System for collision a voidance of rotary atomizer

• US 20060129348A1
• Filed: 02/09/2006
• Published: 06/15/2006
• Est. Priority Date: 09/30/2002
• Status: Active Grant

• Current Assignee: Dietmar Wildermuth, Sven Hooge
• Original Assignee: Dietmar Wildermuth, Sven Hooge
• Inventors: Wildermuth, Dietmar, Hooge, Sven
• Granted Patent: US 7,328,123 B2
• Time in Patent Office: Days
• US Class Current: 702/142
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4062 Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
• CPC Class Codes: G05B 2219/37297 Two measurements, on driving motor and on slide or on both sides of motor
• CPC Class Codes: G05B 2219/37624 Detect collision, blocking by measuring change of velocity or torque
• CPC Class Codes: G05B 2219/37625 By measuring changing forces in a time window
• CPC Class Codes: G05B 2219/37632 By measuring current, load of motor
• CPC Class Codes: G05B 2219/39186 Flexible joint
• CPC Class Codes: G05B 2219/39355 Observer, disturbance observer
• CPC Class Codes: G05B 2219/41372 Force estimator using disturbance estimator observer
• CPC Class Codes: G05B 2219/42161 One model for load, one model for motor inertia

Abstract

A monitoring method for a drive system with a motor and a moving part driven by the motor. The movement of the driven part is monitored and the movement of the driving part is monitored and compared to recognize a collision between the driven part and another structure. Measurement of at least one drive-side motion quantity of the motor is taken and measurement of at least one driven-side motion quantity of the moving part is taken. The motion quantity can be a position, velocity or acceleration. A dynamic model is calculated based on predetermined or expected operational data and the drive side measured data. An error signal is generated when the motion quantity measured on the driven side varies from the dynamic model.

Claims

1. Monitoring method for a drive system of a robot, more specifically a painting robot, with a motor and a moving part driven by the motor, with the following steps:

measurement of at least one drive-side motion quantity (φ

_A1, ω

_A1) of the motor,

measurement of at least one driven-side motion quantity (x_M1, a_M1) of the moving part,

determination of an error signal (F<sub>STÖ

R</sub>) as a function of the motion quantities (φ

_A1, ω

_A1) of the motor measured on the drive side and of the motion quantities (x_M1, a_M1 ) of the moving part measured on the driven side.

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