CN100543619C - 用于在机器的机器元件与物体发生接触时产生明确反应的方法和控制装置 - Google Patents

用于在机器的机器元件与物体发生接触时产生明确反应的方法和控制装置 Download PDF

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Publication number
CN100543619C
CN100543619C CNB2006800110931A CN200680011093A CN100543619C CN 100543619 C CN100543619 C CN 100543619C CN B2006800110931 A CNB2006800110931 A CN B2006800110931A CN 200680011093 A CN200680011093 A CN 200680011093A CN 100543619 C CN100543619 C CN 100543619C
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contact
machine
machine element
coming
collision
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CN101156118A (zh
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斯蒂芬·普拉滕
迈克尔·凯弗
罗伯特·格利斯曼
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Siemens Corp
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Siemens Corp
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    • 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
    • G05B19/406—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 monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
    • B23Q5/58—Safety devices
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49142—Shut off power, stop if outside working zone

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Auxiliary Devices For Machine Tools (AREA)
CNB2006800110931A 2005-04-01 2006-03-29 用于在机器的机器元件与物体发生接触时产生明确反应的方法和控制装置 Active CN100543619C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005015317A DE102005015317B4 (de) 2005-04-01 2005-04-01 Verfahren und Steuereinrichtung zur gezielten Reaktion bei einem Kontakt zwischen einem Maschinenelement einer Maschine mit einem Gegenstand
DE102005015317.8 2005-04-01

Publications (2)

Publication Number Publication Date
CN101156118A CN101156118A (zh) 2008-04-02
CN100543619C true CN100543619C (zh) 2009-09-23

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US (1) US8457787B2 (enExample)
JP (1) JP2008535071A (enExample)
CN (1) CN100543619C (enExample)
DE (1) DE102005015317B4 (enExample)
WO (1) WO2006103249A2 (enExample)

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DE102011005985B4 (de) * 2011-03-23 2019-01-24 Kuka Roboter Gmbh Roboter, Steuervorrictung für einen Roboter und Verfahren zum Betreiben eines Roboters
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JP2014087235A (ja) * 2012-10-26 2014-05-12 Iai Corp アクチュエータ制御装置及びアクチュエータ制御方法
JP6143222B2 (ja) * 2013-03-07 2017-06-07 三菱重工工作機械株式会社 工作機械の異常診断装置及び異常診断方法
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JP6517567B2 (ja) * 2015-03-31 2019-05-22 日本電産サンキョー株式会社 サーボモータ制御装置及び衝突検出方法
CN105116853B (zh) * 2015-07-21 2018-03-02 长沙长泰机器人有限公司 铸件自动清理的敏捷控制装置及敏捷控制方法
KR101734241B1 (ko) * 2015-12-10 2017-05-11 현대자동차 주식회사 트렁크 리드 힌지 지능형 로더유닛
DE102016111609A1 (de) 2016-06-24 2017-12-28 Klaus-Dieter Rapp Verfahren zur Vermeidung und Vorrichtung zur Erkennung einer bevorstehenden Kollision zweier Bauteile einer Maschine
CN106392880B (zh) * 2016-10-31 2018-11-06 无锡市中远工业自动化有限公司 一种控制磨床砂轮进给的方法
CN106774158A (zh) * 2016-12-30 2017-05-31 苏州群志机械设备有限公司 一种用于数控机床撞机现场保护的控制系统及方法
JP6572265B2 (ja) 2017-06-30 2019-09-04 ファナック株式会社 制御装置及び機械学習装置
EP3579066A1 (en) * 2018-06-06 2019-12-11 Agie Charmilles SA Collision protection method
EP3689555A1 (de) 2019-02-04 2020-08-05 Siemens Aktiengesellschaft Kraftbegrenztes verfahren mindestens eines elements einer produktionsmaschine im manuellen betrieb
JP7240194B2 (ja) * 2019-02-15 2023-03-15 Ｄｇｓｈａｐｅ株式会社 切削加工機
CN110355786A (zh) * 2019-06-21 2019-10-22 珠海格力电器股份有限公司 一种机器人撞击检测方法及机器人
JP2021091060A (ja) * 2019-12-12 2021-06-17 セイコーエプソン株式会社 制御方法およびロボットシステム
DE102020133335A1 (de) * 2019-12-17 2021-06-17 Fanuc Corporation Werkzeugmaschine und verfahren zum abschätzen von schwingungen
EP3903682B1 (de) * 2020-04-29 2023-10-04 Siemens Healthcare GmbH Kollisionsüberwachung in einer medizinischen umgebung
JP6900564B1 (ja) * 2020-09-02 2021-07-07 Dmg森精機株式会社 工作機械および情報処理装置
DE102021132300B3 (de) 2021-12-08 2023-04-27 Röders Gmbh Verfahren zum Betreiben einer Werkzeugmaschine mit Achsüberwachung und Werkzeugmaschine eingerichtet zur Durchführung des Verfahrens
JP2023097304A (ja) * 2021-12-27 2023-07-07 ニデックインスツルメンツ株式会社 衝突検出方法及び衝突検出装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI621004B (zh) * 2015-10-30 2018-04-11 Kawasaki Heavy Ind Ltd Robot system monitoring device

Also Published As

Publication number Publication date
US8457787B2 (en) 2013-06-04
US20090048713A1 (en) 2009-02-19
DE102005015317A1 (de) 2006-10-05
CN101156118A (zh) 2008-04-02
WO2006103249A2 (de) 2006-10-05
DE102005015317B4 (de) 2007-02-01
WO2006103249A3 (de) 2007-03-22
JP2008535071A (ja) 2008-08-28

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