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Control device, mechanical system, and time synchronization method

A technology of control device and time synchronization, which is applied in general control systems, program control manipulators, control/regulation systems, etc., and can solve problems such as inability to synchronize correctly

Pending Publication Date: 2020-11-27
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] like Figure 1A as well as Figure 1B As shown, in an operation where vibration is actually a problem, the waveforms of the time-series data of the command acceleration and the time-series data of the detected acceleration are greatly different, and there may be cases where they cannot be synchronized correctly.

Method used

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  • Control device, mechanical system, and time synchronization method
  • Control device, mechanical system, and time synchronization method
  • Control device, mechanical system, and time synchronization method

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no. 1 approach

[0034] figure 2 It is a functional block diagram showing an example of the functional configuration of the mechanical system 1 according to the first embodiment. Such as figure 2 As shown, the mechanical system 1 has a mechanical device 10 and a control device 20 .

[0035] The mechanical device 10 and the control device 20 can be directly connected to each other via an unillustrated connection interface. In addition, the mechanical device 10 and the control device 20 may be connected to each other via a network such as a LAN (Local Area Network). In this case, the mechanical device 10 and the control device 20 may include a communication unit (not shown) for communicating with each other through the above connection.

[0036] The mechanical device 10 is, for example, a machine tool or an industrial robot. In addition, the mechanical device 10 will be described below as an industrial robot (hereinafter also referred to as "robot 10").

[0037] image 3 An example of th...

no. 2 approach

[0085] The difference between the control device of the second embodiment and the first embodiment is that instead of moving the robot with a predetermined basic movement, instead of the speed indicated by the program executed by the control device, the robot is moved at a speed equal to or lower than a predetermined value. The action represented by the above program.

[0086] Hereinafter, a second embodiment will be described.

[0087] The mechanical system of the second embodiment of the present disclosure has the same figure 2 The mechanical system 1 of the first embodiment shown has the same structure.

[0088] In addition, the mechanical device (robot) and the control device of the second embodiment also have the same figure 2 and image 3 The control device (robot) 10 and the control device 20 of the first embodiment shown have the same configuration.

[0089] However, in the time synchronization process, the motor control unit 203 of the control device 20 of the s...

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Abstract

The invention provides a control device, a mechanical system, and a time synchronization method. The control device controls a mechanical device having a movable member driven by a motor. The controldevice includes a radio signal exchange unit that receives a sensor signal indicating a position, a velocity or an acceleration of a tip part of the movable member, a data acquisition unit that acquires first time-series data of acceleration based on the received sensor signal, a data calculation unit that calculates second time-series data of acceleration at the tip part based on a drive commandto the motor, a delay time calculation unit that calculates, when the mechanical device performs a predetermined basic operation, a delay time of the first time-series data to the second time-series data, based on a degree of correlation between the first and second time-series data, and a time synchronization unit that synchronizes time of the sensor part and control device based on the delay time.

Description

technical field [0001] The invention relates to a control device, a mechanical system and a time synchronization method. Background technique [0002] Shortening the takt time by speeding up the movement of the robot will directly affect the production efficiency. However, as the robot moves at a higher speed, vibrations are generated at the tip of the robot due to insufficient rigidity of the reducer and the robot arm. [0003] As a solution to this problem, a technique has been proposed in which an acceleration sensor is attached to the front end of the robot, the acceleration sensor detects vibration accompanying the robot's movement, and the vibration is reduced by performing learning control. For example, refer to Patent Document 1. [0004] However, due to the complexity of wiring cables connecting the controller controlling the robot and the acceleration sensor, an acceleration sensor that wirelessly transmits the measured acceleration to the controller (hereinafter...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/161B25J9/1612B25J9/1651B25J9/1661B25J9/1689B25J13/006B25J13/088H04B7/2678G05B2219/37532G05B2219/34406G05B19/414B25J9/1694G05B19/4155G05B2219/41298
Inventor 稻垣聪铃木元
Owner FANUC LTD