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1. WO2000043170 - DEVICE FOR CONTROLLING THE OPERATION OF A DRIVING APPARATUS

Publication Number WO/2000/043170
Publication Date 27.07.2000
International Application No. PCT/SE2000/000090
International Filing Date 18.01.2000
Chapter 2 Demand Filed 20.07.2000
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/18 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
18electric
B25J 19/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
G05B 7/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
7Arrangements for obtaining smooth engagement or disengagement of automatic control
02electric
G05B 13/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
CPC
B25J 19/066
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
066Redundant equipment
Y10S 388/903
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
388Electricity: motor control systems
90Specific system operational feature
903Protective, e.g. voltage or current limit
Y10S 388/909
YSECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
10TECHNICAL SUBJECTS COVERED BY FORMER USPC
STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
388Electricity: motor control systems
907Specific control circuit element or device
909Monitoring means
Applicants
  • ABB AB [SE/SE]; S-721 83 Västerås, SE (AllExceptUS)
  • BROGÅRDH, Torgny [SE/SE]; SE (UsOnly)
  • RAMSTRÖM, Karl-Gustav [SE/SE]; SE (UsOnly)
Inventors
  • BROGÅRDH, Torgny; SE
  • RAMSTRÖM, Karl-Gustav; SE
Agents
  • BJERKÉN, Håkan ; Bjerkéns Patentbyrå KB Box 1274 S-801 37 Gävle, SE
  • OLSSON, Jan ; Bjerkéns Patentbyrå KB P.O. Box 1274 S-801 37 Gävle, SE
Priority Data
9900169-519.01.1999SE
Publication Language English (EN)
Filing Language Swedish (SV)
Designated States
Title
(EN) DEVICE FOR CONTROLLING THE OPERATION OF A DRIVING APPARATUS
(FR) DISPOSITIF DE CONTROLE DU FONCTIONNEMENT D'UN ASSEMBLAGE MOTEUR
Abstract
(EN)
A device for monitoring the operation of a driving arrangement comprising at least a servo-mechanism (3), which includes a regulator (3a), a driving motor (5) controlled by this regulator and an element (6) which can be set in motion by the driving motor, a detection arrangement (19-22, 23) for detecting deviations between intended and actual movement positions of the element (6) and an operation inhibiting and/or alarming arrangement (23, 36, 37, 38) for inhibiting the operation of the driving arrangement and/or starting an alarm when impermissible deviations have been established by means of the detection arrangement. The device comprises a redundant driving arrangement, which comprises at least one auxiliary servomechanism (4) including a redundant regulator (4a), a redundant driving motor (7) controlled by this regulator and a redundant element (8) which can be set in motion by this driving motor, that the regulator (3a) and the redundant regulator (4a) are connected to an arrangement (2) delivering control information o or imparting to the element and the redundant element movements being the same or having a predetermined relation to each other, and that the detection arrangement is arranged to detect the deviations concerning the relative position or movements of the element (6), or an object (17) connected thereto, and the redundant element (8).
(FR)
L'invention concerne un dispositif servant à contrôler le fonctionnement d'un assemblage moteur comprenant au moins un servomécanisme (3) comportant un régulateur (3a), un moteur d'entraînement (5) commandé par le régulateur et un élément (6) pouvant être mis en mouvement par le moteur d'entraînement, un système de détection (19-22, 23) permettant de détecter les écarts entre la position du mouvement souhaitée et la position réelle de l'élément (6) ainsi qu'un système d'inhibition du fonctionnement et/ou d'alerte (23, 36, 37, 38) destiné à inhiber le fonctionnement de l'assemblage moteur et/ou à actionner une alarme lorsque des écarts non permis sont constatés par le système de détection. Le dispositif de l'invention comprend un système moteur supplémentaire comprenant au moins un servomécanisme auxiliaire (4) doté d'un régulateur supplémentaire (4a), d'un moteur d'entraînement supplémentaire (7) commandé par ce régulateur, ainsi que d'un élément supplémentaire (8) pouvant être mis en mouvement par ce moteur d'entraînement. Le régulateur (3a) et le régulateur supplémentaire (4a) sont reliés à un dispositif (2) délivrant des informations de commande permettant d'imprimer à l'élément et à l'élément supplémentaire des mouvements identiques ou présentant une corrélation prédéterminée. Le système de détection est conçu de manière à détecter les écarts dans la position ou les mouvements relatifs de l'élément (6) ou d'un objet (17) en contact avec ce dernier, et de l'élément supplémentaire.
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