Method to prevent interference and detect collision between mechanical members
AssigneeGima Tt S.R.L.
InventorsIuri Monari, Fiorenzo Draghetti
Life of this patent
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Abstract
Method to control the interference and/or collision between mechanical members of at least two operating or one operating unit with respect to fixed positions. At least one operating unit is associated with a position detector or with a position simulator, and is equipped with an electric which drives a mechanical member. The method is managed by a management and control unit. The control of the operating units occurs in two phases, verifying point-by-point the position of the mechanical member as a function of the current dynamics and the braking or acceleration times and spaces (first phase), and verifying the intensity of point-by-point current supplied to at least one electric motor (second phase).
Claims15
A method for preventing mechanical members of operating units from interferences and/or collisions within an operation cycle, the method comprising,
- preventing interferences, comprising,
- verifying positions of a mechanical member of at least one operating unit within a predetermined time period based on vectors, braking times and spaces, and acceleration times and spaces, and
- detecting collisions steps by verifying the current intensity supplied to an electric motor of the operating unit, comprising,
- dividing an operating cycle into sub-phases,
- setting a predetermined reference current intensity,
- setting a reference current intensity window having a minimum threshold and a maximum threshold for each sub-phase, wherein the predetermined reference current intensity is within the range of the reference current intensity window,
- identifying a current intensity error in absolute terms by comparing the current intensity with a reference current intensity within every sub-phase, and
- limiting the current supplied to the electric motor so that the current intensity error in absolute terms does not exceed the reference current intensity window.
Dependencies are inferred from the claim text.