . Between each regulation module  25   a  and  25   b  and its arrangement  23 ,  18   c  or  23   18   d  to the regulated there is a separate physical connection. The actual values  29  are also transmitted by way of these connections. 
     As an alternative the regulation module  25   a  could be a regulator for two actuators and by way of a bus line  30   a  and an optional bus line  30   c , which instead of the bus line  30   b  leads to the regulation module  25   a , could regulate both arrangements  23 ,  18   c  or  23 ,  18   d.    
     The actual values  29  for example include pressure sensor values  33 , which are generated by pressure sensors  31  of a sensor arrangement  32  of the valve means  23 . The pressure sensors  31  are for example placed at the connections for compressed air lines, by which the actuators  18   c  and  18   d  are connected with the valve means  23 . To this extent the valve means  23  constitute sensor devices. The valve means  23  transmit the pressure sensor values  33  by means of a bus coupler  34 , which thus constitutes a sensor communication interface, on the respective bus line  30   a  or  30   b  to the regulation module  25   a  or  25   b.    
     Sensor devices  35   c  and  35   d  arranged on the actuators  18   c  and  18   d  produce further sensor values as actual values  29 , f. i. pressure values, force values, temperature values and/or position values  36 . 
     The sensor devices  35   c  and  35   d  are serially coupled with the valve means  23  by way of bus lines  37   a  and  37   b.    
     For this purpose the valve means  23  may have separate bus couplers. However it is also possible for the connection contacts for the bus lines  37   a  and  37   b  to be looped through at the valve means  23  to the corresponding connection contacts of the bus coupler  34 . In any case the connection of the sensor devices  35   c  and  35   d  and the valve means  23  is simplified if such means are serially coupled together and only one connecting line leads to the regulator communication interfaces  27 . 
     The setting of parameters, and in particular of regulation parameters and/or a selection of type of regulation (bearing regulation, pressure regulation, bearing regulation with slave pressure regulation), and/or a diagnosis of the modules of the valve cluster  11   b , as for instance of the regulation modules  25   a  and  25   b , is possible at a central point using an operator device, for example a notebook. The operator device  57  is able to be connected with an operator device interface  58  of the communication means  14   b  and is thus able to be coupled with the internal communication bus  21 . Then parameters from the operator device  57  may be saved in the valve cluster  11   b , for example the regulation modules  25   aa  and  25   ab  or other modules. Furthermore a diagnosis is possible using the operator device  57 . Thus for instance the regulation modules  25   a  and  25   b  will transmit failure indications, indications as regards the a number of already performed working cycles or other diagnostics data to the operator device  57 . 
     It will be clear that a wireless operation or diagnosis is also possible, for instance using a operator device  59 , which communicates in wireless manner with the communication means  14   b.    
     The putting into operation of the automation system  10  and diagnosis and/or parameterizing of the regulation modules  25   a  and  25   b  is simplified by an auto-identification concept. The fluid power devices  17  or their associated means, as for example the sensor devices  35   a ,  35   b  and  35   c , associated with the actuators  18   a  through  18   c , contain or form ident data transmission means  60 , for sending the device identification data  61   a ,  61   b ,  61   c ,  61   d  and  62  to receiving means  63  for the identification data  61   a  through  61   c  and  62  of the valve clusters  11   a  and  11   b . The identification data  61   a  through  61   d  characterize the pneumatic actuators  18   a ,  18   b ,  18   c  and  18   d . The identification data  62  characterize the valve means  23 . 
     The device identification data  62  of the valve means  23  are saved in an optionally present memory  64 . In the valve means  23  assigned to the actuator  18   d  it is additionally possible to save device identification data  61   d  to be saved, which characterize the actuator  18   d . The actuator  18   d  has for example no memory of its own for storage of its identification data and furthermore has no interface to transmit them to the valve cluster  11   b.    
     The valve means  23  responsible for fluid control of the actuator  18   c  passes its device identification data  61   c , which it receives by way of the line  37   b , on the bus line  30   b  on to the regulator communication interface  27 . 
     The regulator communication interfaces  27  form or contain receiving means  63  for the device identification data  62  and  61   c  and furthermore device identification data  61   d  of the actuator  18   d . On the basis of these device identification data, which for example comprise working strokes of the actuators  18   c  and  18   d , the regulator modules  25   a  and  25   b  regulate the actuators  18   c  and  18   d . In this respect it is possible for the regulation modules  25   a  and  25   b  to directly evaluate the device identification data  61   c ,  61   d  and  62  for the generation of regulation parameters. Accordingly for example a maximum pressure may be limited for the compressed air. Furthermore it is possible for the regulation modules  25   a  and  25   b  to pass on, using the communication infrastructure, namely the internal communication bus  21  and the communication means  14   b , the respective device identification data  61   b ,  61   d  and  62  to the operator device  57 , which generates regulation parameters therefrom and transmits same to the regulation modules  25   a  and  25   b  using the common communication path. 
     The sensor device  35   a  transmits the device identification data  61   a  in a wireless manner to a receiving means  63  comprised in the valve cluster communication means  14   a.    
     The actuator  18   b  is connected with a conventional compressed air line  86  and a fluid connection line  87 , which has a fluid duct  88  and data lines  89 , to the valve cluster  11   b . The data lines  89  are for example arranged in a casing  90  delimiting the fluid duct  88 . On plugging in the fluid connection line  87  contacts (not illustrated in the drawing) of the valve cluster  11   b  and the sensor device  35   b  are coupled with the data lines  89  so that simultaneously a fluid connection between the valve cluster  11   b  and the sensor device  35   b  and also the actuator  18   b  is created. 
     The sensor device  35   b  transmits the device identification data  61   b  in a wired manner, f. i. via the data lines  89 , to a receiving means  63 , which for example is comprised in the valve module  16  in control of the actuator  18   b.    
     For storage and transmission of the device identification data  61   a  through  61   d  and  62  various different transmission concepts and storage concepts are possible. In the case of the automation system  10  preferably sensor devices transmit the device identification data  61   a ,  61   b ,  61   c ,  61   d  and  62  to the receiving means  63 . 
     The valve means  23  comprises the pressure sensors  31  and to this extent constitutes a sensor device. Its bus coupler  34  in this respect constitutes a sensor communication means and the memory  64  with the device identification data  62  and/or  61   d  constitutes a sensor memory. 
     The device identification data  61   c  are not transmitted by the actuator  18   c  itself but by the sensor device  35   c  assigned to it. The sensor device  35   c  is arranged in the housing of the actuator  18   c , for example in the longitudinal direction to the side and includes a position sensor  65 , which transmits position values  36  of an actuator member  67   c  of the actuator  18   c  via a sensor communication interface  68   c . The sensor communication interface  68   c  comprises a bus interface  81 , as for example a bus coupler, for a bus connection by way of the valve means  23  to the regulator communication interface  27 . 
     The device identification data  61   c  characterizing the actuator  18   c  which for example comprise the diameter of the actuator member  67   c , the travel displacement of the actuator member  67   c  in a housing  69   c  of the actuator  18   c  or the like, are saved in a sensor memory  70   c . The memory  70   c  is preferably programmable. for example via a programming interface  71 , with which the operator device  57  may be coupled. The sensor communication interface  68   c  comprises electrical read contacts for instance as a read means  77   c  for reading the sensor memory  70   c.    
     The actuator  18   c  need not have any great intelligence of its own for storage of the device identification data  61   c.    
     The sensor device  35   c  may for example be supplied with electrical power via its sensor communication interface  68   c , that is to say a bus coupler. 
     On the other hand the sensor device  35   a , which also includes a position sensor  65 , has an electrical long term power storage means  72 , as for example a lithium battery, for prolonged operation independent of an external supply of power. Furthermore for data transmission, for example for the transmission of position values produced by a position sensor  65 , no line connections are necessary. The sensor device  35   a  has a wireless communication means  68   a , which for example operates using the Wireless Fidelity (Wifi) Standard. 
     In a sensor memory  70   a  of the sensor device  35   a  sensor identification data  73  are save, as for example the resolution of the position sensor  65 , an initial position and an end position of the measurement range of the position sensor  65 . Device identification data  61   a  of the fluid power device  17 , as for example the diameter of the actuator member  67   a , the maximum force available at a force output part (for example its piston rod) of the actuator  67   a  or the like, are locally saved in a device memory  74  of the fluid power device. The device memory  74  is for example arranged in a cover  75   a  of the housing  69   a  and preferably contains a rewritable memory, f. i. an EEPROM. The device memory  74  is programmed during manufacture of the fluid power device  17  so that its device identification data  61   a  are available at the site of use of the actuator  18   a  and for example may be read by a reading means, for example using the operator device  59 . 
     It is an advantage to employ a sensor communication interface for the transmission of the device identification data saved in the fluid power device, for example the actuator  18   a . A reading means  76   a , for example a data interface with electrical contacts of the sensor communication means  68   a , reads the device memory  74  via electrical connections  77 . 
     The electrical connections  77  are automatically made while arranging or mounting of the sensor device  35   a  designed in the form of a sensor module  78 . A housing  79  of the sensor device  35   a  extends as far as the housing cover  75   a  so that the contacts  80  on the housing cover  75   a  of the sensor device  35   a  and of the actuator  18   a  are in contact and produce the electrical connections  77 . 
     As an alternative a wireless concept is possible, in which the device identification data  61   a  are for example loaded in a device memory  75 ′ able to be read in a wireless manner, as for example a radio frequency identification (RFID) module. The reading means  76  is in this case a wireless read interface, as for example in a RFID read device. A transmission means of the device memory  74 ′ holds the power necessary for transmission of the device identification data  61   a  through the sensor device  35   a , as for example using an electrical connection (not illustrated) or using the transmission power transmitted on transmission of an interrogation message on the part of the reading means  76 . 
     The device identification data  61   a  read from the device memories  74  or  74 ′ may also be first device identification data, on the basis of which the sensor device  35   a  finds second device identification data  61   a ′ in its sensor memory  60   a . The identification data  61   a ′ are for example data which complement the identification data  61   a . Thus it is possible for example for the device identification data  61   a  to include a type specification of the actuator  18   a , on the basis of which the sensor device  35   a  finds further characteristic data of the actuator  18   a , as for example its mechanical characteristic. Furthermore it is possible in the case of every sensor device in accordance with the invention, as for example in the case of the sensor device  35   a , for the sensor device to convert or supplement sensor values on the basis of the device identification data. Thus to take an example the sensor device  35   a  may provide the position values  36  with additions in metric units, if it has found the actual travel displacement of the actuator  67   a  on the basis of the device identification data  61   a . The sensor device  35   b  may, on the basis of the pressure sensor values  85  for example specifically find a force output of the actuator  82   b  and issue it as force values, for example in newtons. 
     While the sensor devices  35   a  and  35   c  constitute sensor modules  73  able to be detachably mounted on the actuators  18  and  18   c  and are thus able to be replaced by different, sensor device, preferably in accordance with the invention, which for example comprise pressure sensors or the like, a sensor device  35   b  is an integral component of the actuator  18   b.    
     The sensor device  35   b  possesses a position sensor  65  and also pressure sensors  84 , which for instance are arranged on compressed air ports  83   a  and  83   b . A sensor communication means  68   b  transmits position values  36  and also pressure sensor values  85  of the pressure sensors  84  in a wired manner. In principle separate data lines could be provide for this purpose. The sensor communication means  68   b  is however connected with the data lines  89  of the fluid connection line  87 . 
     By way of data lines  89  the sensor device  35   b  transmits the position sensor values  36  and the pressure sensor values  85  and (for example in the case of an indication to the valve cluster  11   b  or on interrogation of the valve cluster  11   b ) the device identification data  61   b  characterizing the actuator  18   b . The device identification data  61   b  are saved in a sensor memory  70   b  of the sensor device  35   b.    
     The sensor device  35   b  furthermore includes a processor  91 , which for example counts the duty cycles of the actuator  18   b  and/or detects failure states on the basis of the pressure sensor values  85  or the like. The processor constitutes a component of diagnosis means  93  and transmits such information as diagnosis data  92  by way of the sensor communication means  68   b.