Machine system including wireless sensor

一种机械系统、传感器的技术，应用在机械手、程序控制机械手、机器人等方向，能够解决不考虑延迟、很难抑制机械臂前端部振动、信号传送延迟等问题

Active Publication Date: 2015-09-02
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, in wireless communication, there may be a delay in signal transmission
However, in the device described in JP2011-161562A, it is difficult to suppress the vibration of the front end of the robot arm with high precision when a delay occurs in the transmission of the sensor signal from the acceleration sensor regardless of such a delay in wireless transmission.

Method used

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  • Machine system including wireless sensor
  • Machine system including wireless sensor
  • Machine system including wireless sensor

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no. 1 approach

[0020] Below, refer to Figure 1 ~ Figure 6B , the first embodiment of the present invention will be described. figure 1 It is a figure which schematically shows the structure of the mechanical system 1 which concerns on 1st Embodiment of this invention. Such as figure 1 As shown, the mechanical system 1 has: a mechanical device 10 and a control device 20 for controlling the mechanical device 10 . In addition, the mechanical device 10 is constituted by a machine tool, an industrial robot, or the like, but an industrial robot is used as the mechanical device 10 in the following description.

[0021] figure 2 It is a figure which shows the structure of the articulated industrial robot 10 which concerns on embodiment of this invention. Such as figure 2 As shown, the industrial robot 10 has a rotatable mechanical arm 11 , and a tool 12 (a spot welding gun in the figure) is mounted on the front end of the mechanical arm 11 . The robot arm 11 is rotationally driven by a serv...

no. 2 approach

[0050] refer to Figure 7 ~ Figure 9 A second embodiment of the present invention will be described. The difference between the second embodiment and the first embodiment lies in the processing of the delay time calculation unit 25 . That is, in the first embodiment, the delay time ta is calculated by shifting the first time-series data successively by a predetermined time Δt, but in the second embodiment, by separately determining the first time-series data and the second time-series data The delay time ta is calculated from the operation start time of the series data. In addition, below, it demonstrates mainly about the difference from 1st Embodiment.

[0051] Figure 7 It is a flowchart showing an example of processing executed by the controller 22 of the mechanical system 1 according to the second embodiment of the present invention. In step S21, with image 3 Similarly to step S1, the first time-series data of the acceleration a1 stored in the wireless data storage uni...

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Abstract

A machine system including a sensor unit detecting periodically an acceleration at a tip part of a movable member, a data acquisition unit acquiring first time-series data of the acceleration at the tip part of the movable member corresponding to sensor signal received via a wireless signal path, a data calculation unit configured to calculate second time-series data corresponding to the first time-series data based on a driving command of the motor, a delay time calculation unit calculating a delay time of the first time-series data with respect to the second time-series data according to a degree of correlation between first time-series data and the second time-series data, and a correction unit correcting the first time-series data based on the delay time.

Description

technical field [0001] The invention relates to a mechanical system with wireless sensors. Background technique [0002] In recent years, in machine tools and industrial robots, it is required to increase the speed of operation in order to improve production efficiency. However, when the machine tool or the robot moves at high speed, vibrations are generated at the front end of the machine tool or the robot accordingly. In order to suppress such vibrations, there is known a device that attaches a wireless acceleration sensor to the tip of a robot arm and suppresses vibration at the tip of the arm based on sensor signals wirelessly transmitted from the acceleration sensor. Such a device is described in, for example, Japanese Patent Laid-Open No. 2011-161562 (JP 2011-161562A). [0003] However, in wireless communication, delay may occur in signal transmission. However, in the device described in JP2011-161562A, it is difficult to suppress the vibration of the tip of the rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08
CPCB25J19/02B25J19/021Y10S901/09B25J9/1679B25J13/006B25J13/088
Inventor 张冶王凯濛
Owner FANUC LTD
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