CN108389497A - A kind of graphical robot teaching's training system - Google Patents

A kind of graphical robot teaching's training system Download PDF

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Publication number
CN108389497A
CN108389497A CN201810235535.5A CN201810235535A CN108389497A CN 108389497 A CN108389497 A CN 108389497A CN 201810235535 A CN201810235535 A CN 201810235535A CN 108389497 A CN108389497 A CN 108389497A
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CN
China
Prior art keywords
transistor
resistance
capacitance
collector
separately
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CN201810235535.5A
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Chinese (zh)
Inventor
王海员
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Sichuan Yinsha Technology Co Ltd
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Sichuan Yinsha Technology Co Ltd
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Priority to CN201810235535.5A priority Critical patent/CN108389497A/en
Publication of CN108389497A publication Critical patent/CN108389497A/en
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    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

Abstract

The present invention provides a kind of graphical robot teaching's training system, the system comprises:Analogue unit, the sensor for generating simulated failure signal transmission to industrial robot;Collecting unit, for the signal generated by analogue unit is conveyed to obtained after sensor sensor output signal be acquired;Amplification and transmission unit, for the collected signal of collecting unit to be amplified and transmitted, which includes amplification subelement, for being amplified to the collected signal of collecting unit;Failure determination unit determines the sensor fault of industrial robot for the data volume and transmission time according to the amplification and transmission unit transmission;Graphic software platform unit, the failure for being provided according to failure determination unit search the solution of corresponding failure from maintenance scheme database, and the terminal for being transferred to training and teaching is subject to interactive animation graphical display;Voice transmission unit, for the terminal by the voice transmission at industrial robot scene to teaching.

Description

A kind of graphical robot teaching's training system
Technical field
The invention belongs to remote teaching technical fields, and in particular to a kind of graphical robot teaching's training system.
Background technology
Industrial robot is the developing direction of contemporary industry.In industrial robot, the most commonly used is used in angle of rotation The sensor of degree or displacement distance.Because the common forms of motion of robot has revolute and prismatic pair, controller is relied on merely It can not necessarily realize with motion and accurately position, because when motor operation mistake can be generated because of the reason of loading or receiving signal Difference, meanwhile, transmission mechanism also will produce error.Therefore, corresponding sensor need to be added to feed back location information, with controller shape At a closed-loop control system, reduce error.However, under the conditions of working continuously for a long time, these sensors are also often to hold Easily break down.There are the teaching needs and actual requirement of engineering that remote debugging is carried out to dependent failure in the prior art.
Invention content
In view of the above analysis, in order to obtain accurate tune-up data, the present invention provides a kind of graphical robot teachings Training system, the system comprises:
Analogue unit, the sensor for generating simulated failure signal transmission to industrial robot;
Collecting unit, for being conveyed to the letter for obtaining sensor output after sensor to the signal generated by analogue unit It number is acquired;
Amplification and transmission unit, for the collected signal of collecting unit to be amplified and transmitted, which includes putting Big subelement, for being amplified to the collected signal of collecting unit;
Failure determination unit determines work for the data volume and transmission time according to the amplification and transmission unit transmission The sensor fault of industry robot;
Graphic software platform unit, the failure for being provided according to failure determination unit are searched from maintenance scheme database The solution of corresponding failure, the terminal for being transferred to training and teaching are subject to interactive animation graphical display;
Voice transmission unit, for the terminal by the voice transmission at industrial robot scene to teaching.
Further, described instruction transmission unit includes:
Remote industrial robot is given in first transmission sub-unit, the instruction for sending the first kind, the first kind Instruct the expected time in remote industrial robot less than at the first time;
First transmission sub-unit, after being spaced at least first time, remote industrial machine is given in the instruction for sending Second Type Device people, the expected time of the instruction of the Second Type in remote industrial robot were less than for the second time, and described second Time is less than at the first time;
Third transmission sub-unit sends the instruction of the first kind to long-range work again after being spaced at least the second time Industry robot.
Further, if the data volume for receiving remote industrial robot after experience first time is A bytes, then the is undergone The data volume that remote industrial robot is received after two times is B byte, then the remote industrial received after undergoing first time The data volume of robot is C bytes;Then the safety monitoring unit includes:
Failure determination subelement, between being used for/at the first time) when being less than the first predetermined threshold value, determine remote industrial machine at this time Device people's signal processing circuit fault-free;
It is less than the second predetermined threshold value and ((A+C)/(A+2B+ when ((A+B)/(B+C)) × (time at the first time/second) C when)) × (the second time/first time) is more than the first predetermined threshold value, remote industrial robot signal processing circuit at this time is determined Possible breakdown starts third type instruction and gives remote industrial robot;
Receive third type instruction analyzed in remote industrial robot after data, with preset failure parameter reference values into Row compares, and the remote industrial robot presence signal handling failure is determined when more than preset failure parameter reference values.
Further, the first kind instruction is robot sensor output information acquisition instructions, the third type Instruction is the instruction of signal amplification to be carried out by the amplification subelement, and the amplification subelement is to obtain and default event The amplification subelement that barrier parameter reference values use when comparing.
Further, the Second Type instruction is inquiry operating state instruction, return current time instructs, it is current to return One of GPS position information instruction.
Further, the amplification subelement includes:The first capacitance C1 --- the 14th capacitance C14 including number consecutively Totally 14 capacitances, number consecutively first resistor R1 --- the 25th resistance R25 totally 25 resistance, number consecutively the one or two Pole pipe D1 --- third diode D3 totally 3 diodes, number consecutively the first transistor T1 --- the 14th transistor T14 is total 14 transistors, addition and subtraction circuit, signal input part Vin, signal output end Vout, power end Vs and ground terminal, it is described 14th resistance R14 is resistance value adjustable resistance, and the resistance value of remaining 24 resistance is fixed, wherein the first end connection of the first capacitance C1 The first end of 4th resistance R4, the first end of the second end connection power supply Vs and the 5th resistance R5 of the 4th resistance R4, the first electricity Hold the second end ground connection of C1;The first end of 4th resistance R4 is also connected with the anode of the first diode D1, first resistor R1 First end, the first end of second resistance R2, the first end of the second capacitance C2, the first end of 3rd resistor R3, the first diode D1 Cathode connect the anode of the second diode D2, the cathode connection of the second diode D2 passes through the 6th resistance R6 ground connection, the first electricity The emitter of the second end connection the first transistor T1 of R1 is hindered, the base stage of the first transistor T1 connects the negative of the second diode D2 Pole, the collector of the first transistor T1 connect the first end of the 7th resistance R7, and the second end of the 7th resistance R7 is separately connected the tenth The first end of two resistance R12 and the first end of thirteenth resistor R13, the second end connection third diode D3 of second resistance R2 Anode, the cathode of third diode D3 is separately connected the first end of third capacitance C3, the first end of the 8th resistance R8 and The base stage of two-transistor T2, the second end ground connection of the second capacitance C2;The second end connection second transistor T2's of 3rd resistor R3 The collector of emitter, second transistor T2 is separately connected the first end of the 4th capacitance C4, the first end of the 5th capacitance C5, the 4th The collector of transistor T4, the 9th resistance R9 first end by the first end of the tenth resistance R10 connection eleventh resistors R11, The first end of eleventh resistor R11 is also connected with the collector of third transistor T3, the collector of the 5th transistor T5, the 6th capacitance The first end of the first end of C6, the 7th capacitance C7, the emitter of the second end connection third transistor T3 of the 5th resistance R5, third The base stage of transistor T3 is separately connected the base stage of the 4th transistor T4 and the base stage of the 8th transistor T8, the 5th transistor T5 Base stage connects between the second end and the 14th resistance R14 of eleventh resistor R11, and the emitter of the 5th transistor T5 is separately connected The second end of 6th capacitance C6, the collector of the second end of the 7th capacitance C7 and the 8th transistor T8, the 14th resistance R14 Slider is connected to the second end of eleventh resistor R11, and the second end of the 9th resistance R9 connects the base stage of the 4th transistor T4 It is separately connected the second end of the 4th capacitance C4, the 5th electricity with the emitter of the collector of the 7th transistor T7, the 4th transistor T4 Hold second end, the base stage of the 7th transistor T7 and the collector of the tenth two-transistor T12 of C5, the second end of third capacitance C3 Connect the collector of the second end of the 8th resistance R8 and the emitter and the 7th transistor T7 of the 6th transistor T6, second resistance The anode of the second end connection third diode D3 of R2, the cathode of third diode D3 connect the first end of the 8th resistance R8;The The second end of 14 resistance R14 is separately connected the first end of the 19th resistance R19 and the first end of the 20th resistance R20, the The second end of 12 resistance R12 is separately connected the base stage of the emitter and the 6th transistor T6 of the 9th transistor T9, the 13rd electricity The second end of resistance R13 is separately connected collector, the signal input part Vin of the emitter of the tenth transistor T10, the 7th transistor T7 And the 15th resistance R15 first end;The second end of 15th resistance R15 is separately connected the first end of the 9th capacitance C9, The first end of 21 resistance R21 and the base stage of the 9th transistor T9, the second end and the 21st resistance of the 9th capacitance C9 The second end of R21 is grounded;The collector of 6th transistor T6 is separately connected the second end and the 11st crystal of the tenth capacitance C10 The collector of pipe T11;The collector of tenth two-transistor T12 is separately connected the second end of the 17th resistance R17, the 22nd electricity Hinder the first end of R22 and the collector of the 14th transistor T14;The emitter and the 12nd crystal of 11st transistor T11 The emitter of pipe T12 is all connected with the first end of the 25th resistance R25, and the second end of the 25th resistance R25 passes through the 14th Capacitance C14 ground connection, the second end of the 25th resistance R25 are also connected with the second end of the 23rd resistance R23, the 24th resistance The first end of the second end of R24 and the 13rd capacitance C13, the second end ground connection of the 13rd capacitance C13, the 9th transistor T9's Collector is separately connected the base stage of the tenth two-transistor T12 and the first end of the 23rd resistance R23, the tenth transistor T10 Collector connect the 24th resistance R24 first end;The base stage of 7th transistor T7 is separately connected the 16th resistance R16's The first end of first end and the 8th capacitance C8, the second end of the 16th resistance R16 and the second end difference of the 8th capacitance C8 Connect the base stage of the tenth transistor T10;The emitter of 7th transistor T7 is separately connected the 22nd by the 17th resistance R17 The base stage of the first end of the first end of resistance R22 and the 11st capacitance C11, the tenth two-transistor T12 connects the 11st capacitance The base stage of the second end of C11, the 7th transistor T7 is separately connected the base stage and the 13rd transistor T13 of the 14th transistor T14 Base stage, the collector of the 14th transistor T14 connects the collector of the tenth two-transistor T12, the hair of the 14th transistor T14 Emitter-base bandgap grading is separately connected the emitter of the 13rd transistor T13 and the positive input terminal of the addition and subtraction circuit, the 13rd crystal The collector of pipe T13 connects the second end of the 19th resistance R19, and the second end of the 22nd resistance R22 is separately connected the 20th The second end of the first end of the second end of resistance R20 and the 12nd capacitance C12, the 12nd capacitance C12 is separately connected the 8th crystalline substance The output end of the negative input end of the emitter and the addition and subtraction circuit of body pipe T8, the addition and subtraction circuit connects the letter Number output end;The second end of thirteenth resistor R13 is also connected with the collector of the 6th transistor T6.
Technical scheme of the present invention has the following advantages:
Graphical robot teaching's training system of the present invention can be sentenced in a manner of simple, accurate within a short period of time Belong to native instructions system problem or peripheral signal processing system problem when disconnected industrial robot failure, convenient for being Field Force It searches and solves in time failure and reliable basis is provided, can impart knowledge to students for industrial robot and abundant smell of powder is provided;It is described to put Big subelement is based on asymmetric feedback and amplification principle, can be directed to the adaptive feedback of different industrial robots progress and amplification tune It is whole, at least 45% is reduced in terms of drift compared to existing amplification subelement, is very suitable for as the ginseng during malfunction test It examines and uses enhanced processing.
Description of the drawings
Fig. 1 shows the composition frame chart of this system.
Fig. 2 shows the circuit diagrams of amplification subelement according to the present invention.
Specific implementation mode
As shown in Figure 1, graphical robot teaching's training system of the present invention, the system comprises:
Analogue unit, the sensor for generating simulated failure signal transmission to industrial robot, for example, using numerical control electricity Machine driving generates mechanical displacement or vibration;
Collecting unit, for being conveyed to the letter for obtaining sensor output after sensor to the signal generated by analogue unit It number is acquired;
Amplification and transmission unit, for the collected signal of collecting unit to be amplified and transmitted, which includes putting Big subelement uses the 4G communication technologys when transmission for being amplified to the collected signal of collecting unit;
Failure determination unit determines work for the data volume and transmission time according to the amplification and transmission unit transmission The sensor fault of industry robot;
Graphic software platform unit, the failure for being provided according to failure determination unit are searched from maintenance scheme database The solution of corresponding failure, the terminal for being transferred to training and teaching are subject to interactive animation graphical display;
Voice transmission unit, for the terminal by the voice transmission at industrial robot scene to teaching.
Preferably, described instruction transmission unit includes:
Remote industrial robot is given in first transmission sub-unit, the instruction for sending the first kind, the first kind Instruct the expected time in remote industrial robot less than at the first time;
First transmission sub-unit, after being spaced at least first time, remote industrial machine is given in the instruction for sending Second Type Device people, the expected time of the instruction of the Second Type in remote industrial robot were less than for the second time, and described second Time is less than at the first time;
Third transmission sub-unit sends the instruction of the first kind to long-range work again after being spaced at least the second time Industry robot.
Preferably, if the data volume for receiving remote industrial robot after experience first time is A bytes, then second is undergone The data volume that remote industrial robot is received after time is B byte, then the remote industrial machine received after undergoing first time The data volume of device people is C bytes;Then the safety monitoring unit includes:
Failure determination subelement, between being used for/at the first time) when being less than the first predetermined threshold value, determine remote industrial machine at this time Device people's signal processing circuit fault-free;
It is less than the second predetermined threshold value and ((A+C)/(A+2B+ when ((A+B)/(B+C)) × (time at the first time/second) C when)) × (the second time/first time) is more than the first predetermined threshold value, remote industrial robot signal processing circuit at this time is determined Possible breakdown starts third type instruction and gives remote industrial robot;
Receive third type instruction analyzed in remote industrial robot after data, with preset failure parameter reference values into Row compares, and the remote industrial robot presence signal handling failure is determined when more than preset failure parameter reference values.
Preferably, the first kind instruction is robot sensor output information acquisition instructions, and the third type refers to It enables to carry out the instruction of signal amplification by the amplification subelement, and the amplification subelement is to obtain and preset failure The amplification subelement used when parameter reference values compare.
Preferably, the Second Type instruction is inquiry operating state instruction, return current time instructs, it is current to return One of GPS position information instruction.
Preferably, as shown in Fig. 2, the amplification subelement includes:The first capacitance C1 including number consecutively --- the tenth Four capacitance C14 totally 14 capacitances, number consecutively first resistor R1 --- the 25th resistance R25 totally 25 resistance, compile successively Number the first diode D1 --- third diode D3 totally 3 diodes, number consecutively the first transistor T1 --- the 14th Transistor T14 totally 14 transistors, addition and subtraction circuit, signal input part Vin, signal output end Vout, power end Vs and Ground terminal, the 14th resistance R14 are resistance value adjustable resistance, and the resistance value of remaining 24 resistance is fixed, wherein the first capacitance C1 First end connect the first end of the 4th resistance R4, the of the second end connection power supply Vs and the 5th resistance R5 of the 4th resistance R4 One end, the second end ground connection of the first capacitance C1;The first end of 4th resistance R4 is also connected with the anode of the first diode D1, The first end of one resistance R1, the first end of second resistance R2, the first end of the second capacitance C2, the first end of 3rd resistor R3, the The cathode of one diode D1 connects the anode of the second diode D2, and the cathode connection of the second diode D2 is connect by the 6th resistance R6 Ground, the emitter of the second end connection the first transistor T1 of first resistor R1, the base stage of the first transistor T1 connect the two or two pole The cathode of pipe D2, the collector of the first transistor T1 connect the first end of the 7th resistance R7, the second end difference of the 7th resistance R7 The first end of twelfth resistor R12 and the first end of thirteenth resistor R13 are connected, the second end of second resistance R2 connects third The anode of diode D3, the cathode of third diode D3 be separately connected the first end of third capacitance C3, the 8th resistance R8 first The base stage of end and second transistor T2, the second end ground connection of the second capacitance C2;The second end connection second of 3rd resistor R3 is brilliant The emitter of body pipe T2, the collector of second transistor T2 be separately connected the first end of the 4th capacitance C4, the 5th capacitance C5 One end, the collector of the 4th transistor T4, the 9th resistance R9 first end pass through the tenth resistance R10 connection eleventh resistors R11 First end, the first end of eleventh resistor R11 is also connected with the current collection of the collector of third transistor T3, the 5th transistor T5 Pole, the first end of the 6th capacitance C6, the first end of the 7th capacitance C7, the second end connection third transistor T3's of the 5th resistance R5 The base stage of emitter, third transistor T3 is separately connected the base stage of the 4th transistor T4 and the base stage of the 8th transistor T8, Between the second end and the 14th resistance R14 of the base stage connection eleventh resistor R11 of five transistor T5, the hair of the 5th transistor T5 Emitter-base bandgap grading is separately connected the second end of the 6th capacitance C6, the collector of the second end of the 7th capacitance C7 and the 8th transistor T8, The slider of 14 resistance R14 is connected to the second end of eleventh resistor R11, and the second end connection the 4th of the 9th resistance R9 is brilliant The collector of the base stage and the 7th transistor T7 of body pipe T4, the emitter of the 4th transistor T4 are separately connected the of the 4th capacitance C4 Two ends, the second end of the 5th capacitance C5, the base stage of the 7th transistor T7 and the collector of the tenth two-transistor T12, third electricity The second end for holding C3 connects the collection of the second end of the 8th resistance R8 and the emitter and the 7th transistor T7 of the 6th transistor T6 Electrode, the anode of the second end connection third diode D3 of second resistance R2, the cathode of third diode D3 connect the 8th resistance The first end of R8;The second end of 14th resistance R14 is separately connected the first end and the 20th resistance of the 19th resistance R19 The first end of R20, the second end of twelfth resistor R12 are separately connected the emitter and the 6th transistor T6 of the 9th transistor T9 Base stage, the second end of thirteenth resistor R13 be separately connected the emitter of the tenth transistor T10, the 7th transistor T7 collector, The first end of signal input part Vin and the 15th resistance R15;The second end of 15th resistance R15 is separately connected the 9th capacitance The base stage of the first end of C9, the first end of the 21st resistance R21 and the 9th transistor T9, the second end of the 9th capacitance C9 and The second end of 21st resistance R21 is grounded;The collector of 6th transistor T6 is separately connected the second end of the tenth capacitance C10 With the collector of the 11st transistor T11;The collector of tenth two-transistor T12 is separately connected the second of the 17th resistance R17 It holds, the collector of the first end of the 22nd resistance R22 and the 14th transistor T14;The emitter of 11st transistor T11 It is all connected with the first end of the 25th resistance R25 with the emitter of the tenth two-transistor T12, the second of the 25th resistance R25 End by the 14th capacitance C14 ground connection, the second end of the 25th resistance R25 be also connected with the second end of the 23rd resistance R23, The second end of 24th resistance R24 and the first end of the 13rd capacitance C13, the second end ground connection of the 13rd capacitance C13, the The collector of nine transistor T9 is separately connected the base stage of the tenth two-transistor T12 and the first end of the 23rd resistance R23, the The collector of ten transistor T10 connects the first end of the 24th resistance R24;The base stage of 7th transistor T7 is separately connected the tenth The first end of six resistance R16 and the first end of the 8th capacitance C8, the second end of the 16th resistance R16 and the 8th capacitance C8's Second end is separately connected the base stage of the tenth transistor T10;The emitter of 7th transistor T7 is connected respectively by the 17th resistance R17 Connect the first end of the 22nd resistance R22 and the first end of the 11st capacitance C11, the base stage connection of the tenth two-transistor T12 The base stage of the second end of 11st capacitance C11, the 7th transistor T7 is separately connected the base stage and the 13rd of the 14th transistor T14 The base stage of transistor T13, the collector of the 14th transistor T14 connect the collector of the tenth two-transistor T12, the 14th crystal The emitter of pipe T14 is separately connected the emitter of the 13rd transistor T13 and the positive input terminal of the addition and subtraction circuit, The collector of 13 transistor T13 connects the second end of the 19th resistance R19, and the second end of the 22nd resistance R22 connects respectively The second end of the 20th resistance R20 and the first end of the 12nd capacitance C12 are connect, the second end of the 12nd capacitance C12 connects respectively The negative input end of the emitter and the addition and subtraction circuit of the 8th transistor T8 is connect, the output end of the addition and subtraction circuit connects Connect the signal output end;The second end of thirteenth resistor R13 is also connected with the collector of the 6th transistor T6.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims (6)

1. a kind of graphical robot teaching's training system, the system comprises:
Analogue unit, the sensor for generating simulated failure signal transmission to industrial robot;
Collecting unit, for the signal generated by analogue unit is conveyed to obtained after sensor sensor output signal into Row acquisition;
Amplification and transmission unit, for the collected signal of collecting unit to be amplified and transmitted, which includes amplification Unit, for being amplified to the collected signal of collecting unit;
Failure determination unit determines industrial machine for the data volume and transmission time according to the amplification and transmission unit transmission The sensor fault of device people;
Graphic software platform unit, the failure for being provided according to failure determination unit are searched corresponding from maintenance scheme database The solution of failure, the terminal for being transferred to training and teaching are subject to interactive animation graphical display;
Voice transmission unit, for the terminal by the voice transmission at industrial robot scene to teaching.
2. graphical robot teaching's training system as claimed in claim 1, which is characterized in that
Described instruction transmission unit includes:
Remote industrial robot, the instruction of the first kind are given in first transmission sub-unit, the instruction for sending the first kind Expected time in remote industrial robot is less than at the first time;
First transmission sub-unit, after being spaced at least first time, remote industrial robot is given in the instruction for sending Second Type, Expected time of the instruction of the Second Type in remote industrial robot was less than for the second time, and second time is few In at the first time;
Third transmission sub-unit, after being spaced at least the second time, remote industrial machine is given in the instruction for sending the first kind again Device people.
3. graphical robot teaching's training system as claimed in claim 2, which is characterized in that received after setting experience first time The data volume of remote industrial robot is A bytes, then it is B that the data volume of remote industrial robot is received after undergoing for the second time Byte, then the data volume of remote industrial robot received after undergoing first time is C bytes;The then safety monitoring unit Including:
Failure determination subelement, between being used for/at the first time) when being less than the first predetermined threshold value, determine remote industrial robot at this time Signal processing circuit fault-free;
When ((A+B)/(B+C)) × (at the first time/second time) be less than the second predetermined threshold value and ((A+C)/(A+2B+C)) × When (the second time/first time) is more than the first predetermined threshold value, determine that remote industrial robot signal processing circuit may at this time Failure starts third type instruction and gives remote industrial robot;
The data after third type instruction is analyzed in remote industrial robot are received, are compared with preset failure parameter reference values Compared with determining the remote industrial robot presence signal handling failure when more than preset failure parameter reference values.
4. graphical robot teaching's training system as claimed in claim 3, which is characterized in that the first kind instruction is machine People's sensor output information acquisition instructions, the third type instruction are that the finger of signal amplification is carried out by the amplification subelement It enables, and the amplification subelement is the amplification subelement in order to be used when obtaining compared with preset failure parameter reference values.
5. graphical robot teaching's training system as claimed in claim 3, which is characterized in that the Second Type instruction is inquiry Operating state instruction returns to one of current time instruction, return current GPS location information command.
6. robot teaching's training system as claimed in claim 3 graphical, which is characterized in that the amplification subelement includes:Packet Include the first capacitance C1 of number consecutively --- the 14th capacitance C14 totally 14 capacitances, number consecutively first resistor R1 --- 25 resistance R25 totally 25 resistance, number consecutively the first diode D1 --- third diode D3 totally 3 diodes, according to The first transistor T1 of secondary number --- the 14th transistor T14 totally 14 transistors, addition and subtraction circuits, signal input parts Vin, signal output end Vout, power end Vs and ground terminal, the 14th resistance R14 are resistance value adjustable resistance, remaining 24 The resistance value of a resistance is fixed, wherein the first end of the first capacitance C1 connects the first end of the 4th resistance R4, the of the 4th resistance R4 Two ends connect the first end of power supply Vs and the 5th resistance R5, the second end ground connection of the first capacitance C1;4th resistance R4's is described First end is also connected with the anode of the first diode D1, the first end of first resistor R1, the first end of second resistance R2, the second capacitance The first end of C2, the first end of 3rd resistor R3, the anode of the second diode D2 of cathode connection of the first diode D1, the two or two The cathode connection of pole pipe D2 passes through the 6th resistance R6 ground connection, the transmitting of the second end connection the first transistor T1 of first resistor R1 Pole, the base stage of the first transistor T1 connect the cathode of the second diode D2, and the collector of the first transistor T1 connects the 7th resistance The first end of R7, the second end of the 7th resistance R7 are separately connected the first end and thirteenth resistor R13 of twelfth resistor R12 First end, the anode of the second end connection third diode D3 of second resistance R2, the cathode of third diode D3 are separately connected the First end, the first end of the 8th resistance R8 and the base stage of second transistor T2 of three capacitance C3, the second end of the second capacitance C2 Ground connection;The emitter of the second end connection second transistor T2 of 3rd resistor R3, the collector of second transistor T2 are separately connected The first end of 4th capacitance C4, the first end of the first end of the 5th capacitance C5, the collector of the 4th transistor T4, the 9th resistance R9 By the first end of the tenth resistance R10 connection eleventh resistors R11, the first end of eleventh resistor R11 is also connected with third crystal The collector of pipe T3, the collector of the 5th transistor T5, the first end of the 6th capacitance C6, the first end of the 7th capacitance C7, the 5th The emitter of the second end connection third transistor T3 of resistance R5, the base stage of third transistor T3 are separately connected the 4th transistor T4 Base stage and the base stage of the 8th transistor T8, the second end of the base stage of the 5th transistor T5 connection eleventh resistor R11 and the Between 14 resistance R14, the emitter of the 5th transistor T5 be separately connected the second end of the 6th capacitance C6, the 7th capacitance C7 The collector of two ends and the 8th transistor T8, the 14th resistance R14 slider be connected to the second of eleventh resistor R11 End, the second end of the 9th resistance R9 connect the collector of the base stage and the 7th transistor T7 of the 4th transistor T4, the 4th transistor The emitter of T4 be separately connected the second end of the 4th capacitance C4, the second end of the 5th capacitance C5, the base stage of the 7th transistor T7 with And the tenth two-transistor T12 collector, the second end of third capacitance C3 connects the second end of the 8th resistance R8 and the 6th brilliant The collector of the emitter and the 7th transistor T7 of body pipe T6, the second end connection third diode D3 of second resistance R2 is just Pole, the cathode of third diode D3 connect the first end of the 8th resistance R8;The second end of 14th resistance R14 is separately connected the tenth The first end of nine resistance R19 and the first end of the 20th resistance R20, the second end of twelfth resistor R12 are separately connected the 9th The second end of the base stage of the emitter of transistor T9 and the 6th transistor T6, thirteenth resistor R13 is separately connected the tenth transistor The first end of the emitter of T10, the collector of the 7th transistor T7, signal input part Vin and the 15th resistance R15;Tenth It is brilliant that the second end of five resistance R15 is separately connected the first end of the 9th capacitance C9, the first end of the 21st resistance R21 and the 9th The base stage of body pipe T9, the second end of the 9th capacitance C9 and the second end of the 21st resistance R21 are grounded;6th transistor T6's Collector is separately connected the collector of the second end and the 11st transistor T11 of the tenth capacitance C10;Tenth two-transistor T12's Collector is separately connected the second end of the 17th resistance R17, the first end and the 14th transistor of the 22nd resistance R22 The collector of T14;The emitter of 11st transistor T11 and the emitter of the tenth two-transistor T12 are all connected with the 25th electricity The first end of R25 is hindered, the second end of the 25th resistance R25 is grounded by the 14th capacitance C14, the 25th resistance R25's Second end is also connected with the second end of the 23rd resistance R23, the second end and the 13rd capacitance C13 of the 24th resistance R24 First end, the second end ground connection of the 13rd capacitance C13, the collector of the 9th transistor T9 is separately connected the tenth two-transistor The collector of the first end of the base stage of T12 and the 23rd resistance R23, the tenth transistor T10 connects the 24th resistance R24 First end;The base stage of 7th transistor T7 be separately connected the 16th resistance R16 first end and the 8th capacitance C8 first End, the second end of the 16th resistance R16 and the second end of the 8th capacitance C8 are separately connected the base stage of the tenth transistor T10;The The emitter of seven transistor T7 is separately connected the first end and the 11st of the 22nd resistance R22 by the 17th resistance R17 The first end of capacitance C11, the base stage of the tenth two-transistor T12 connect the second end of the 11st capacitance C11, the 7th transistor T7's Base stage is separately connected the base stage of the base stage and the 13rd transistor T13 of the 14th transistor T14, the collection of the 14th transistor T14 Electrode connects the collector of the tenth two-transistor T12, and the emitter of the 14th transistor T14 is separately connected the 13rd transistor The 19th electricity of collector connection of the positive input terminal of the emitter of T13 and the addition and subtraction circuit, the 13rd transistor T13 The second end of R19 is hindered, the second end of the 22nd resistance R22 is separately connected the second end and the 12nd of the 20th resistance R20 The second end of the first end of capacitance C12, the 12nd capacitance C12 is separately connected the emitter and plus-minus fortune of the 8th transistor T8 The negative input end of circuit is calculated, the output end of the addition and subtraction circuit connects the signal output end;The of thirteenth resistor R13 Two ends are also connected with the collector of the 6th transistor T6.
CN201810235535.5A 2018-03-21 2018-03-21 A kind of graphical robot teaching's training system Pending CN108389497A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101344460A (en) * 2007-08-10 2009-01-14 上海海事大学 Underwater robot sensor fault diagnosis method and system
CN103576567A (en) * 2012-07-26 2014-02-12 苏州宝时得电动工具有限公司 Robot, control method thereof and robot system
CN105446821A (en) * 2015-11-11 2016-03-30 哈尔滨工程大学 Improved neural network based fault diagnosis method for intelligent underwater robot propeller
JP2017021282A (en) * 2015-07-14 2017-01-26 中国電力株式会社 Fault symptom simulation apparatus, fault symptom simulation method, and fault symptom simulation system
US20170031329A1 (en) * 2015-07-31 2017-02-02 Fanuc Corporation Machine learning method and machine learning device for learning fault conditions, and fault prediction device and fault prediction system including the machine learning device
CN107175691A (en) * 2017-05-09 2017-09-19 温州市图盛科技有限公司 A kind of online fault detect of robot and maintaining method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101344460A (en) * 2007-08-10 2009-01-14 上海海事大学 Underwater robot sensor fault diagnosis method and system
CN103576567A (en) * 2012-07-26 2014-02-12 苏州宝时得电动工具有限公司 Robot, control method thereof and robot system
JP2017021282A (en) * 2015-07-14 2017-01-26 中国電力株式会社 Fault symptom simulation apparatus, fault symptom simulation method, and fault symptom simulation system
US20170031329A1 (en) * 2015-07-31 2017-02-02 Fanuc Corporation Machine learning method and machine learning device for learning fault conditions, and fault prediction device and fault prediction system including the machine learning device
CN105446821A (en) * 2015-11-11 2016-03-30 哈尔滨工程大学 Improved neural network based fault diagnosis method for intelligent underwater robot propeller
CN107175691A (en) * 2017-05-09 2017-09-19 温州市图盛科技有限公司 A kind of online fault detect of robot and maintaining method

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