System for collision a voidance of rotary atomizer
AssigneeDürr Systems AG
InventorsSven Hooge, Dietmar Wildermuth
Life of this patent
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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.
Claims11
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 (φA1, ωA1) of the motor,
- measurement of at least one driven-side motion quantity (xM1, aM1) of the moving part,
- determination of an error signal (FSTÖR) as a function of the motion quantities (φA1, ωA1) of the motor measured on the drive side and of the motion quantities (xM1, aM1 ) of the moving part measured on the driven side.
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Dependencies are inferred from the claim text.