PL2766780T3 - Sposób zapobiegania interferencjom i wykrywania kolizji między elementami mechanicznymi - Google Patents

Sposób zapobiegania interferencjom i wykrywania kolizji między elementami mechanicznymi

Info

Publication number
PL2766780T3
PL2766780T3 PL12794463T PL12794463T PL2766780T3 PL 2766780 T3 PL2766780 T3 PL 2766780T3 PL 12794463 T PL12794463 T PL 12794463T PL 12794463 T PL12794463 T PL 12794463T PL 2766780 T3 PL2766780 T3 PL 2766780T3
Authority
PL
Poland
Prior art keywords
prevent interference
mechanical members
detect collision
collision
detect
Prior art date
Application number
PL12794463T
Other languages
English (en)
Inventor
Iuri MONARI
Fiorenzo Draghetti
Original Assignee
Gima Tt S.P.A.
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=44907975&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=PL2766780(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Gima Tt S.P.A. filed Critical Gima Tt S.P.A.
Publication of PL2766780T3 publication Critical patent/PL2766780T3/pl

Links

Classifications

    • 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
    • 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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G05B19/0425—Safety, monitoring
    • 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
    • G05B2219/37622—Detect collision, blocking, stall by change, lag in position
    • 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
    • G05B2219/37632—By measuring current, load of motor
    • 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
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Position Or Direction (AREA)
  • Safety Devices In Control Systems (AREA)
  • Air Bags (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)
PL12794463T 2011-10-13 2012-10-11 Sposób zapobiegania interferencjom i wykrywania kolizji między elementami mechanicznymi PL2766780T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT001868A ITMI20111868A1 (it) 2011-10-13 2011-10-13 Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso
EP12794463.5A EP2766780B1 (en) 2011-10-13 2012-10-11 Method to prevent interference and detect collision between mechanical members
PCT/IB2012/002026 WO2013072725A1 (en) 2011-10-13 2012-10-11 Method to prevent interference and detect collision between mechanical members

Publications (1)

Publication Number Publication Date
PL2766780T3 true PL2766780T3 (pl) 2018-10-31

Family

ID=44907975

Family Applications (2)

Application Number Title Priority Date Filing Date
PL18169119T PL3370126T3 (pl) 2011-10-13 2012-10-11 Sposób i układ do zapobiegania kolidowaniu oraz do kontroli kolizji elementów mechanicznych
PL12794463T PL2766780T3 (pl) 2011-10-13 2012-10-11 Sposób zapobiegania interferencjom i wykrywania kolizji między elementami mechanicznymi

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PL18169119T PL3370126T3 (pl) 2011-10-13 2012-10-11 Sposób i układ do zapobiegania kolidowaniu oraz do kontroli kolizji elementów mechanicznych

Country Status (6)

Country Link
US (1) US9176495B2 (pl)
EP (3) EP3370126B1 (pl)
CN (1) CN104137012B (pl)
IT (1) ITMI20111868A1 (pl)
PL (2) PL3370126T3 (pl)
WO (1) WO2013072725A1 (pl)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20111868A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso
CN108292128B (zh) * 2015-10-06 2021-01-26 贝利莫控股公司 致动器和操作致动器的方法
IT201700030602A1 (it) * 2017-03-20 2018-09-20 Giuliani S R L Sistema per la misurazione della posizione di un organo meccanico e metodo per la misurazione della posizione di un organo meccanico
TWI656942B (zh) 2018-01-12 2019-04-21 財團法人工業技術研究院 工具機防碰撞方法及工具機防碰撞系統
JP6698724B2 (ja) * 2018-03-06 2020-05-27 ファナック株式会社 衝突位置推定装置及び機械学習装置
SE544055C2 (en) * 2018-06-26 2021-11-23 Husqvarna Ab A method for collision detection in a self-propelled robotic tool and a self-propelled robotic tool
IT201800007659A1 (it) * 2018-07-31 2020-01-31 Gd Spa Procedimento per determinare la posizione degli attuatori di una macchina automatica per la produzione di articoli dell’industria del tabacco
DE102018008815A1 (de) 2018-11-09 2020-05-14 Focke & Co. (Gmbh & Co. Kg) Verfahren zum Erkennen und/oder Vermeiden von Kollisionen von Maschinenorganen einer Verpackungsmaschine
US20230017386A1 (en) * 2019-12-20 2023-01-19 Dewertokin Technology Group Co., Ltd. Electric motor furniture drive

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62199338A (ja) * 1986-02-27 1987-09-03 Fanuc Ltd 工具衝突自動防止方法
JPH02146602A (ja) * 1988-08-11 1990-06-05 Fanuc Ltd サーボモータにより駆動される被駆動体の衝突検出・停出方法
JPH0682346A (ja) * 1992-07-17 1994-03-22 Fanuc Ltd イナーシャ、外乱トルクの推定及び異常負荷検出方法
EP0588418B1 (en) 1992-09-14 1999-12-29 Koninklijke Philips Electronics N.V. Apparatus, in particular an X-ray examination apparatus, with arrangement for collision protection
KR0167021B1 (ko) * 1993-03-15 1999-02-01 카타다 테쯔야 자동연삭장치
JP2871993B2 (ja) 1993-03-31 1999-03-17 日本電気株式会社 サーボモータの位置制御装置
JP2002001633A (ja) * 2000-06-19 2002-01-08 Murata Mach Ltd 異常負荷検知機能を備えた加工機
JP4756618B2 (ja) 2001-03-21 2011-08-24 株式会社ダイヘン 多関節ロボットにおける衝突検出・停止制御法
JP3878054B2 (ja) 2001-05-08 2007-02-07 三菱電機株式会社 ロボット制御装置
DE10133612A1 (de) * 2001-07-13 2003-02-06 Prometec Gmbh Numerische Steuerung für eine Werkzeugmaschine, sowie Verfahren zur numerischen Steuerung und Verfahren zur Überwachung einer Werkzeugmaschine
DE10144998A1 (de) 2001-09-12 2003-05-08 Kluft Werner Ereignisdatenrekorder für Kollisions- bzw. Überlastsituationen an Werkzeugmaschinen
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
CN100592967C (zh) * 2003-07-29 2010-03-03 松下电器产业株式会社 控制机器人的方法和设备
EP2380711A1 (en) * 2003-07-29 2011-10-26 Panasonic Corporation Robot arm control method
JP2007286904A (ja) * 2006-04-17 2007-11-01 Fanuc Ltd 電動機の制御装置及び制御方法
EP2068436B1 (de) * 2007-12-03 2013-07-17 Roche Diagnostics GmbH Verfahren und Vorrichtung zum Erkennen von Schrittverlusten eines Schrittmotors
CN201283508Y (zh) * 2008-10-23 2009-08-05 宝山钢铁股份有限公司 冷锯进刀速度自动调整控制器
ITMI20111868A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il controllo dell'interferenza e/o collisione d'organi meccanici e sistema connesso

Also Published As

Publication number Publication date
PL3370126T3 (pl) 2021-01-25
US20140316569A1 (en) 2014-10-23
EP3757699A1 (en) 2020-12-30
EP2766780B1 (en) 2018-05-02
CN104137012B (zh) 2017-09-05
EP3370126A3 (en) 2018-10-10
US9176495B2 (en) 2015-11-03
EP3370126B1 (en) 2020-08-19
EP2766780A1 (en) 2014-08-20
ITMI20111868A1 (it) 2013-04-14
WO2013072725A1 (en) 2013-05-23
EP3370126A2 (en) 2018-09-05
CN104137012A (zh) 2014-11-05

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