公开(公告)号：US20170282370A1

公开(公告)日：2017-10-05

申请号：US15471265

申请日：2017-03-28

Applicant: BERNECKER + RAINER INDUSTRIE-ELEKTRONIK Ges.m.b.H.

Inventor： Thomas KAPELLER ,  Thomas DIRSCHLMAYR

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1666 ,  B25J9/1671 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05B2219/40317 ,  G05B2219/40492

Abstract: In order to detect when a kinematic linkage (1) leaves workspaces (WS) and/or enters safe spaces (SS), using, little computing power, and therefore doing so more quickly, at least a part of the kinematic linkage (1) is modeled with a number of kinematic objects (K1, K2, K3, K4), and a monitoring space (S) is specified, The number of kinematic objects (K1, K2, K3, K4) is modeled in less than two dimensions D

公开(公告)号：US20160047647A1

公开(公告)日：2016-02-18

申请号：US14782522

申请日：2014-03-17

Applicant: BERNECKER + RAINER INDUSTRIE-ELEKTRONIK GES.M.B.H.

Inventor： Thomas DIRSCHLMAYR ,  Thomas KAPELLER

IPC: G01B21/00

CPC classification number: G01B21/00 ,  B25J9/1674 ,  G05B2219/43203 ,  G05B2219/49137

Abstract: The invention relates to a method for monitoring the safety of a joint (12) of a serial kinematic structure (30), which carries out tasks within a work region (100) under the control of a control unit (20), wherein a current state variable of the joint (12), such as the absolute position (AP) or the time derivatives thereof, is determined cyclically during operation from the current axis position (P) of the joint (12) and compared to a configurable limit value (SA, TA, SL), wherein a function module (3, 4, 5) is used to monitor the state variable. A function module (3, 4, 5) is assigned to each state variable to be monitored. These function modules (3, 4, 5) are designed independently of the control unit (20) of the serial kinematic structure (30), whereby the safety monitoring system (10) can be operated concurrently with and independently of the control unit (20) of the serial kinematic structure (30).

Abstract translation: 本发明涉及一种用于监控串联运动学结构（30）的接头（12）的安全性的方法，其在控制单元（20）的控制下执行工作区域（100）内的任务，其中电流 在从接头（12）的当前轴线位置（P）的操作期间循环地确定接头（12）的状态变量，例如绝对位置（AP）或其时间导数，并与可配置极限值（ SA，TA，SL），其中使用功能模块（3,4,5）来监视状态变量。 功能模块（3,4,5）被分配给要监视的每个状态变量。 这些功能模块（3,4,5）独立于串行运动结构（30）的控制单元（20）设计，由此安全监控系统（10）可以与控制单元（20）同时并独立地操作 ）的串联运动学结构（30）。