公开(公告)号：US5570770A

公开(公告)日：1996-11-05

申请号：US531267

申请日：1995-09-20

申请人： Wilhelmus H. Baaten ,  Wilhelmus J. P. Habraken

发明人： Wilhelmus H. Baaten ,  Wilhelmus J. P. Habraken

IPC分类号： A61B6/10 ,  B25J19/06 ,  F16D65/28 ,  F16P7/02 ,  G05B19/4061 ,  F16D65/34

CPC分类号： A61B6/102 ,  G05B19/4061 ,  Y10T477/816

摘要： An arrangement for collision prevention is provided for an apparatus, in particular an x-ray examination apparatus, having components that can be moved by drive means. A collision is detected by way of detecting the speed of a relevant moving part and detecting the current and/or power supply to the drive means. Reference values for current and/or power supply at normal operation in dependence of the speed acquired by moving components are provided from a memory means and actually required current and/or power supplies are compared to said reference values. In addition, actual positions of components are detected and compared to computed expected positions of said components. A collision is detected when the required current and/or power supply exceeds a relevant reference value and the detected actual position deviates from the corresponding calculated expected position. As a consequence of a collision being detected, the moving component involved in a collision is detached from the drive means so as to avoid damage or injury as a cause of the collision. Apart from x-ray examination apparatus, also industrial robots which operate in circumstances where person may approach the apparatus to within the reach of moveable components are preferably fitted with an arrangement for collision protection as described above.

摘要翻译： 为具有能够通过驱动装置移动的部件的装置，特别是X射线检查装置提供防碰撞装置。 通过检测相关移动部件的速度并检测到驱动装置的当前和/或电源来检测碰撞。 从存储装置提供根据移动部件所获得的速度在正常操作时的电流和/或电源的参考值，并将实际所需的电流和/或电源与所述参考值进行比较。 此外，检测组件的实际位置并与所述组件的计算预期位置进行比较。 当所需的电流和/或电源超过相关参考值并且检测到的实际位置偏离相应的计算的预期位置时，检测到碰撞。 由于检测到碰撞的结果，涉及碰撞的移动部件与驱动装置分离，以避免作为碰撞的原因造成的损坏或伤害。 除了X射线检查装置之外，还可以在人们可以靠近可移动部件的范围的情况下工作的工业机器人配备有如上所述的用于碰撞保护的装置。