BE903251A - Dispositif pour maintenir de facon telecommandee en bon etat des parties d'une installation nucleaire protegee - Google Patents
Dispositif pour maintenir de facon telecommandee en bon etat des parties d'une installation nucleaire protegeeInfo
- Publication number
- BE903251A BE903251A BE0/215593A BE215593A BE903251A BE 903251 A BE903251 A BE 903251A BE 0/215593 A BE0/215593 A BE 0/215593A BE 215593 A BE215593 A BE 215593A BE 903251 A BE903251 A BE 903251A
- Authority
- BE
- Belgium
- Prior art keywords
- parts
- remote controlled
- nuclear installation
- resolver
- protected
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
- G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
- G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37473—Resolver
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42318—Using two, more, redundant measurements or scales to detect bad function
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45083—Manipulators, robot
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Un dispositif pour maintenir, de façon télécommandée, en bon état, des parties d'une installation nucléaire protégée. Dans ce dispositif servant à controler la position d'un bras articulé, à l'aide d'un premier résolveur (13), il est prévu un second résolveur (19) monté coaxialement avec le premier résolveur et comportant, sur son arbre (21), un dispositif (23, 25) entrainé en rotation par l'arbre (21) par rapport à un repère de zéro (27), dont l'exploration permet de déterminer la position réelle de l'arbre (15) du premier résolveur (13) et donc la position réelle du bras articulé à controler.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3434934 | 1984-09-22 |
Publications (1)
Publication Number | Publication Date |
---|---|
BE903251A true BE903251A (fr) | 1986-01-16 |
Family
ID=6246153
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BE0/215593A BE903251A (fr) | 1984-09-22 | 1985-09-17 | Dispositif pour maintenir de facon telecommandee en bon etat des parties d'une installation nucleaire protegee |
Country Status (6)
Country | Link |
---|---|
US (1) | US4638234A (fr) |
JP (1) | JPS61182785A (fr) |
BE (1) | BE903251A (fr) |
BR (1) | BR8504619A (fr) |
FR (1) | FR2570634B1 (fr) |
GB (1) | GB2164752B (fr) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5102280A (en) * | 1989-03-07 | 1992-04-07 | Ade Corporation | Robot prealigner |
SE8902416L (sv) * | 1989-07-04 | 1991-01-05 | Asea Brown Boveri | Absolutmaetande laegesgivarutrustning foer industrirobot |
US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
IT1248546B (it) * | 1991-06-25 | 1995-01-19 | G E R Gaiotto Elettronica Robo | Sistema per permettere la programmazione per apprendimento diretto di robot elettrici |
FR2785713B1 (fr) * | 1998-11-10 | 2000-12-08 | Commissariat Energie Atomique | Systeme de commande d'unites de levage et de telemanipulation placees en enceinte confinee |
US20070146480A1 (en) * | 2005-12-22 | 2007-06-28 | Judge John J Jr | Apparatus and method for inspecting areas surrounding nuclear boiling water reactor core and annulus regions |
JP5616281B2 (ja) * | 2011-04-15 | 2014-10-29 | 日立オートモティブシステムズステアリング株式会社 | トルクセンサおよびパワーステアリング装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2428573A1 (de) * | 1974-06-14 | 1976-01-02 | Kernforschung Gmbh Ges Fuer | Programmierbarer manipulator |
DE2850421A1 (de) * | 1978-11-21 | 1980-05-29 | Hestermann Gerhard | Farbspritzroboter |
US4283764A (en) * | 1979-10-12 | 1981-08-11 | Nordson Corporation | Manually programmable robot with power-assisted motion during programming |
JPS5685106A (en) * | 1979-12-14 | 1981-07-11 | Hitachi Ltd | Robot teaching method |
US4562391A (en) * | 1983-06-08 | 1985-12-31 | Inoue-Japax Research Incorporated | Robotic positioning system |
-
1985
- 1985-09-05 GB GB08522043A patent/GB2164752B/en not_active Expired
- 1985-09-11 FR FR858513472A patent/FR2570634B1/fr not_active Expired
- 1985-09-17 BE BE0/215593A patent/BE903251A/fr not_active IP Right Cessation
- 1985-09-20 BR BR8504619A patent/BR8504619A/pt not_active IP Right Cessation
- 1985-09-23 US US06/779,385 patent/US4638234A/en not_active Expired - Fee Related
- 1985-09-24 JP JP60208997A patent/JPS61182785A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
FR2570634A1 (fr) | 1986-03-28 |
JPS61182785A (ja) | 1986-08-15 |
BR8504619A (pt) | 1986-07-15 |
US4638234A (en) | 1987-01-20 |
GB2164752B (en) | 1987-12-16 |
GB2164752A (en) | 1986-03-26 |
GB8522043D0 (en) | 1985-10-09 |
FR2570634B1 (fr) | 1989-05-19 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
RE | Patent lapsed |
Owner name: DEUTSCHE GESELLSCHAFT FUR WIEDERAUFARBEITUNG VON Effective date: 19910930 |