WO2018100218A1 - A device for programming robots - Google Patents

A device for programming robots Download PDF

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Publication number
WO2018100218A1
WO2018100218A1 PCT/ES2017/070774 ES2017070774W WO2018100218A1 WO 2018100218 A1 WO2018100218 A1 WO 2018100218A1 ES 2017070774 W ES2017070774 W ES 2017070774W WO 2018100218 A1 WO2018100218 A1 WO 2018100218A1
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WO
WIPO (PCT)
Prior art keywords
motor
programmable
programmable controller
programming device
power driver
Prior art date
Application number
PCT/ES2017/070774
Other languages
Spanish (es)
French (fr)
Inventor
Alfonso Valentín PONCELA MÉNDEZ
Jesús AGUADO LAGUNA
Original Assignee
Universidad De Valladolid
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad De Valladolid filed Critical Universidad De Valladolid
Publication of WO2018100218A1 publication Critical patent/WO2018100218A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery

Definitions

  • the present invention relates to a programmable automaton programming device, portable type, usable as desktop equipment in laboratories.
  • the automaton programming device object of the present invention has application in the field of industry and teaching, being especially suitable for learning the management of programmable automatons and their application to the control of industrial facilities.
  • the automaton programming device comprises a base which in turn includes: - a programmable automaton; a potentiometer configured to supply an analog input setpoint signal to the programmable controller; - a motor; a flywheel of inertia; a gearbox for coupling the flywheel to the engine; a position and speed sensor, coupled to the motor; a power driver configured to power and control the motor; - a power supply of the sensor and the power driver; a keypad connected to the programmable controller, configured to supply all-or-nothing input signals to the programmable controller, and; a terminal block connected to the programmable controller, configured to provide output signals (preferably all-or-nothing) from the programmable automaton.
  • the device is configured to, by means of the power driver and through the processing (or treatment by program) of an analog signal coming from the potentiometer, and of the digital signals coming from the sensor coupled to the motor, to turn the motor both clockwise and counterclockwise, at constant or variable speed and position the flywheel in any desired position, in a way that allows you to learn in a practical way that is not simulated, the usefulness of programmable controllers in position and speed control of systems.
  • the PLC programming device is preferably configured to control, by means of the power driver, an electric current consumed by the motor.
  • the programmable controller comprises an integrated data connection port, configured for the connection of a data cable to an external data network or external programming console.
  • the programmable controller also preferably includes an integrated web server.
  • the PLC programming device is preferably configured to allow remote monitoring and control of the programmable controller via the integrated data port.
  • the web server and a user program are preferably used, or specific tools provided by the device provider are used.
  • the described device is designed and developed preferably using a programmable automaton of the latest industrial compact type, with access to integrated data network.
  • the device has a portable feature, suitable for application in didactic and / or industrial activities, and is preferably materialized on a basis of minimum dimensions (equivalent to a laptop of approximately 15 inches), ready to be used as a desktop computer in teaching laboratories equipped with personal computers (used as a programming console) or in private study tables.
  • the present device is specially oriented to the acquisition of skills, abilities and skills related to the management and programming of industrial programmable automatons, working on real physical equipment, not virtual or simulated.
  • the device object of the present invention includes in a single set (portable and desktop), all the necessary components to meet the objective of acquiring skills, capabilities and abilities related to the management and programming of industrial and commercial programmable automatons for use industrial.
  • the existence of both analog signals (potentiometer, driver) and digital signals (keypad, terminal block, driver) directly wired to the programmable automaton, as well as the presence of the dynamic set formed by the flywheel, gearbox, motor and sensor Speed / position, together with the power supply of the driver, allows to show in a more effective and realistic way the programmed operation of the programmable automaton, and also train the user in the programming of this type of devices widely used in the vast majority of automatisms Industrial
  • the presence of the integrated data port allows communications programming with both the user and other programmable controllers or computer management equipment.
  • Figure 1 Shows a schematic representation of the different elements comprised in a preferred embodiment of the automaton programming device.
  • the device comprises a base (2) or mounting plate, with enclosing structure, which in turn comprises the following elements: a compact industrial programmable automaton (1), preferably mounted on a standard DIN rail; a potentiometer (8), preferably mounted with square; a dynamic assembly comprising flywheel (7), gearbox (4), motor (3) and position and / or speed sensor (5), where the assembly is in turn preferably equipped with a square for mounting; - a power supply (11), provided with fixing means (for example screws) to the base (2); a power driver (6), a keypad (9) and a terminal block (10), preferably mounted by screws and preferably incorporating spacers between said elements and the base (2);
  • a compact industrial programmable automaton (1) preferably mounted on a standard DIN rail
  • a potentiometer (8) preferably mounted with square
  • a dynamic assembly comprising flywheel (7), gearbox (4), motor (3) and position and / or speed sensor (5), where the assembly is in turn preferably equipped with a square for mounting
  • the PLC programming device has an electrical connection between the dynamic assembly position and speed sensor (5) and the programmable controller (1). Also, the programmable automaton (1) is also electrically connected with the power driver (6) of the motor (3), which obviously are also electrically connected to each other. The buttons / selectors of the keypad (9) are also electrically connected with the programmable automaton (1) in its input zone, while the programmable automaton output zone (1) is electrically connected to the terminal block (10).
  • Both the programmable automaton (1) and the power supply (11) incorporate electrical connectors, preferably grouped in a single cable, for connection to the electrical network (not shown) available in the area of use of the device.
  • the programmable automaton (1) comprises a data port (12) through which the Programmable controller (1) is configured to connect, via a standard data cable, to a data network or to a programming console (not shown).
  • the power driver (6) is configured to supply current to the motor (3) according to the required direction of rotation set by the automaton (1).
  • the potentiometer (8) is configured to generate a first analog voltage signal that is an external setpoint to the motor (3).
  • Said first analog signal is indicative of a certain desired speed of rotation for the motor (3) (variable speed, in one direction or another of rotation, indicated externally by a user) or of a certain angle of rotation (specified by the user) with which you want to position the flywheel (7).
  • a second analog voltage signal transmitted from the power driver (6) to the programmable controller (1) allows the current consumption of the motor (3) to be read and processed at every moment.
  • the mentioned terminal block (10) it is allowed to connect to the programmable automaton (1) external actuators all-or-nothing, if they are required or additionally desired by the user.
  • the power supply (1 1) supplies the motor (3) and the position and speed sensor (5) with electrical power.
  • the programmable controller (1) does not require an external power supply, connecting directly to the power supply network on the one hand and to the programming console or data network on the other hand, via the integrated data port (12), and by means of a standard data cable
  • the use of the PLC programming device typically involves Performing a signal verification test, followed by the loading of a test program in the programmable automaton (1) which allows at least to verify if the programmable automaton (1) is operational and if the motor (3) turns on both directions of rotation with the help of the power driver (6) and its power source (11).
  • the user is able to control the operation of the motor (3) as well as any other additional device that is to be connected to the terminal block (10).
  • Proper programming allows to show how an industrial programmable automaton must be programmed to control the movement of motors using a speed sensor in one case (speed control), and / or the position sensor in another case (position control).
  • the pulse width modulation technique (PWM) compatible with the programmable automaton (1) and with the power driver (6), is typically used to control the speed of rotation of the motor.
  • the power consumption by the motor (3) can be monitored and included in a control loop to be taken into account as a safety variable, or for other additional uses.
  • the speed control and consideration of analog signals from the potentiometer (8) and the power driver (6) allow a user / student to acquire skills for handling analog signals with industrial programmable controllers.
  • the user is also allowed to program other actions on the appropriate, all-or-nothing or analog actuators, which can be coupled to the device through the terminal block (10), locally or remotely through the port ( 12) integrated data.
  • connection of the programmable automaton (1) to the data network via the integrated port (12) also allows the realization of man-machine interfaces, as well as the exchange of data between different programmable automatons or computer systems, without the need to resort to additional equipment.
  • the automaton for the motor drive as an all-or-nothing action, at maximum speed, variable speed, hourly or counterclockwise rotation, or by closed loop with proportional-integral control (Pl) for the speed control loop, or with proportional-integral-derivative control (PID) for the position control loop.
  • Pl proportional-integral control
  • PID proportional-integral-derivative control
  • the described device allows the programming of the programmable automaton (1) using languages, both high level (including the use of structured text) and low level, or according to any of the other three remaining forms that the standard of PLC programming IEC 61131 contemplates.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Programmable Controllers (AREA)

Abstract

A device for programming robots comprising a base (2), which in turn comprises: a programmable robot (1); a potentiometer (8) configured to supply an analogue reference input signal to the programmable robot (1); a motor (3); a flywheel (7) coupled to the motor (3) by means of a gearbox (4); a position and speed sensor (5); a power driver (6) connected to the programmable robot (1) and configured to supply and control the motor (3); a source (11) to supply the sensor (5) and the power driver (6); a button pad (9) connected to the programmable robot (1) configured to supply all-or-nothing input signals to the programmable robot (1); and a connection plug (10) connected to the programmable robot (1) configured to provide output signals from the programmable robot (1).

Description

DISPOSITIVO DE PROGRAMACIÓN DE AUTÓMATAS DESCRIPCIÓN Objeto de la invención  AUTOMATIC PROGRAMMING DEVICE DESCRIPTION Object of the invention
La presente invención se refiere a un dispositivo de programación de autómatas programables, de tipo portátil, utilizable como equipo de sobremesa en laboratorios. El dispositivo de programación de autómatas objeto de la presente invención tiene aplicación en el ámbito de la industria y la docencia, estando especialmente indicado para el aprendizaje del manejo de autómatas programables y su aplicación al control de instalaciones industriales. Problema técnico a resolver y Antecedentes de la invención The present invention relates to a programmable automaton programming device, portable type, usable as desktop equipment in laboratories. The automaton programming device object of the present invention has application in the field of industry and teaching, being especially suitable for learning the management of programmable automatons and their application to the control of industrial facilities. Technical problem to be solved and Background of the invention
La no existencia en el mercado de equipamiento docente de equipos físicos sobre los cuales trabajar de forma práctica real la programación de autómatas programables industriales sin necesidad de requerir nada más que una toma de corriente y un ordenador personal (o red de datos) al cual conectar el equipo, junto con la necesidad de disponer del citado equipo para tareas formativas en aulas informáticas convencionales (o el propio hogar del estudiante en su mesa de trabajo), ha dado como resultado el dispositivo objeto de la presente patente. Los autómatas programables son elemento fundamental de toda automatización industrial y el conocimiento de su programación y manejo son una parte necesaria de la formación de cualquier técnico relacionado con ese entorno. The non-existence in the market of teaching equipment of physical equipment on which to work in a practical way the programming of industrial programmable automatons without requiring anything more than an outlet and a personal computer (or data network) to connect to The equipment, together with the need to have the aforementioned equipment for training tasks in conventional computer classrooms (or the student's own home at his desk), has resulted in the device object of this patent. Programmable automatons are a fundamental element of all industrial automation and knowledge of their programming and management are a necessary part of the training of any technician related to that environment.
En la actualidad es conocido que el trabajo con autómatas programables reales (no virtuales ni simulados) precisa conectar diversos dispositivos tales como fuentes de alimentación, una CPU, módulos de entradas y salidas digitales y analógicas, procesador de comunicaciones, botoneras, borneros, sensores, actuadores, etc. At present it is known that working with real programmable automatons (not virtual or simulated) requires connecting various devices such as power supplies, a CPU, digital and analog input and output modules, communications processor, keypads, terminals, sensors, actuators, etc.
En las instalaciones industriales que emplean autómatas programables para el control de motores y otros sistemas, el espacio no suele ser un problema a tener en cuenta para la implantación de los equipos de control. No obstante, en centros de carácter educativo en donde los laboratorios/aulas docentes suelen presentar ciertas restricciones de espacio, no se dan habitualmente las condiciones necesarias para la instalación de sistemas de control de equipamiento industrial y de programación de autómatas programables. In industrial facilities that use programmable controllers for motor control and other systems, space is usually not a problem to consider for the implementation of control equipment. However, in educational centers where teaching laboratories / classrooms usually have certain space restrictions, the necessary conditions for the installation of control systems for industrial equipment and programming of programmable automatons are not usually given.
Descripción de la invención Description of the invention
Con objeto de aportar una solución a la problemática citada anteriormente, se presenta el siguiente dispositivo de programación de autómatas. In order to provide a solution to the problem mentioned above, the following automaton programming device is presented.
El dispositivo de programación de autómatas comprende una base que a su vez incluye: - un autómata programable; un potenciómetro configurado para suministrar una señal de consigna analógica de entrada al autómata programable; - un motor; un volante de inercia; una caja reductora de acoplamiento del volante de inercia al motor; un sensor de posición y velocidad, acoplado al motor; un driver de potencia configurado para alimentar y controlar el motor; - una fuente de alimentación del sensor y del driver de potencia; una botonera conectada al autómata programable, configurada para suministrar señales de entrada todo-o-nada al autómata programable, y; un bornero conectado al autómata programable, configurado para aportar señales de salida (preferentemente de tipo todo-o-nada) provenientes del autómata programable. The automaton programming device comprises a base which in turn includes: - a programmable automaton; a potentiometer configured to supply an analog input setpoint signal to the programmable controller; - a motor; a flywheel of inertia; a gearbox for coupling the flywheel to the engine; a position and speed sensor, coupled to the motor; a power driver configured to power and control the motor; - a power supply of the sensor and the power driver; a keypad connected to the programmable controller, configured to supply all-or-nothing input signals to the programmable controller, and; a terminal block connected to the programmable controller, configured to provide output signals (preferably all-or-nothing) from the programmable automaton.
Según una realización preferente, el dispositivo está configurado para, mediante el driver de potencia y mediante el procesamiento (o tratamiento por programa) de una señal analógica proveniente del potenciómetro, y de las señales digitales provenientes del sensor acoplado al motor, hacer girar al motor tanto en sentido horario como en sentido antihorario, a velocidad constante o variable y posicionar el volante de inercia en cualquier posición deseada, de forma que permite aprender de forma práctica real no simulada, la utilidad de los autómatas programables en el control de posición y velocidad de sistemas. According to a preferred embodiment, the device is configured to, by means of the power driver and through the processing (or treatment by program) of an analog signal coming from the potentiometer, and of the digital signals coming from the sensor coupled to the motor, to turn the motor both clockwise and counterclockwise, at constant or variable speed and position the flywheel in any desired position, in a way that allows you to learn in a practical way that is not simulated, the usefulness of programmable controllers in position and speed control of systems.
El dispositivo de programación de autómatas está preferentemente configurado para controlar, mediante el driver de potencia, una corriente eléctrica consumida por el motor. The PLC programming device is preferably configured to control, by means of the power driver, an electric current consumed by the motor.
Preferentemente, el autómata programable comprende un puerto integrado de conexión de datos, configurado para la conexión de un cable de datos a una red externa de datos o consola externa de programación. Para ello, el autómata programable incluye también preferentemente un servidor web integrado. Preferably, the programmable controller comprises an integrated data connection port, configured for the connection of a data cable to an external data network or external programming console. For this, the programmable controller also preferably includes an integrated web server.
El dispositivo de programación de autómatas está preferentemente configurado para permitir, mediante el puerto de datos integrado, una monitorización y un gobierno remotos del autómata programable. Para ello, se hace uso preferentemente del servidor web y de un programa de usuario, o bien se hace uso de herramientas específicas suministradas por el proveedor del dispositivo. The PLC programming device is preferably configured to allow remote monitoring and control of the programmable controller via the integrated data port. For this purpose, the web server and a user program are preferably used, or specific tools provided by the device provider are used.
El dispositivo descrito está diseñado y desarrollado utilizando preferentemente un autómata programable de tipo industrial compacto, de última generación, con acceso a red de datos integrada. The described device is designed and developed preferably using a programmable automaton of the latest industrial compact type, with access to integrated data network.
El dispositivo presenta una característica portátil, adecuada para su aplicación en actividades didácticas y/o industriales, y está materializado preferentemente sobre una base de dimensiones mínimas (equivalentes a un ordenador portátil de 15 pulgadas aproximadamente), listo para ser empleado como equipo de sobremesa en laboratorios docentes equipados con ordenadores personales (usados a modo de consola de programación) o en mesas de estudio particulares. The device has a portable feature, suitable for application in didactic and / or industrial activities, and is preferably materialized on a basis of minimum dimensions (equivalent to a laptop of approximately 15 inches), ready to be used as a desktop computer in teaching laboratories equipped with personal computers (used as a programming console) or in private study tables.
El presente dispositivo está especialmente orientado a la adquisición de habilidades, capacidades y destrezas relacionadas con el manejo y programación de autómatas programables industriales, trabajando sobre equipo físico real, no virtual ni simulado. The present device is specially oriented to the acquisition of skills, abilities and skills related to the management and programming of industrial programmable automatons, working on real physical equipment, not virtual or simulated.
El dispositivo objeto de la presente invención incluye en un solo conjunto (portátil y de sobremesa), todos los componentes necesarios para cumplir con el objetivo fijado de adquirir destrezas, capacidades y habilidades relacionadas con el manejo y programación de autómatas programables industriales y comerciales de uso industrial. La existencia de señales tanto analógicas (potenciómetro, driver) como digitales (botonera, bornero, driver) directamente cableadas al autómata programable, así como la presencia del conjunto dinámico formado por el volante de inercia, la caja reductora, el motor y el sensor de velocidad/posición, junto con la fuente de alimentación del driver, permite mostrar de una forma más efectiva y realista el funcionamiento programado del autómata programable, y asimismo adiestrar al usuario en la programación de este tipo de dispositivos ampliamente usados en la gran mayoría de automatismos industriales. La presencia del puerto de datos integrado permite la programación de comunicaciones tanto con el usuario como con otros autómatas programables o equipos informáticos de gestión. The device object of the present invention includes in a single set (portable and desktop), all the necessary components to meet the objective of acquiring skills, capabilities and abilities related to the management and programming of industrial and commercial programmable automatons for use industrial. The existence of both analog signals (potentiometer, driver) and digital signals (keypad, terminal block, driver) directly wired to the programmable automaton, as well as the presence of the dynamic set formed by the flywheel, gearbox, motor and sensor Speed / position, together with the power supply of the driver, allows to show in a more effective and realistic way the programmed operation of the programmable automaton, and also train the user in the programming of this type of devices widely used in the vast majority of automatisms Industrial The presence of the integrated data port allows communications programming with both the user and other programmable controllers or computer management equipment.
Breve descripción de las figuras Como parte de la explicación de al menos una forma de realización preferente del dispositivo de programación de autómatas, se ha incluido la siguiente figura. Brief description of the figures As part of the explanation of at least one preferred embodiment of the automaton programming device, the following figure has been included.
Figura 1 : Muestra una representación esquemática de los diferentes elementos comprendidos en una forma de realización preferente del dispositivo de programación de autómatas. Figure 1: Shows a schematic representation of the different elements comprised in a preferred embodiment of the automaton programming device.
Descripción detallada Detailed description
La presente invención se refiere, como ya se ha mencionado anteriormente, a un dispositivo de programación de autómatas. Según una forma de realización preferente del dispositivo de programación de autómatas, el dispositivo comprende una base (2) o placa de montaje, con estructura envolvente, que a su vez comprende los siguientes elementos: un autómata programable (1) industrial compacto, montado preferentemente sobre un carril DIN normalizado; un potenciómetro (8), montado preferentemente con escuadra; un conjunto dinámico que comprende volante de inercia (7), caja reductora (4), motor (3) y sensor (5) de posición y/o velocidad, donde el conjunto está dotado a su vez preferentemente de escuadra para su montaje; - una fuente (11) de alimentación, dotada de medios de fijación (por ejemplo tornillos) a la base (2); un driver de potencia (6), una botonera (9) y un bornero (10), montados preferentemente mediante tornillos e incorporando preferentemente separadores entre dichos elementos y la base (2); The present invention relates, as already mentioned above, to an automaton programming device. According to a preferred embodiment of the automaton programming device, the device comprises a base (2) or mounting plate, with enclosing structure, which in turn comprises the following elements: a compact industrial programmable automaton (1), preferably mounted on a standard DIN rail; a potentiometer (8), preferably mounted with square; a dynamic assembly comprising flywheel (7), gearbox (4), motor (3) and position and / or speed sensor (5), where the assembly is in turn preferably equipped with a square for mounting; - a power supply (11), provided with fixing means (for example screws) to the base (2); a power driver (6), a keypad (9) and a terminal block (10), preferably mounted by screws and preferably incorporating spacers between said elements and the base (2);
El dispositivo de programación de autómatas presenta conexionado eléctrico entre el sensor (5) de posición y velocidad del conjunto dinámico y el autómata programable (1). Asimismo, también el autómata programable (1) está conectado eléctricamente con el driver de potencia (6) del motor (3), los cuales obviamente están también conectados eléctricamente entre sí. Los pulsadores/selectores de la botonera (9) están también conectados eléctricamente con el autómata programable (1) en su zona de entradas, en tanto que la zona de salidas del autómata programable (1) está conectado eléctricamente con el bornero (10). The PLC programming device has an electrical connection between the dynamic assembly position and speed sensor (5) and the programmable controller (1). Also, the programmable automaton (1) is also electrically connected with the power driver (6) of the motor (3), which obviously are also electrically connected to each other. The buttons / selectors of the keypad (9) are also electrically connected with the programmable automaton (1) in its input zone, while the programmable automaton output zone (1) is electrically connected to the terminal block (10).
Tanto el autómata programable (1) como la fuente (11) de alimentación incorporan conectores eléctricos, preferentemente agrupados en un único cable, para su conexión con la red eléctrica (no representada) disponible en la zona de uso del dispositivo. El autómata programable (1) comprende un puerto (12) de datos mediante el cual el autómata programable (1) está configurado para conectarse, a través de un cable estándar de datos, a una red de datos o a una consola de programación (no representados). El driver de potencia (6) está configurado para suministrar corriente al motor (3) de acuerdo con el sentido de giro requerido fijado por el autómata (1). Both the programmable automaton (1) and the power supply (11) incorporate electrical connectors, preferably grouped in a single cable, for connection to the electrical network (not shown) available in the area of use of the device. The programmable automaton (1) comprises a data port (12) through which the Programmable controller (1) is configured to connect, via a standard data cable, to a data network or to a programming console (not shown). The power driver (6) is configured to supply current to the motor (3) according to the required direction of rotation set by the automaton (1).
El potenciómetro (8) está configurado para generar una primera señal analógica en tensión que hace de consigna externa al motor (3). Dicha primera señal analógica es indicativa de una determinada velocidad de giro deseada para el motor (3) (velocidad variable, en un sentido u otro de giro, indicada externamente por un usuario) o de un determinado ángulo de giro (especificado por el usuario) con el que se desea posicionar al volante de inercia (7). Una segunda señal analógica en tensión transmitida desde el driver de potencia (6) al autómata programable (1) permite leer y procesar el consumo de corriente del motor (3) en cada instante. The potentiometer (8) is configured to generate a first analog voltage signal that is an external setpoint to the motor (3). Said first analog signal is indicative of a certain desired speed of rotation for the motor (3) (variable speed, in one direction or another of rotation, indicated externally by a user) or of a certain angle of rotation (specified by the user) with which you want to position the flywheel (7). A second analog voltage signal transmitted from the power driver (6) to the programmable controller (1) allows the current consumption of the motor (3) to be read and processed at every moment.
Mediante la botonera (9) se permite suministrar señales todo-o-nada al autómata programable (1), para indicación por parte del usuario del modo de funcionamiento deseado. Using the keypad (9) it is possible to supply all-or-nothing signals to the programmable automaton (1), for indication by the user of the desired operating mode.
Por su parte, mediante el mencionado bornero (10), se permite conectar al autómata programable (1) unos actuadores todo-o-nada externos, caso de ser requeridos o deseados adicionalmente por el usuario. On the other hand, by means of the mentioned terminal block (10), it is allowed to connect to the programmable automaton (1) external actuators all-or-nothing, if they are required or additionally desired by the user.
La fuente (1 1) de alimentación abastece de potencia eléctrica al motor (3) y al sensor (5) de posición y velocidad. El autómata programable (1) no requiere fuente externa de alimentación, conectándose directamente a la red eléctrica por un lado y a la consola de programación o red de datos por otro lado, mediante el puerto (12) de datos integrado, y por medio de un cable de datos estándar. La utilización del dispositivo de programación de autómatas implica típicamente la realización de un test de verificación de señales, seguido de la carga de un programa de prueba en el autómata programable (1) que permite, al menos, verificar si el autómata programable (1) está operativo y si el motor (3) gira en ambos sentidos de giro con ayuda del driver de potencia (6) y su fuente (11) de alimentación. The power supply (1 1) supplies the motor (3) and the position and speed sensor (5) with electrical power. The programmable controller (1) does not require an external power supply, connecting directly to the power supply network on the one hand and to the programming console or data network on the other hand, via the integrated data port (12), and by means of a standard data cable The use of the PLC programming device typically involves Performing a signal verification test, followed by the loading of a test program in the programmable automaton (1) which allows at least to verify if the programmable automaton (1) is operational and if the motor (3) turns on both directions of rotation with the help of the power driver (6) and its power source (11).
Mediante el dispositivo descrito, y mediante una adecuada programación, a desarrollar por el usuario, el usuario es capaz de controlar el funcionamiento del motor (3) así como de cualquier otro dispositivo adicional que se desee conectar al bornero (10). Una adecuada programación permite mostrar cómo debe programarse un autómata programable industrial para controlar el movimiento de motores usando un sensor de velocidad en un caso (control de velocidad), y/o el sensor de posición en otro caso (control de posición). Para el control de la velocidad de giro del motor se recurre típicamente la técnica de modulación de ancho de pulso (PWM), compatible con el autómata programable (1) y con el driver de potencia (6). By means of the described device, and by means of an adequate programming, to be developed by the user, the user is able to control the operation of the motor (3) as well as any other additional device that is to be connected to the terminal block (10). Proper programming allows to show how an industrial programmable automaton must be programmed to control the movement of motors using a speed sensor in one case (speed control), and / or the position sensor in another case (position control). The pulse width modulation technique (PWM), compatible with the programmable automaton (1) and with the power driver (6), is typically used to control the speed of rotation of the motor.
El consumo de potencia por parte del motor (3) puede monitorizarse e incluirse en un lazo de control para ser tenido en cuenta como variable de seguridad, o para otros usos adicionales. The power consumption by the motor (3) can be monitored and included in a control loop to be taken into account as a safety variable, or for other additional uses.
El control de velocidad y la consideración de señales analógicas procedentes del potenciómetro (8) y del driver de potencia (6) permiten a un usuario/estudiante adquirir destrezas para el manejo de señales analógicas con autómatas programables industriales. The speed control and consideration of analog signals from the potentiometer (8) and the power driver (6) allow a user / student to acquire skills for handling analog signals with industrial programmable controllers.
Asimismo, mediante el dispositivo descrito, se permite también al usuario programar otras acciones sobre los actuadores adecuados, todo-o-nada o analógicos, que pueden acoplarse al dispositivo a través del bornero (10), localmente o bien remotamente a través del puerto (12) de datos integrado. Likewise, by means of the described device, the user is also allowed to program other actions on the appropriate, all-or-nothing or analog actuators, which can be coupled to the device through the terminal block (10), locally or remotely through the port ( 12) integrated data.
La conexión del autómata programable (1) a la red de datos mediante el puerto (12) integrado permite también la realización de interfaces hombre-máquina, así como el intercambio de datos entre distintos autómatas programables o sistemas informáticos, sin la necesidad de recurrir a equipamiento adicional. The connection of the programmable automaton (1) to the data network via the integrated port (12) also allows the realization of man-machine interfaces, as well as the exchange of data between different programmable automatons or computer systems, without the need to resort to additional equipment.
Mediante el dispositivo descrito se permite programar el autómata para el accionamiento del motor como una acción todo-o-nada, a velocidad máxima, velocidad variable, giro horario o antihorario, o bien mediante lazo cerrado con control proporcional-integral (Pl) para el lazo de control de velocidad, o con control proporcional-integral-derivativo (PID) para el lazo de control de posición. By means of the described device it is possible to program the automaton for the motor drive as an all-or-nothing action, at maximum speed, variable speed, hourly or counterclockwise rotation, or by closed loop with proportional-integral control (Pl) for the speed control loop, or with proportional-integral-derivative control (PID) for the position control loop.
Asimismo, el dispositivo descrito permite la programación del autómata programable (1) haciendo uso de lenguajes, tanto de alto nivel (que incluyen el empleo de texto estructurado) como de bajo nivel, o según cualquiera de las otras tres formas restantes que la norma de programación de autómatas IEC 61131 contempla. Likewise, the described device allows the programming of the programmable automaton (1) using languages, both high level (including the use of structured text) and low level, or according to any of the other three remaining forms that the standard of PLC programming IEC 61131 contemplates.

Claims

REIVINDICACIONES
1. Dispositivo de programación de autómatas caracterizado por que comprende una base (2) que a su vez comprende: un autómata programable (1); un potenciómetro (8) configurado para suministrar una señal de consigna analógica de entrada al autómata programable (1); un motor (3); un volante de inercia (7); una caja reductora (4) de acoplamiento del volante de inercia (7) al motor (3) un sensor (5) de posición y velocidad acoplado al motor (3); un driver de potencia (6) configurado para alimentar y controlar el motor (3); una fuente (11) de alimentación del sensor (5) y del driver de potencia (6); una botonera (9) conectada al autómata programable (1), configurada para suministrar señales de entrada todo-o-nada al autómata programable (1), y; un bornero (10) conectado al autómata programable (1), configurado para aportar señales de salida todo-o-nada provenientes del autómata programable (1). 1. PLC programming device characterized in that it comprises a base (2) which in turn comprises: a programmable automaton (1); a potentiometer (8) configured to supply an analog input setpoint signal to the programmable controller (1); a motor (3); a flywheel (7); a gearbox (4) for coupling the flywheel (7) to the motor (3) a position and speed sensor (5) coupled to the motor (3); a power driver (6) configured to power and control the motor (3); a power source (11) of the sensor (5) and the power driver (6); a keypad (9) connected to the programmable controller (1), configured to supply all-or-nothing input signals to the programmable controller (1), and; a terminal block (10) connected to the programmable controller (1), configured to provide all-or-nothing output signals from the programmable controller (1).
2. Dispositivo de programación de autómatas según la reivindicación 1 , caracterizado por que está configurado para, mediante el driver de potencia (6), y el procesamiento de una señal analógica proveniente del potenciómetro, y las señales provenientes del sensor (5) de posición y velocidad hacer girar al motor (3) tanto en sentido horario como en sentido antihorario, a velocidad constante o variable y/o posicionar el volante de inercia en la posición deseada. Dispositivo de programación de autómatas según la reivindicación 1 , caracterizado por que está configurado para controlar, mediante el driver de potencia (6), una corriente eléctrica consumida por el motor (3). 2. PLC programming device according to claim 1, characterized in that it is configured for, by means of the power driver (6), and the processing of an analog signal from the potentiometer, and the signals from the position sensor (5) and speed turn the motor (3) both clockwise and counterclockwise, at constant or variable speed and / or position the flywheel in the desired position. PLC programming device according to claim 1, characterized in that it is configured to control, by means of the power driver (6), an electric current consumed by the motor (3).
Dispositivo de programación de autómatas según la reivindicación 1 , caracterizado por que el autómata programable (1) comprende un puerto (12) integrado de conexión de datos, configurado para la conexión de un cable de datos a una red externa de datos o consola externa de programación. PLC programming device according to claim 1, characterized in that the programmable controller (1) comprises an integrated data connection port (12), configured for the connection of a data cable to an external data network or external console of programming.
Dispositivo de programación de autómatas según la reivindicación 4, caracterizado por que está configurado para permitir, mediante el puerto (12) de datos integrado, una monitorización y un gobierno remotos del autómata programable (1). PLC programming device according to claim 4, characterized in that it is configured to allow, by means of the integrated data port (12), a remote monitoring and control of the programmable controller (1).
PCT/ES2017/070774 2016-12-01 2017-11-23 A device for programming robots WO2018100218A1 (en)

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