SU1257665A2 - Device for monitoring operation of industrial robots - Google Patents

Abstract

The invention relates to the field of automation and can be used to control the operation and account for technological cycles of industrial robots. The invention is additional to. No. 1198554. The aim of the invention is to improve the control accuracy by more accurately determining the setpoint of the threshold element and more accurately determining the reference value of the autocorrelation function during the transition to a new cycle of the production cycle. The goal is achieved by introducing into the device a second key, a correction unit: a setpoint and a driver for controlling impulses. 1 hp f-ly, 3 ill. (And with O1 ate m

Description

The invention relates to automatics. It can be used for monitoring the operation and accounting of the technological cycles of industrial robots.

The purpose of the invention is to improve the accuracy of the control.

FIG. 1 is a block diagram of the device; in fig. 2 is a diagram of the first computing unit; in fig. 3 diagram of the second computing unit.

The device (Fig. 1) contains a sensor 1, an amplifier 2, a first computing unit 3, a 1 reader 4, a control pulse driver 5, a second key ft, a first memory element 1t 7, a first key 8, a second computing unit 9, a second element 10 memory, threshold element VI, the first counter of 12 cycles, the second counter of 13 cycles, the setpoint correction unit 14, pos. 15 is a construction element of a robot on which a sensor is mounted.

The first computational unit 3 (Fig. 2) contains the third key 16, the overhead element 17, the first multiplier 18, the current limiting element 19, the first integrating element 20. The second computational unit 9 (Fig. 3 contains the BTOpoJi amplifier 21, resistor 22, the second multiplier 23, the second integrating element 24.

A capacitor can be used as integrating elements 20 and 24, a potentiometer as a current-limiting 5) element 19, a decoder as a control impulse generator 5, and a crucial amplifier as a set-up correction unit.

In recognizing the correctness of cycles in a known device, the evaluation of the autocorrelation function is taken into account and takes into account the tendency of its change over time, which allows for increased reliability and accuracy of control and accounting of duty cycles compared to devices that react to the maximum signal amplitude, however in this case, the Accuracy of the control is not high enough, since the setpoint value of the threshold element, which should reflect both the magnitude of random vibrations and the accuracy of vibration measurement by the sensor, and accurately be etalonno- calculating values of the autocorrelation function, operation remains unchanged all the time, whereas the accuracy vychisle5

0

0

five

five

Nor does the reference value of the autocorrelation function increase with each correctly executed cycle. In addition, when changing the type of technological cycle of work, the known device must be specially configured for a new cycle, therefore it cannot be used in flexible automated production.

The essence of this improvement makes it possible to reduce the setpoint value with an increase in the accuracy of determining the reference value of the arthorrelation function, which increases the accuracy of control over the correctness of cycles. The introduction of the control unit of the counter data and the key allows the robot to switch to a new type of cycle. The device automatically adjusts the device, which increases the accuracy of the control and allows it to be used in flexible automated productions.

The device works as follows.

The oscillations or deformations in time are MeFiK i (i of the element 15 of the robot structure are sensed by the sensor 1 and converted into the electric form i (tl- (t).

This signal is then amplified by amplifier 2 (Aq (i)) and is fed to the first input of the first computing unit 3, the second input of which from the robot control unit receives a signal whose duration is equal to the duration of the robot's cycle of operation.

The key 16 (Fig. 2) is opened and the signal Ad (-b) is fed to the input of the delay element 17 and to the second input of the multiplier 18. From the output of the delay element 17, the signal is proportional to the AO (t - 2). where t

q

The delay time arrives at the first input of the multiplier 18. From the output of the multiplier 18, a signal proportional to qa (q- (t-t)) goes to the integrating circuit containing the current-limiting element 19 and the integrating element 20. A signal appears at the output of the integrating chain.

proportional

BUT

g (i) g (i-o) Ji,

which at a constant delay time of element 17 (C const) coincides with the estimate of the autocorrelation function

 J Ifl (t) 9U-t)

where T is the cycle time.

This estimate is stored in the memory element 7 and is fed to the input of the key 8. At the same time, the electric

the signal representing the autocorrelation estimate of the autocorrelation function R, the relativity function, is fed to a subtractor 4, where it is compared with the reference value R of the autocorrelation function, the difference RR, in the form of an electrical signal, is fed to a threshold element 11. If a

 The first cycle of the new type sends not only the first input of the calculator 4 and the first element 7 of the memory, but also the second second element 10 of the memory 10 and the second input of the subtractor 4 through the public second key 6. Since the first and the second inputs of the subtractor receive the same signals, - then fjj and counter 12 fix a correctly executed cycle (n The corresponding signal enters the input of generator 5, from which the signal goes to close the second key 6. During all subsequent cycles of the robot's operation, the second to 6 remains closed.

by

R

then the signal goes to

E

the second counter 13, which records an incorrectly executed cycle, and if the J signal then goes to counter 12 (cycle counter), which records a correctly executed cycle and the key 8. The latter is turned off and the signal R from memory element 7 is fed to the input of the second calculator- unit 9. At the same time, from the output of counter 12, the second input of computing unit 9 receives a signal proportional to the number of correctly executed cycles n and is listed with the current average value of R over the ensemble

R -U R. pGtt

Further, the average value of R from the output is stored as a reference until the beginning of the next cycle of operation of the robot, and on subsequent cycles of operation, when comparing the signals from the subtractor 4, the calculated value of the current average is used. A signal proportional to the number of correctly executed cycles n, from the output of the counter 12 cycles

Formula inventions

1. Device for monitoring the operation of industrial robots auth. St. No. 1198554, characterized in that, in order to improve the accuracy of the control, a second key, a set correction unit and a driver are introduced

is also fed to the input of the control box 14, connected

the setpoint response, where a new (more accurate) setpoint value of the threshold element is calculated, which is fed to the second input of the threshold element 11.

When switching to a new technological cycle or at the beginning of the robot's operation, the second output of the robot's control system receives a signal to reset the readings (zeroing) of the counters 12 and 13. The signal from the counter 12 is fed to the input of the imaging unit 5, which, if the indication is

576654

the counter p 0 produces sig 1al, which arrives at the second computational unit and discards the previous reference value of the autocorrelation function stored there. The signal from the output of the imaging unit 5 is also fed to the first input of the second key 6, with the key 6 being opened. Thus, the signal that represents the autocorrelation function estimate R, 5

M 25 0

five

 The first cycle of the new type enters not only the first input of the subtractor 4 and the first memory element 7, but also through the public second key 6 to the second memory element 10 and further to the second input of the subtractor 4. Since the first and second inputs of the subtractor 5 receive the same signals, something. f jj and the counter 12 captures correctly executed cycle (n 1). The corresponding signal arrives at the input of the imaging unit 5, from the output of which a signal is sent to close the second key 6. During all subsequent cycles of operation of the robot, the second cry 6 remains closed.

The proposed device in comparison with the known one provides a higher accuracy and reliability of control due to more accurate determination of the threshold element setting and more accurate determination of the reference value of the autocorrelation function when the robot transitions to a new type of technological cycle.

Formula inventions

Claims (2)

1. Device for monitoring the operation of industrial robots auth. St. No. 1198554, characterized in that, in order to improve the control accuracy, a second key, a setpoint correction unit and a driver are introduced input, to the input of the setpoint correction unit and to the output of the first cycle counter, and output to the first input of the second computational unit and to the first input of the second key, the output of which is associated with the output of the second computational unit, and the second input - with the output of the first computational unit, moreover, the output of the setpoint correction unit is connected to the second input of the threshold element and the fault inputs of the cycle counters to the second output of the robot control system. $ 12,576,656 2. The device according to claim 1, wherein the first and the second subtractor and the relay are connected so that the threshold and inputs of the subtractor are an element that contains in series the inputs of the threshold element. 7 / U Editor M. Petrov fie.Z Compiled by A. Lishansky Tehred M. Khodanich Proofreader M. Maksimishinets Order 4959/49 Circulation 671 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, ft fpue.Z one 73