PROTECTION DEVICE

• US 20070211395A1
• Filed: 03/23/2007
• Published: 09/13/2007
• Est. Priority Date: 09/24/2004
• Status: Active Grant

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Linger, Matts, Svensson, Goran
• Granted Patent: US 7,468,594 B2
• Time in Patent Office: Days
• US Class Current: 361/23
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: G05B 2219/37372 Position and speed
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone
• CPC Class Codes: G05B 2219/49142 Shut off power, stop if outside working zone

Abstract

The present invention relates to a safety system for use in protection functions, which system prevents that an error in one control circuit do not result in a function failure by using supervising functions comprising at least two sensors connected to a monitoring unit which receives and processes information about a position of a machine from both sensors and compares the results with stored values and a number of input conditions for the monitoring unit, whereby said sensors comprise means for generating data with respect to a position of a machine movement and said monitoring unit comprises means, which with respect to the result of the comparison is arranged to stop a machine movement if conditions for a stop are fulfilled. The monitoring unit is arranged to compare values from said sensors and when detecting deviating value from either one of sensors detecting a functional error with the sensors.

Claims

1. A safety system for use in protection functions, which system prevents that an error in one control circuit does not result in a function failure by using supervising functions comprising at least two sensors connected to a monitoring unit, which receives and processes information about a position of a machine from both sensors and compares the results with stored values and a number of input conditions for the monitoring unit, whereby said sensors comprise means for generating data with respect to a position of a machine part movement and said monitoring unit comprises means, which with respect to the result of the comparison is arranged to stop a machine movement if conditions for a stop are fulfilled,

wherein

said sensor is an absolute encoder, which in every position of movement of said part provides a position value to the monitoring unit through a common buss, which monitoring unit is arranged to process information about the position of said part and also said part'"'"'s speed and direction and that said monitoring unit is arranged to compare values from said sensors and when detecting deviating value from either one of the sensors, to detect a functional error with the sensors.

2. The system according to claim 1,

wherein the monitoring unit is programmable.

3. The system according to claim 1,

wherein the

information about speed is used for stopping the machine if speed conditions are fulfilled.

4. The system according claim 1,

wherein the information about a direction of said machine part movement is used for stopping the machine if position conditions are fulfilled.

5. The system according to claim 1,

wherein said system is used for area limitation of an industrial robot.

6. The system according to claim 1,

wherein two or more sensors are inter-connected with one or several programmable programming units through a bus wire.

7. A robot monitoring system comprising a safety system for safety functions, which system prevents that an error in one control circuit does not result in a function failure by using supervising functions comprising at least two sensors connected to a monitoring unit, which receives and processes information about a position of a machine from both sensors and compares the results with stored values and a number of input conditions for the monitoring unit, whereby said sensors comprise means for generating data with respect to a position of a robot part'"'"'s movement and said monitoring unit comprises means, which with respect to the result of the comparison is arranged to stop a parts movement if conditions for a stop are fulfilled,

wherein the

sensor is an absolute encoder, which in every position of movement of said robot part provides a position value to the monitoring unit through a common buss, which monitoring unit is arranged to process information about the position of said robot part and also said part'"'"'s speed and direction and that said monitoring unit is arranged to compare values from said sensors and when detecting deviating value from either one of the sensors, to detect a functional error with the sensors.

9. The system according to claim 7, wherein said system comprises means for storing instructions relating one or several of:

one or several protection sensors,

speed limit,

area limitation,

area limitation for both rectilinear and rotating movements, and

combinations of speed limit and area limitation.

8. (canceled)

10. (canceled)