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Acceleration adjustment device and acceleration adjustment program

A technology for adjusting the device and acceleration, applied in the direction of program control, program control manipulator, control/regulation system, etc., can solve the problems of burden, large users, shortened takt time, etc.

Active Publication Date: 2021-01-22
ORMON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In manual adjustment, it is necessary to find a parameter (operation command value of the robot) that does not impose an excessive load on the robot and shortens the takt time, and this task places a large burden on the user.
In particular, when there are many changes in the teaching points for teaching the robot's motion path or the passage points generated based on the robot's path plan, it is difficult to prepare the optimal parameters in all cases in advance.

Method used

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  • Acceleration adjustment device and acceleration adjustment program
  • Acceleration adjustment device and acceleration adjustment program
  • Acceleration adjustment device and acceleration adjustment program

Examples

Experimental program
Comparison scheme
Effect test

no. 1 approach

[0039] figure 1 It is a diagram showing a schematic configuration of a robot and an acceleration adjustment device.

[0040] Such as figure 1 As shown, the acceleration adjustment device 10 is connected to the robot RB, and adjusts parameters (operation command values) when the robot RB operates. The acceleration adjustment device 10 may be incorporated in the control device as one function of the control device for controlling the robot RB. The detailed configuration of the acceleration adjustment device 10 will be described later.

[0041] The robot RB moves along a plurality of teaching points taught by a user or a plurality of passing points generated from a path plan. During the movement, the robot RB follows various motion command values. Various motion command values ​​include, for example, maximum speed, acceleration, and the like. The robot RB moves according to the acceleration adjusted by the acceleration adjustment device 10 .

[0042] As an example, the robo...

no. 2 approach

[0098] In the first embodiment, the acceleration is adjusted in conjunction with the load target value throughout the path of the robot RB. In the second embodiment, the path of the robot RB is divided into a plurality of sections, and the acceleration is adjusted for each section.

[0099] Next, the acceleration adjustment device 10 of the second embodiment will be described.

[0100] Figure 10 It is a flowchart showing the flow of acceleration adjustment processing performed by the acceleration adjustment device of the second embodiment. The CPU 11 reads the acceleration adjustment program from the ROM 12 or the memory 14 , expands and executes it in the RAM 13 , thereby performing acceleration adjustment processing. Also, yes Figure 10 The processing steps shown are with Figure 5 The same steps in the acceleration adjustment process of the first embodiment shown are assigned the same step numbers, and detailed descriptions thereof are omitted.

[0101] CPU11 substit...

no. 3 approach

[0119] In the first embodiment and the second embodiment, the case of teaching the route of the robot RB has been described. In the third embodiment, the acceleration adjustment device 10 itself generates the path of the robot RB.

[0120] Figure 17 It is a block diagram showing the functional configuration of the acceleration adjustment device of the third embodiment.

[0121] In the acceleration adjustment device 10 of the third embodiment, in Figure 4 In addition to the functional configuration of the acceleration adjustment device 10 of the first embodiment shown, a path generation unit 201 is further included. The route generation unit 201 is realized by the CPU 11 reading the acceleration adjustment program stored in the ROM 12 or the memory 14 , expanding and executing the program in the RAM 13 .

[0122] The path generation unit 201 acquires initial posture data and final target posture data of the robot RB. For example, six-dimensional vectors having rotation an...

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Abstract

Provided is an acceleration adjustment device capable of adjusting, regardless of the learning level of a user, acceleration which is a parameter for a robot. An acceleration adjustment device 10 comprises: a load calculation unit 101 which calculates the peak value of a load predicted to act on a robot on the basis of a motion equation about motion of the robot and a value of acceleration of joints of the robot in motion; and an acceleration adjustment unit 102 that executes a first adjustment which is an adjustment for reducing the acceleration when the peak value of the load calculated by the load calculation unit is greater than a target value of a load acting on the robot during motion of the robot, and / or a second adjustment which is an adjustment for increasing the acceleration whenthe peak value is less than the target value.

Description

technical field [0001] This application claims priority from Japanese Patent Application No. 2018-134106 filed on July 17, 2018, and the entirety of which is incorporated herein by reference. [0002] The invention relates to an acceleration adjustment device and an acceleration adjustment program. Background technique [0003] For example, in order to realize high-speed motion of a robot equipped with a robot arm, it is necessary to manually adjust parameters related to the motion of the robot in the motion path. In manual adjustment, it is necessary to find a parameter (movement command value of the robot) that does not impose an excessive load on the robot and shortens the tact time, and this task imposes a large burden on the user. In particular, when there are many changes in the teaching points for teaching the robot's motion path or the passing points generated based on the robot's path plan, it is difficult to prepare optimal parameters in all cases in advance. [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
CPCB25J9/1651G05B2219/39247B25J13/088
Inventor 细见心一中岛茜铃村章洋仓谷僚一
Owner ORMON CORP
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