专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

US20140222352A1 Condition Monitoring Of An Industrial Robot 审中-公开
标题翻译：工业机器人状态监测
公开(公告)号：US20140222352A1
公开(公告)日：2014-08-07
申请号：US14224752
申请日：2014-03-25
申请人： Shiva Sander-Tavallaey , Kari Saarinen , Hans Andersson , Andre Carvalho Bittencourt
发明人： Shiva Sander-Tavallaey , Kari Saarinen , Hans Andersson , Andre Carvalho Bittencourt
IPC分类号： G01N19/08
摘要： A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.
摘要翻译：一种用于检测机器人关节中的故障的方法包括以下步骤：在机器人关节处执行第一扭矩测量，从而获得第一组扭矩值; 计算反映第一组转矩值的分布的第一分布特性; 在所述机器人关节处执行第二扭矩测量，从而获得第二组扭矩值; 计算反映第二组转矩值的分布的第二分布特性; 以及比较第一和第二分布特性以确定故障是否存在。扭矩测量分布的差异是一个强大的故障指示器，可以利用系统的重复行为。

2. 发明授权

US09146175B2 Method and a device for detecting abnormal changes in play in a transmission unit of a movable mechanical unit 有权
标题翻译：用于检测可移动机械单元的传动单元中的异常变化的方法和装置
公开(公告)号：US09146175B2
公开(公告)日：2015-09-29
申请号：US13126767
申请日：2008-10-30
申请人： Kari Saarinen , Shiva Sander-Tavallaey
发明人： Kari Saarinen , Shiva Sander-Tavallaey
IPC分类号： G01L3/00 , G01M13/02
CPC分类号： G01M13/021
摘要： The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (Tref), to a movable mechanical unit. The device (20) comprises a first storage (27) for storing torque reference signal values for the motor at least in a time interval during which the motor is running at a steady state rotation speed, a computing unit (22) configured to retrieve measured rotation speed values (ωmeasured) of the motor during said time interval, to identify the steady state rotation speed of the retrieved rotation speed values, to calculate a frequency spectrum of the torque reference signal, to calculate the energy generated around the second harmonic of the identified steady state rotation speed in a selected frequency band of the calculated frequency spectrum, to compare the calculated energy with at least one limit value, and based thereon, to detect abnormal changes in the play, and a second storage (28) unit for storing the energy calculated at a plurality of different points in time.
摘要翻译：本发明涉及一种用于检测传动单元中的异常变化的方法和装置，其被配置为将具有取决于转矩参考信号（Tref）的旋转速度的电动机的旋转运动传递到可移动机械单元。所述设备（20）包括：第一存储器（27），用于至少在所述电动机以稳定状态转速运行的时间间隔内存储用于所述电动机的转矩参考信号值;计算单元（22）在所述时间间隔期间电动机的转速值（ω测量值），以识别所检索的转速值的稳态转速，以计算转矩参考信号的频谱，计算出二次谐波周围产生的能量在所计算的频谱的选定频带中确定稳态转速，将计算出的能量与至少一个极限值进行比较，并基于此检测出游戏中的异常变化;以及第二存储器（28），用于存储在多个不同时间点计算的能量。

3. 发明申请

US20110238329A1 Method and a device for detecting abnormal changes in play in a transmission unit of a movable mechanical unit 有权
标题翻译：用于检测可移动机械单元的传动单元中的异常变化的方法和装置
公开(公告)号：US20110238329A1
公开(公告)日：2011-09-29
申请号：US13126767
申请日：2008-10-30
申请人： Kari Saarinen , Shiva Sander-Tavallaey
发明人： Kari Saarinen , Shiva Sander-Tavallaey
IPC分类号： G01L3/00 , G06F19/00
CPC分类号： G01M13/021
摘要： The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (Tref), to a movable mechanical unit. The device (20) comprises a first storage (27) for storing torque reference signal values for the motor at least in a time interval during which the motor is running at a steady state rotation speed, a computing unit (22) configured to retrieve measured rotation speed values (ωmeasured) of the motor during said time interval, to identify the steady state rotation speed of the retrieved rotation speed values, to calculate a frequency spectrum of the torque reference signal, to calculate the energy generated around the second harmonic of the identified steady state rotation speed in a selected frequency band of the calculated frequency spectrum, to compare the calculated energy with at least one limit value, and based thereon, to detect abnormal changes in the play, and a second storage (28) unit for storing the energy calculated at a plurality of different points in time.
摘要翻译：本发明涉及一种用于检测传动单元中的异常变化的方法和装置，其被配置为将具有取决于转矩参考信号（Tref）的旋转速度的电动机的旋转运动传递到可移动机械单元。所述设备（20）包括：第一存储器（27），用于至少在所述电动机以稳定状态转速运行的时间间隔内存储用于所述电动机的转矩参考信号值;计算单元（22）在所述时间间隔期间电动机的转速值（ω测量值），以识别所检索的转速值的稳态转速，以计算转矩参考信号的频谱，计算出二次谐波周围产生的能量在所计算的频谱的选定频带中确定稳态转速，将计算出的能量与至少一个极限值进行比较，并基于此检测出游戏中的异常变化;以及第二存储器（28），用于存储在多个不同时间点计算的能量。

4. 发明授权

US09045810B2 Method for melting steel 有权
标题翻译：钢的熔化方法
公开(公告)号：US09045810B2
公开(公告)日：2015-06-02
申请号：US14323671
申请日：2014-07-03
申请人： Rebei Bel Fdhila , Jan-Erik Eriksson , Olof Hjortstam , Mohamed Ali Rahmani , Shiva Sander-Tavallaey , Ola Widlund , Hongliang Yang , Xiaojing Zhang
发明人： Rebei Bel Fdhila , Jan-Erik Eriksson , Olof Hjortstam , Mohamed Ali Rahmani , Shiva Sander-Tavallaey , Ola Widlund , Hongliang Yang , Xiaojing Zhang
IPC分类号： C21B13/12 , C21C7/00 , C22B9/20 , C21C5/52 , F27D27/00 , F27D19/00
CPC分类号： C22B9/20 , C21B13/12 , C21B2300/04 , C21C5/527 , C21C7/00 , C21C2005/5276 , C21C2005/5288 , C21C2300/06 , F27D27/00 , F27D2019/0003 , Y02P10/216 , Y02P10/286
摘要： A method for melting steel in an electric arc furnace (EAF). A hot heel is provided in the EAF. Metal scrap is loaded into the EAF. The metal scrap is melted in the EAF. The mass of the hot heel in relation to the mass of the metal scrap that is initially beyond the surface of the hot heel is a certain minimum. This minimum is 0.75 times the relation between the heat required to melt the metal scrap beyond the surface of the hot heel and the heat that can be taken from the hot heel without it being solidified when a theoretical heat balance calculation is applied as defined in a formula.
摘要翻译：一种在电弧炉（EAF）中熔炼钢的方法。 EAF中提供热跟。金属废料装入EAF。金属废料在EAF中熔化。热脚跟的质量相对于最初超过热跟鞋表面的金属废料的质量是一定的最小值。这个最小值是熔化金属废料超过热跟部表面所需的热量之间的关系的0.75倍，而当热应力的理论热平衡计算应用如式。

5. 发明申请

US20140318314A1 Method For Melting Steel 有权
标题翻译：熔钢方法
公开(公告)号：US20140318314A1
公开(公告)日：2014-10-30
申请号：US14323671
申请日：2014-07-03
申请人： Rebei Bel Fdhila , Jan-Erik Eriksson , Olof Hjortstam , Mohamed Ali Rahmani , Shiva Sander-Tavallaey , Ola Widlund , Hongliang Yang , Xiaojing Zhang
发明人： Rebei Bel Fdhila , Jan-Erik Eriksson , Olof Hjortstam , Mohamed Ali Rahmani , Shiva Sander-Tavallaey , Ola Widlund , Hongliang Yang , Xiaojing Zhang
IPC分类号： C22B9/20 , C21C7/00
CPC分类号： C22B9/20 , C21B13/12 , C21B2300/04 , C21C5/527 , C21C7/00 , C21C2005/5276 , C21C2005/5288 , C21C2300/06 , F27D27/00 , F27D2019/0003 , Y02P10/216 , Y02P10/286
摘要： A method for melting steel in an electric arc furnace (EAF). A hot heel is provided in the EAF. Metal scrap is loaded into the EAF. The metal scrap is melted in the EAF. The mass of the hot heel in relation to the mass of the metal scrap that is initially beyond the surface of the hot heel is a certain minimum. This minimum is 0.75 times the relation between the heat required to melt the metal scrap beyond the surface of the hot heel and the heat that can be taken from the hot heel without it being solidified when a theoretical heat balance calculation is applied as defined in a formula.
摘要翻译：一种在电弧炉（EAF）中熔炼钢的方法。 EAF中提供热跟。金属废料装入EAF。金属废料在EAF中熔化。热脚跟的质量相对于最初超过热跟鞋表面的金属废料的质量是一定的最小值。这个最小值是熔化金属废料超过热跟部表面所需的热量之间的关系的0.75倍，而当热应力的理论热平衡计算应用如式。

6. 发明申请

US20130269483A1 Apparatus And Method For Electromagnetic Stirring In An Electrical Arc Furnace 有权
标题翻译：电弧炉电磁搅拌装置及方法
公开(公告)号：US20130269483A1
公开(公告)日：2013-10-17
申请号：US13827033
申请日：2013-03-14
申请人： Jan-Erik Eriksson , Mohamed Ali Rahmani , Ola Widlund , Olof Hjortstam , Rebei Bel Fdhila , Shiva Sander-Tavallaey , Ulf Sand , Xiaojing Zhang , Tord Kroon
发明人： Jan-Erik Eriksson , Mohamed Ali Rahmani , Ola Widlund , Olof Hjortstam , Rebei Bel Fdhila , Shiva Sander-Tavallaey , Ulf Sand , Xiaojing Zhang , Tord Kroon
IPC分类号： B01F13/08 , C21C7/00
CPC分类号： B01F13/0809 , C21C5/52 , C21C7/00 , F27B3/10 , F27D27/00 , Y02P10/216
摘要： An apparatus for electromagnetic stirring of the steel melt in an electrical arc furnace includes two electromagnetic stirrer units, a current supply, and a control unit. The two stirrers are mounted on an outer bottom surface of the electrical arc furnace at opposites sides of a central position of the bottom surface, the current supply is operatively connected to the two electromagnetic stirrer units, and the control unit is operatively connected to the current supply to control the operation of the two electromagnetic stirrer units.
摘要翻译：电弧炉中的熔融电磁搅拌装置包括两个电磁搅拌器单元，电流源和控制单元。两个搅拌器安装在电弧炉的外底表面上，在底面的中心位置的相对侧，电流供应器可操作地连接到两个电磁搅拌器单元，并且控制单元可操作地连接到电流供应以控制两个电磁搅拌器单元的操作。

7. 发明授权

US08190294B2 Detection of condition changes in an industrial robot system 有权
标题翻译：检测工业机器人系统中的状况变化
公开(公告)号：US08190294B2
公开(公告)日：2012-05-29
申请号：US12071894
申请日：2008-02-27
申请人： Niclas Sjöstrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
发明人： Niclas Sjöstrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , G05B2219/32226 , G05B2219/32234 , G05B2219/32371 , G05B2219/42311 , Y02P90/14 , Y02P90/26 , Y02P90/86 , Y10T74/20329
摘要： A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.
摘要翻译：一种用于检测机器人系统中的状况变化的方法和装置。该方法包括在第一和第二时间记录工作周期代表信号，与工作周期代表信号的记录同步记录，与第一和第二时间的工作周期相关联的参考信号，从信号中选择参考信号具有以下特征：由机器人执行的路径影响的信号，由机器人系统计算的信号，以及如果机器人的机械手在完全相同的路径上执行沿着相同路径的运动的情况下的信号相同的信号第一和第二次使用所记录的参考信号来同步代表信号，并且比较同步信号以确定在第一和第二场合之间是否发生了任何状况变化。

8. 发明授权

US08876934B2 Apparatus and method for electromagnetic stirring in an electrical arc furnace 有权
标题翻译：电弧炉电磁搅拌装置及方法
公开(公告)号：US08876934B2
公开(公告)日：2014-11-04
申请号：US13827033
申请日：2013-03-14
申请人： Jan-Erik Eriksson , Mohamed Ali Rahmani , Ola Widlund , Olof Hjortstam , Rebei Bel Fdhila , Shiva Sander-Tavallaey , Ulf Sand , Xiaojing Zhang , Tord Kroon
发明人： Jan-Erik Eriksson , Mohamed Ali Rahmani , Ola Widlund , Olof Hjortstam , Rebei Bel Fdhila , Shiva Sander-Tavallaey , Ulf Sand , Xiaojing Zhang , Tord Kroon
IPC分类号： B01F13/08 , C21C5/52 , F27B3/10 , F27D27/00 , C21C7/00
CPC分类号： B01F13/0809 , C21C5/52 , C21C7/00 , F27B3/10 , F27D27/00 , Y02P10/216
摘要： An apparatus for electromagnetic stirring of the steel melt in an electrical arc furnace includes two electromagnetic stirrer units, a current supply, and a control unit. The two stirrers are mounted on an outer bottom surface of the electrical arc furnace at opposites sides of a central position of the bottom surface, the current supply is operatively connected to the two electromagnetic stirrer units, and the control unit is operatively connected to the current supply to control the operation of the two electromagnetic stirrer units.
摘要翻译：电弧炉中的熔融电磁搅拌装置包括两个电磁搅拌器单元，电流源和控制单元。两个搅拌器安装在电弧炉的外底表面上，在底面的中心位置的相对侧，电流供应器可操作地连接到两个电磁搅拌器单元，并且控制单元可操作地连接到电流供应以控制两个电磁搅拌器单元的操作。

9. 发明申请

US20090132085A1 Detection of condition changes in an industrial robot system 有权
标题翻译：检测工业机器人系统中的状况变化
公开(公告)号：US20090132085A1
公开(公告)日：2009-05-21
申请号：US12071894
申请日：2008-02-27
申请人： Niclas Sjostrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
发明人： Niclas Sjostrand , Ivan Lundberg , Johan Gunnar , Shiva Sander-Tavallaey
IPC分类号： G05B19/02
CPC分类号： G05B19/4063 , G05B2219/32226 , G05B2219/32234 , G05B2219/32371 , G05B2219/42311 , Y02P90/14 , Y02P90/26 , Y02P90/86 , Y10T74/20329
摘要： A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.
摘要翻译：一种用于检测机器人系统中的状况变化的方法和装置。该方法包括在第一和第二时间记录工作周期代表信号，与工作周期代表信号的记录同步记录，与第一和第二时间的工作周期相关联的参考信号，从信号中选择参考信号具有以下特征：由机器人执行的路径影响的信号，由机器人系统计算的信号，以及如果机器人的机械手在完全相同的路径上执行沿着相同路径的运动的情况下的信号相同的信号第一和第二次使用所记录的参考信号来同步代表信号，并且比较同步信号以确定在第一和第二场合之间是否发生了任何状况变化。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式