• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for safety monitoring of a joint (12) of a serial kinematics (30) which performs tasks within a working area (100) under the control of a controller (20), wherein during operation from the current axis position (P) of the joint (12 ) a current state variable of the joint (12) as the absolute position (AP) or their derivatives by time, cyclically determined and compared with a configurable limit (SA, TA, SL), wherein a function block (3, 4, 5) is used for monitoring the state variable. Each state variable to be monitored is assigned a function block (3, 4, 5). These function blocks (3, 4, 5) are executed independently of the control (20) of the serial kinematics (30), whereby the safety monitoring (10) can be operated in parallel and independently of the control (20) of the serial kinematics (30).
    公开号:AT514345A1
    申请号:T50348/2013
    申请日:2013-05-22
    公开日:2014-12-15
    发明作者:Thomas Dipl Ing Dirschlmayr；Thomas Dipl Ing Kapeller
    申请人:Bernecker & Rainer Ind Elektronik Gmbh；
    IPC主号:
    专利说明:

    BN-3542 AT
    Safety monitoring of a serial kinematics
    The invention relates to a method for safety monitoring and safety monitoring of a linkage of a serial kinematics which performs tasks under control of a controller, wherein for safety monitoring from the current axis position of the joint, a current state variable of the joint, such as the absolute position or its derivatives according to the time determined cyclically and is compared to a configurable limit, using a function block to monitor the state variable.
    Manipulators, actuators and multi-axis motion machines, such as serial kinematics, which are also referred to as robots, always present a risk potential for operating personnel. The resulting risks can often be reduced by structural measures, whereby in each case a residual risk remains. As a rule, therefore, safety-relevant parameters are evaluated and the serial kinematics are shut down or released for movement. In the case of serial kinematics, the monitoring is usually carried out by comparing state variables, the actual values of the state variables in the control of the serial kinematics being compared with predetermined desired values. These state variables may include, for example, an angle that determines the orientation of a tool in a working plane, or Cartesian coordinates that describe the position of a reference point. Furthermore, in most cases there is a monitoring of the tolerance range within which the serial kinematics can operate without spatially conflicting with personnel or technical facilities. This is achieved in many ways by physically shutting off, that is, arranging the serial kinematics within a closed processing cell. In contrast, as a result of the increasing interaction of man and machine, optical monitoring devices are increasingly establishing themselves for monitoring a permissible working range of the serial kinematics.
    In connection with the monitoring of a serial kinematics, DE 10 2007 037 078 A1 shows a method for maintaining working space limits during the movement of the serial kinematics within a defined working space or a defined boundary zone. In this case, position-dependent and position-dependent, or situation-dependent, stopping points / shut-off points can be realized. The stopping movement is determined in advance, depending on specific physical variables, such as mass of the working medium, and stored in a memory of the kinematic control in the form of a multi-dimensional table. The controller can access these values during operation and, depending on the measured current values of the table, take a braking distance, whereby an imminent violation of the limit zone is detected 2 / 2Ϊ1
    BN-3542 AT and a timely shutdown of the serial kinematics is realized. Of course, this requires extensive and time-consuming preparation with regard to creating the required table in which all possible stopping movements must be recorded. This table, which is integrated in the control of the serial kinematics, is, of course, only valid for a certain type of kinematics. If the kinematics would be supplemented by a joint, for example, this results in a wealth of new stopping movements that must be taken into the table in a correspondingly forward-looking manner, which is correspondingly expensive.
    Another, known in various embodiments protective device for monitoring the working area of a serial kinematics, represents the optical monitoring by means of cameras. DE 102 51 584 A1 shows a realization in which an object-free protection zone by means of a camera that includes a computer unit recorded and this recording serves as a reference background. This reference background is checked for its inhomogeneity, which must not be less than a certain level in order to be classified as valid. This procedure allows, during operation, also homogeneous, in particular monochromatic objects, to be reliably detected within the protection zone as safety-critical objects. The working means, such as a serial kinematics, can only be put into operation via a switching output of the camera computer unit if a corresponding reference background is "taught in", the object detection is enabled and no safety-critical object is detected in the protection zone. However, this presupposes for operation that the monitoring system, in the form of the camera and its computer unit, is continuously activated. Furthermore, protective devices of this type of execution are generally used exclusively for monitoring workspace and the associated collision monitoring.
    DE 10 2008 021 671 A1 shows a method for monitoring a manipulator, wherein besides the position also further derivatives of the position after the time, such as speeds and accelerations, can be monitored. Basically, a method is described in which a distinction is made when stopping the manipulator as a result of an unfulfilled safety function between the reasons for the safety breach. This differentiation results in different scenarios for the shutdown of the manipulator, which, for example, a faster and / or near-rail braking is possible and a costly "repositioning" is eliminated or at least the necessary effort is reduced. The position of the joints of the manipulator and in this context the position and / or orientation of the individual members of the manipulator is referred to as position. From this position speeds and accelerations are calculated in the control of the manipulator, which can be monitored accordingly. Since the workspace monitoring, ie the monitoring of an Ar- 3 / 2Ϊ2 '
    BN-3542 AT beits- or protection of the manipulator, on the one hand by detection devices using, for example, infrared light, electromagnetic radiation, radar radiation and the like., On the other hand done by possible monitoring of, for example, access doors, is a set of additional facilities, the cost and the Maintenance or maintenance increase, necessary. A further disadvantage of the embodiment described is that the safety function monitoring, in the event of non-compliance with one or more limit values, always stops the manipulator.
    Object of the present invention is therefore to perform a safety monitoring of the type mentioned so that not necessarily all monitorable state variables are really constantly monitored and that a failure to comply with one or more limits does not necessarily lead to a shutdown of the serial kinematics. Furthermore, as universal as possible application to different serial kinematics, with little preparation effort and yet broad monitoring options should be feasible, and the need for monitoring sensors, such as camera systems, laser scanners, ultrasonic sensors and the like, be minimized.
    This object is achieved according to the present invention by a method and a safety monitoring, wherein detected in the safety monitoring, the current axis position of the joint of the serial kinematics regardless of their control and from a current state variable of the joint in the safety monitoring is calculated by the of Control independent activation of the function block is compared with its limit and the comparison result is output from the safety monitoring.
    This makes it possible, independently of the control of the serial kinematics, to freely decide which state variables are to be monitored and to which event the non-compliance with one or more limit values results. An intervention in the control of the serial kinematics and / or the output of an optical and / or acoustic signal, as well as the activation of a possibly already existing in the joint motor safety function would be conceivable, but is not mandatory. This means that the safety monitoring can be operated in parallel and independently of the control of the serial kinematics. This independence from the control of the serial kinematics makes it possible to adapt the safety monitoring to a wide variety of task areas and kinematics quickly and easily with little preparation effort.
    In addition to calculating the rotation matrix of a joint, the absolute position of the joint is calculated in a calculation block from the position feedback of the articulated motor, which is recorded independently of the control of the serial kinematics. Thus, the position feedback of a joint motor is used as the current axis position. 4 / 2Ϊ3 '
    BN-3542 AT
    Since usually every serial kinematics has articulated motors with corresponding position feedback, the safety monitoring in this advantageous embodiment can directly access the position feedback of the articulated motors and calculate the absolute position independently of the control of the serial kinematics. This results in the advantage that no additional sensors for operating the safety monitoring is necessary.
    Preferably, the parameters of the joints comprising the serial kinematics and their rigid connections, which together form a serial kinematics for which the safety monitoring is to be applied, are also taken into account, with the tool dimensions being taken into account. A tool with a tool operating point, which is guided by the serial kinematics, is treated by the safety monitoring as a joint and can thus also be monitored. Nevertheless, in the further description, the tool and the tool operating point are designated as such in order to be able to explain the relationships in a more understandable manner. For the parameterization, the geometry of the serial kinematics is defined, advantageously by tables created outside the safety monitoring and transferred to the safety monitoring. This allows a quick adaptation of the safety monitoring to different versions of the serial kinematics.
    Since several state variables of a joint can be monitored by function blocks, each state variable is assigned a function block and the function blocks can be activated or deactivated independently, for example via an activatable / deactivatable input, for example, by the user, a higher-level control unit or the like can be determined Which state variables should be monitored as needed. To activate and deactivate the function blocks, each function block has its own activation input, which can be used as required. For monitoring a state variable, the corresponding function block can be activated via an enable input.
    Thus, for a joint, the monitoring of different state variables, with respect to freely selectable limit values, also during the course of motion, can be activated or deactivated independently of one another and independently of the control of the serial kinematics, for example by the user, a higher-level control unit or the like. This greatly increases the adaptability of security surveillance to different surveillance needs.
    A further advantageous embodiment of the invention provides that for the working environment of the serial kinematics several subareas for the monitoring of state variables are defined. These subdivide the working environment that can be reached for the joints, their rigid connections and the tool, and can, depending on the application, be separated
    BN-3542 AT
    Task and tool used differ. The advantage is that with different tasks performed by the serial kinematics, for example, areas in which the serial kinematics can not move, can be defined quickly and with little effort.
    Another embodiment according to the invention provides that limit values for the state variables to be monitored can be adapted as a function of the subregions with defined logic components. For example, depending on the subregion in which the joint is located, a freely definable logic module can adapt the permissible limit speed and the safety limit angle.
    The advantage is that when a joint or the tool is located, for example, in a part closer to the workpiece, a lower limit speed can be selected than in a less "collision critical" portion, the respective limit speed then, ie at the onset of the Joint or the tool in the respective sub-area, applies to each joint and auxiliary coordinate system of the serial kinematics.
    Furthermore, when activating a function block, it is possible, using a request input, to select between different limit values for the state variable to be monitored. This allows a state variable to be limited to different limit values as needed. Depending on the activated function module, and selected limit, a certain limit speed, which then applies to each joint and therefore also for the tool of the serial kinematics, a certain absolute position or position of each joint in the working environment of the serial kinematics and an orientation of the tool on be restricted to a predetermined, "safe" value or to a "safe" area. This "safe" value / range can be freely selected, but is preferably only changeable if the function block is deactivated.
    An advantageous embodiment of the invention provides that multiple joints of the serial kinematics can be monitored simultaneously. This allows the most targeted security monitoring of individual joints, or even the entire serial kinematics and an associated tool.
    The subject invention will be explained below with reference to Figures 1 to 10, which show by way of example, schematically and not limitation, an advantageous embodiment of the invention. It shows
    Fig.1 a serial kinematics
    2 shows the working environment of the serial kinematics with its sections 6 / 2Ϊ5 '
    BN-3542 AT
    3 shows an inventive scheme of safety monitoring for a joint of a serial kinematics
    4 shows an inventive scheme of security monitoring in a more advantageous embodiment 5 Figure 5 shows an inventive scheme of security monitoring in a FITS advantageous extent
    Figure 6 shows another inventive scheme of safety monitoring in a particularly advantageous scope, in which further includes freely defined logic devices are 10 Fig.7 the relationship between safety limit angle, Werkzeugrichtungsvek gate and the global direction vector of the tool holder
    8 is a perspective view of a pick-up tool
    9 shows the view of the receiving tool shown in Figure 8 from the direction IX
    1 shows the schematic structure of a serial kinematics 30 which joints 12a to 12c or more, and their Geleksmotoren 11a to 11c, or according to the joints 12 also more, Fig. 10 shows the view of the receiving tool shown in Figure 8 rigid connections 13a, 13b between the joints 12, a tool holder flange 40, a tool 41 and an associated controller 20 includes. Furthermore, the integrated safety monitoring 10 for the monitoring of the state variables 20 is shown schematically. The state variables of the serial kinematics 30 to be monitored may include, for example, the Safely Limited Speed (SLS), the Safely Limited Position (SLP) and the Safely Limited Orientation (SLO).
    For example, SLS and SLP are represented as 25 statuses issued by the security monitor 10. According to the invention, it is up to the user to decide how to process a status issued by the security monitor. For example, a status can be transmitted to the controller 20 of the serial kinematics 30, which operates independently of the safety monitoring function (shown dashed for SLP), for example to bring the serial kinematics 30 to a standstill. Alternatively, the status could also be used to trigger an optical and / or acoustic signal or directly activate a possible, integrated safety function of the articulated motor 11, although a number of other possibilities would also be conceivable.
    The tool receiving flange 40 and the tool center point (TCP) of the tool 41 are viewed by the security guard 10 as a hinge 12 -6- 7/21
    BN-3542 AT treated. As a result, the security monitor 10 may include both the tool 41 itself and the tool working point TCP.
    In Figure 3, the security monitoring 10 is shown with a calculation block 2 and a function blocks 3, wherein the calculation block 2 could also be integrated in the function block 3. Starting from a reference position of the joints 12 in which the angle of rotation (swivel) and / or the linear positions (sliding joint) of the joint axis is set to zero, the current axis position P represents the relative position (rotation, displacement) of the joint axis with respect to its reference position and is therefore to be regarded as a relative value. The current axis position P is determined, for example, from the position feedback of the joint motor 12 associated with the joint 11 and is read into the calculation block 2, whereby of course other possibilities of determining the position are conceivable. The current axis position P of the articulated motor 11 is detected independently of the controller 20 of the serial kinematics 30.
    From the current axis position P, the absolute position AP of the joint 12 to be monitored is calculated by the calculation module 2 with the aid of mathematical methods known per se, for example using the forward transformation, and transmitted to the functional module 3. The function module 3 calculates from the transmitted absolute position AP of the joint 12, for example as a state variable whose speed and compares them with a, for example, by the user, a higher-level control unit or the like, predetermined limit speed SL.
    The function module 3 outputs the result of the comparison in the form of a status SLS. By way of example, this status SLS is a Boolean output which outputs an exceeding of a limit value, for example in the form of SAFEFALSE "0" or, if not exceeded, in the form of SAFETRUE "1". As already mentioned for FIG. 1, it is freely left to the invention how the status SLS is processed further.
    4 shows an embodiment of the security monitoring 10 with a definition module 1, a calculation module 2 and a function module 3. As also described in FIG. 3, the illustrated components can be integrated with one another. By way of the definition module 1, the unique definition of the serial kinematics 30 takes place, for example, in the form of a table system T. This table system T contains the definition of the joints 12 and their possible joint properties (rotary or sliding joint), the mechanical joint couplings, the coordinate systems, the geometric dimension the rigid connections 13, so the distances from one joint 12 to the next, the definition of auxiliary coordinate systems, the tool dimensions and the associated tool working points TCP's, in arbitrary units of measurement. By parameterizing a mentioned auxiliary coordinate system, an additional shift 8 / 2Ϊ7 '
    BN-3542 AT and / or twist in space, regardless of a joint 12, to be defined. For example, the mounting of a serial kinematics 30 on a lift is conceivable. If an auxiliary coordinate system is parameterized for the serial kinematics 30, its movement, ie the movement of the entire serial kinematics 30 on the lifting platform, such as the movement of a joint 12, can be monitored.
    It is also possible to define several tool working points TCP's in the table system T. By a possible, parallel monitoring, for example, can be changed from one tool 41 to another, without having to disable the monitoring.
    By means of the table system T, the definition module 1 creates a data packet DP which describes in its entirety the serial kinematics 30, for the security monitoring 10. This data packet DP is forwarded to the calculation module 2. If necessary, the definition module 1 converts all values recorded in the table system T into a uniform unit of measure, for example, millimeters and radians. Furthermore, the values entered can be checked for plausibility, that is, for example, whether a serial kinematics 30 defined in the table system T is physically possible at all. If this is not the case, the calculated data packet DP is marked as invalid and thus can not be further processed. Even the occurrence of such an error can lead to any scenarios. For example, the intervention in the controller 20, which fixes the serial kinematics 30 in its safe reference position, or an optical, acoustic or similar output would be conceivable.
    As already described in FIG. 3, the current axis position P, which results, for example, from the position feedback of the articulated motor 11, is read into the calculation module 2, the absolute position AP of the joint 12 is calculated and transmitted to the function module 3. The function block 3 calculates from the transmitted absolute position AP of the joint 12, as also shown in FIG. 3, as a state variable whose velocity and compares this with a selected limit velocity SL, the comparison result again in the form of a freely usable state, in this case SLS, is issued.
    5 shows a possible embodiment of the security monitoring 10 in a particularly advantageous scope with the definition module 1, the calculation module 2 and several functional modules 3 to 5 shown schematically. The individual function blocks 3 to 5 monitor different state variables of the serial kinematic 30. The used function blocks 3 to 5, optionally in combination with the definition block 1 and the calculation block 2, represent the autonomous safety monitoring 10 of the control 20 of the serial kinematics 30 The Definition Construction 9/218 '
    BN-3542 AT stein 1 uses the table system T to create a data packet DP, which is passed on to the calculation module 2.
    From the data packet DP, the rotation matrices M are calculated by the calculation module 2 and, using the known forward transformation, the absolute position AP of the joint 12 defined in the table system T and of the tool 41 to be monitored. The rotary die M indicates the orientation / rotation of the axis of a joint-related / joint-fixed coordinate system relative to a working environment-bound absolute coordinate system valid for the entire serial kinematics 30, such as the global space coordinate system. Using the rotation matrix M, the absolute position AP of the joint 12 and of the tool 41 to be monitored is calculated in the calculation module 2 from the relative position P.
    The calculated absolute position AP is transmitted to the functional module 3, which, as already described, the speed of the joint to be monitored 12, or in the same manner of the tool 41, calculated and compared with a selected limit speed SL.
    The function module 3 can offer different limit speeds SL, for example via a plurality of inputs, for selection. The selection of the corresponding limit speed SL can be made using several request inputs Rsls. The function block 3 outputs a status SLS as output.
    2 shows the working environment 100 of the serial kinematics 30 with its subareas. For this purpose, as subregions, for example, a protection area 200, a movement area 300 and a work area 400 for monitoring the joints 12 or their state variables, for example in the form of a table TA, for example by the user, a higher-level control unit or the like, can be defined : Protective area 200: Area in which no joint 12, a rigid connection 13 of two joints 12, or the tool 41 is allowed to penetrate. • Movement area 300: Area that can not be left by any joint 12, no rigid connection 13 of two joints 12, or the tool 41. Workspace 400: Area in which a tool 41 handled by the security monitor 10, such as a joint 12, acts, for example, separates, inserts, manipulates or the like.
    Furthermore, the work area 400 can be subdivided into a plurality of sub-work areas 410, 420, which in turn can be arbitrarily defined in the table TA, for example, or adapted to the existing serial kinematics 30. Likewise, the range of motion 300 may be divided into a plurality of partial motion ranges. -9- 10/21
    BN-3542 AT For different sub-work areas 410, 420, different limit values for the state variables to be monitored can be defined by the user, a higher-order control unit or the like, for example, which can be selected via the request inputs R of the function blocks 3, 4, 5.
    The absolute position AP of the joint 12 to be monitored and / or of the tool 41 output by the calculation module 2 are also transmitted to the function module 4. The function module 4 uses the absolute position AP of the joint 12 and / or of the tool 41 to determine in which region of the working environment 100 the joint 12 and / or the tool 41 is located. For the absolute position of the serial kinematics, the regions 200, 300, 400 defined by way of example and their subregions 410 and 420 represent corresponding limit values. In the function module 4, the comparison of the current absolute position AP of the joint 12 and / or the tool 41 with the areas 200, 300, 400 and its subregions 410 and 420 defined in the table TA takes place. The function module 4 delivers the status SLP in the activated state, over which, as with the status SLS, can be freely available. If, for example, the joint 12 is located within the protection area 200 described above, this status SLP is set to a value characterizing the injury in the course of the security breach. The same occurs when the joint 12 and / or the tool 41 is neither within the movement range 300 or the possible partial movement ranges, nor within the work area 400 or a partial work area 410, 420.
    Each sub work area 410, 420 is identified by its own function ID FID. If the tool 41 is located in a sub-work area 410, 420, the function ID FID of this sub-work area 410, 420 of function module 4 can also be output, for example. The function ID FID can, in an advantageous embodiment of the invention as shown in FIG Logic devices, such as L1 and L2, are used to select limits for the state variables to be monitored. For example, the limit speed SL, which represents an input for function block 3, and the safety limit angle SA, which represents an input of function block 5, can be selected via the request inputs RSls and RSlo, depending on the partial work area 410, 420 in which the joint 12 is located ,
    A safety limit angle SA represents the maximum permissible angle 50 between the global direction vector GV and the tool direction vector TV, in the form of a circular cone around the global direction vector GV. The global direction vector GV is defined as desired, for example normal to a workpiece surface to be machined. When
    BN-3542 AT
    Tool direction vector TV can be the orientation of the tool 41, so for example the direction of a coupled-out laser radiation 60, referred to, but also other definitions for the tool direction vector TV, for example perpendicular to a machining head of a laser are possible.
    The function module 5 is used to monitor the tool orientation, which gains in importance especially when using beam tools, such as lasers. The function module 5 compares a safety limit angle SA, which, according to the invention, can be dependent on the partial work area, with the angle 50 between the current tool direction vector TV and the global direction vector GV. The relationship between safety limit angle SA, tool direction vector TV and the global direction vector is shown in FIG. A mentioned logic module L1 can be, for example, that as long as the tool 41 is in the partial work area 410, the angle 50 between global direction vector GV and tool direction vector TV is limited to a safety limit angle SA of, for example, 1 °. As soon as the tool 41 penetrates into the partial work area 420, the safety angle SA, as shown in FIG. 7, is increased to, for example, 90 °. In connection with the illustrated global direction vector GV and the tool direction vector TV, it is thus effectively avoided that a focused laser beam 60 leaves, for example, a possible physical protective border 70.
    Depending on the application and the tool 41 used, it is conceivable that a plurality of safety angles SA must be monitored. Such a case is shown in Fig.8, Fig.9 and Fig.10. Figure 8 shows, for example, in perspective view, the picking up or placing of a workpiece 81 using a rectangular picking tool as the tool 41. GV1 represents the global direction vector and TV1 the tooling vector. The safety margin angle SA1 represents the maximum allowable angle between the global direction vector GV1 and the tool direction vector TV1.
    When defining a single safety limit angle SA1 (see Figure 9), which is sufficient for the smaller dimension of the pick-up tool 41 to effectively avoid collision in the vicinity of the workpiece 81, it can tilt by the same angle in the direction of the larger dimension of the pick-up tool 41 already come to a collision with the workpiece 81. For this reason, a second global direction vector GV2 and, suitably, a second tool-direction vector TV2 are defined (see FIG. 10). A safety limit angle SA1 and SA2 can each be assigned to these two vector pairs, which ensures that a tilting of the tool 41 about the respective axis is restricted to the region which ensures collision-free picking up of the workpiece 81. For the monitoring of the two safety 11/21
    BN-3542 AT boundary angles SA1 and SA2, two function blocks 5, possibly with two associated logic blocks L1, can be used.
    If several tools 41 are used, each tool can be assigned its own function block 5. To determine the current angle 50 between the tool direction vector TV and the global direction vector GV, the tool direction vector TV is referenced to the global coordinate system using the rotation matrices M. The rotation matrices M thus constitute, in addition to the tool direction vector TV, the global direction vector GV and the safety limit angle SA, a further input variable for the function module 5. The function module 5 supplies an output quantity with the status SLO, which in turn can be freely assigned.
    Except for the definition module 1, which only contains the table system T for the definition of the serial kinematics 30, all modules have an activation input A. This input can be occupied, for example, by the user, a higher-order control unit or the like, to the block for use activate. If the input is set to TRUE 15 "1", the block and thus the monitoring of the corresponding state variable is activated, whereby a freely selectable limit value can not be changed as long as the corresponding function block 3, 4, 5 is activated. The temporary deactivation of the calculation block 2 or one of the function blocks 3 to 5, if they are not needed for the safety monitoring, has according to that computing capacity is saved and thus can be used elsewhere. It should be taken for granted that the calculation module 2 can not be disabled independently of the function blocks 3, 4, 5.
    The safety monitoring 10 described can, of course, also be used for monitoring a plurality of joints 12 and / or tools 41, wherein the functional modules 3, 25 4, 5 have the same function as in the monitoring of a single joint 12 and / or
    Meet tool 41.
    13
    权利要求:
    Claims (14)
    [1]
    BN-3542 AT 1. A method for safety monitoring of a joint (12) of a serial kinematics (30) under a control (20) performs tasks, wherein for safety monitoring from the current axis position (P) of the joint (12) has a current state variable of the joint (12), as the absolute position (AP) or its derivatives by time, determined cyclically and with a configurable limit (SA, TA, SL) is compared, wherein a function block (3, 4, 5) for monitoring the State variable is used, characterized in that in the safety monitoring (10) detects the current axis position (P) of the joint (12) of the serial kinematics (30) regardless of their control (20) and from a current state variable of the joint (12) in the safety monitoring (10) is calculated, which compared by the control (20) independent activation of the function block (3, 4, 5) with its limit (SA, TA, SL) and the comparison result (SLO, SLP, SLS) is output from the security monitor (10).
    [2]
    2. The method according to claim 1, characterized in that the position feedback of a jointed motor (11) is used as the current axis position (P).
    [3]
    3. The method according to claim 1 or 2, characterized in that the geometry of the serial kinematics (30), advantageously by outside the security monitoring (10) created and to the security monitoring (10) passed tables (T) is defined.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that a plurality of state variables of a joint (12) by function blocks (3, 4, 5) are monitored, each state variable is assigned a function block (3, 4, 5) and the Function blocks (3, 4, 5) are activated or deactivated independently of each other.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that for the working environment (100) of the serial kinematics (30) a plurality of subareas (200, 300, 400, 410, 420) are defined for the monitoring of state variables.
    [6]
    6. The method according to claim 5, characterized in that with defined logic modules (L1, L2), limit values (SA, SL) for the state variables to be monitored as a function of the subregions (200, 300, 400, 410, 420) are adjusted.
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that when activating a function block (3, 4, 5) using a request input (R) between different limit values (SA, SL) is selected for the state variable to be monitored.
    [8]
    8. The method according to any one of claims 1 to 7, characterized in that a plurality of joints (12) of the serial kinematics (30) are monitored simultaneously. BN-3542 AT
    [9]
    9. safety monitoring (10) for a joint (12) of a serial kinematics (30) under a control (20) performs tasks, characterized in that in the safety monitoring (10) an input for the transfer of a current axis position (P) is provided independently of the control (20) of the serial kinematics (30), in the safety monitoring (10) a calculation block (2) is provided which is connected to the input and from the current axis position (P) a current state variable of the serial Kinematics (30) calculated in the safety monitoring (10) is provided by the controller (20) independent function block (3, 4, 5) with an enable input (A) and a limit input, which in the activated state, the current state variable with a limit (SA, TA, SL) and outputs the comparison result (SLO, SLP, SLS) at an output of the safety monitor (10).
    [10]
    10. Safety monitoring (10) according to claim 9, characterized in that the joint (12) of the serial kinematics (30) has a joint motor (11) outputs the current axis position (P) as position feedback at an output and the output to the input the safety monitoring for transmitting the current axis position (P) to the safety monitoring (10) is connected.
    [11]
    11. Safety monitoring (10) according to claim 9 or 10, characterized in that in the safety monitoring (10) an input for the transfer of a table (T), which contains the geometry of the serial kinematics (30), is provided and in the safety monitoring (10) a definition module (1) is provided, which is connected to the input and to which the table (T) is transferred.
    [12]
    12. Security monitoring (10) according to any one of claims 9 to 11, characterized in that in the security monitoring (10) a plurality of function blocks (3, 4, 5) are provided for monitoring a plurality of state variables and that the function blocks (3, 4, 5 ) are activated and deactivated independently of one another and independently of the controller (20) via their activation inputs (A).
    [13]
    13. Safety monitoring (10) according to any one of claims 9 to 12, characterized in that at the function blocks (3, 4, 5) a request input (R) is provided on the different limits (SA, TA, SL) for the monitoring state variables are selected.
    [14]
    14. Safety monitoring (10) according to one of claims 9 to 13, characterized in that a logic module (L1, L2) is provided and the working environment (100) of the serial kinematics (30) in subregions (200, 300, 400, 410, 420), wherein the logic module (L1, L2) has an input which is connected to an output of a first functional module (4) via which the subregion (200, 300, 400, 410, 420) in which the Joint (12) is currently the logic device (L1, L2) is communicated, and the -14- 15/21 5 BN-3542 AT logic device (L1, L2) has an output which with the request input of a second function block (3, 5 ) via which the limit value for the state variable to be monitored in the second functional module (3, 5) is selected as a function of the subarea (200, 300, 400, 410, 420). -1 δ- Ιό / 21
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    同族专利:
    公开号 | 公开日
    US20160047647A1|2016-02-18|
    AT514345B1|2015-02-15|
    US10317201B2|2019-06-11|
    CA2909347C|2021-10-12|
    CA2909347A1|2014-11-27|
    EP2999574A1|2016-03-30|
    EP2999574B1|2017-06-21|
    WO2014187590A1|2014-11-27|
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    法律状态:
    2018-03-15| HC| Change of the firm name or firm address|Owner name: B&R INDUSTRIAL AUTOMATION GMBH, AT Effective date: 20180205 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50348/2013A|AT514345B1|2013-05-22|2013-05-22|Safety monitoring of a serial kinematics|ATA50348/2013A| AT514345B1|2013-05-22|2013-05-22|Safety monitoring of a serial kinematics|
    US14/782,522| US10317201B2|2013-05-22|2014-03-17|Safety monitoring for a serial kinematic system|
    CA2909347A| CA2909347C|2013-05-22|2014-03-17|Safety monitoring for a serial kinematic structure|
    EP14711730.3A| EP2999574B1|2013-05-22|2014-03-17|Safety monitoring system of a serial kinematic system|
    PCT/EP2014/055243| WO2014187590A1|2013-05-22|2014-03-17|Safety monitoring system of a serial kinematic system|
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