CS235357B1 - Equipment for industrial robots and manipulators - Google Patents

Abstract

Device for controlling industrial robots and manipulators It is intended for controlling industrial robots and manipulators, while solving the interconnection of blocks of the device for controlling industrial robots and manipulators with storing the user program. The essence of the device for controlling industrial robots and manipulators is the connection of the control block with the communication block with the programmer and with the internal memory block and further in that the blocks of contact with the process are connected to the control block via the monitoring-switching block.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robotic and manipulator control apparatus for storing a user program, in which ¹ the interconnection of industrial robotic controllers and manipulators for controlling connected devices is solved.

Previously known industrial robot and manipulator control devices need to connect various external peripherals such as programming devices, flexible magnetic disks, magnetic tape drives, punch tape sensors and the like to insert and store the user program. In addition, only one process can be independently controlled by the user program using the existing industrial robot and manipulator control devices.

Such industrial robots and manipulators are subject to high demands on external peripherals, the failure of the entire system is increased, and it is often necessary to create special conditions for the placement of various media such as dustiness, guaranteed temperature and humidity, etc. In addition, the capabilities of industrial robots and manipulators are not fully utilized, since in real-time process control, industrial robots and manipulators often wait for the completion of mechanical actions.

The aforementioned drawbacks are partially eliminated by an industrial robot and manipulator control device, which is based on the connection of the control block to the programmer communication block and the internal memory block, the control block being connected to the process contact blocks by means of a tracking-receiving block.

By integrating a programmer communication block and an internal memory block into an industrial robot and manipulator control device, it is possible to embed the program into a non-volatile storage medium that is part of the internal memory block and readable by the control block to achieve industrial robot control independence. and manipulators on external peripherals and media, as a result of which they twist for the control of industrial robots and manipulators, reducing the demands on environmental characteristics such as dustiness, defined temperature and humidity.

By connecting the process contact blocks to the control block via a tracking-switching block, it is possible to independently control multiple independent processes in real time by switching the control device while waiting for the mechanical action of one process to end; industrial robots and manipulators to track and control the next process. This gradual control switch applies to all controlled processes. By interconnecting the blocks of industrial robot and manipulator controls by switching the control between the individual controlled processes, the costs required to procure several previously used industrial robot and manipulator control devices are significantly reduced due to better utilization of industrial robot and manipulator controllers. of the invention over the use of prior art devices for controlling industrial robots and manipulators. For the same reason, energy consumption is also reduced. The requirements for the built-up area are also reduced, allowing for more optimal deployment of equipment controlled by the industrial robots and manipulators involved in the controlled processes.

The attached drawing shows a block diagram of a possible interconnection of blocks of an industrial robot and manipulator control device according to the invention.

To the control block 2 is connected the programmer communication block 1, the internal memory block 3 and the monitoring-switching block 4. The process-switching blocks 5, 6, 7 are connected to the monitoring-block 4 for the first, second to nth continuous processes. . The blocks are connected by information and control canals.

The design of the control block 2 can be e.g. microcomputer, block 1 communication with programmer limits consisting of buttons and single-line display, internal memory block 3 may consist of EPROM memory programmer circuits, EPROM memory itself and EPROM memory read circuits. The follower-switching block 4 may be a microcomputer and the process contact blocks 5, 6, 7 may be e.g. inter-module modules.

When inserting a user program into an industrial robot controller and manipulator - programming modes, - control block 2 reads the instructions entered from the buttons of the block 1 of communication with the programmer and stores them in the internal buffer while displaying them in a single line quota control. After inserting the entire user program by pressing the corresponding button in block 1 of communication with the programmer, the EPROM programmer in the intemal memory block 3 is activated, which loads the user program from the buffer into the EPROM memory.

When executing the user program - control mode - control block 2 reads the user program instruction from the output of the EPROM in the intemal memory block 3 and activates the monitoring-switching block 4. In a single process control, the monitoring-switching block 4 is permanently connected to the first contact block 5 controlled process. As soon as a request for independent control of the second process, represented by the respective user program instruction, arises, the control block 2 forwards this request to the monitor-switch block 4. The monitor-switch block 4 detects whether the mechanical action is in progress in the first process. A ^! yes, the monitoring-switching block 4 is disconnected from the first controlled processor contact block 5 and is connected to the second controlled process contact block 6. If the mechanical action is not in progress, the control block 2 triggers the next action of the first process and then the monitoring switch 4 switches from the first process contact block 5 to the second process contact block 6. In the two controlled processes, the monitoring-switching block 4 is thus alternately switched by blocks 5, 6 of contact with the first controlled process and the second controlled process. When a request arises. of the independent control of the next process is connected analogically to the monitoring and switching by the monitoring-switching block 4 the contact block with another processor. This is block 7 for the nth process.

The number of simultaneously independently controlled processes (value "n") is dependent on the specific time ratios existing in the controlled processes, as well as the performance of control block 2 and watch-switch block 4.

If n processes are controlled, the monitor-switch block 4 sequentially connects and disconnects contact blocks 5, S to 7 according to the mechanism described above,

The industrial robot and manipulator control device of the invention can also be used to control other devices and processes, such as industrial robots and manipulators, that meet the necessary connection criteria.

Claims (1)

SUBJECT Industrial horn and manipulator control devices, characterized in that the control block (2) is connected to a programmer communication block (1) and an internal memory block (3), the control block (2) being via a monitoring-switching block (4) connected to the process contact block (5, 6, 7).