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 protegee

Info

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
Application number
BE0/215593A
Other languages
English (en)
Inventor
G Schroder
H Berning
Original Assignee
Wiederaufarbeitung Von Kernbre
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wiederaufarbeitung Von Kernbre filed Critical Wiederaufarbeitung Von Kernbre
Publication of BE903251A publication Critical patent/BE903251A/fr

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.
BE0/215593A 1984-09-22 1985-09-17 Dispositif pour maintenir de facon telecommandee en bon etat des parties d'une installation nucleaire protegee BE903251A (fr)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

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