KR910019732A - Robot drive control circuit - Google Patents

Abstract

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Description

Robot drive control circuit

Since this is an open matter, no full text was included.

1 is a schematic view showing the appearance of a robot driven by a drive control circuit of the present invention, FIG. 2 is a block diagram showing a drive control circuit of the present invention, and (a)-(bar) of FIG. 3 is a drive control of the present invention. Detailed circuit diagram showing an embodiment of the circuit, (a) is a detailed circuit diagram of the starting unit, the rotary arm sensor unit and the rotary arm drive unit, (b) a detailed circuit diagram of the first arm product outlet drive unit and the first arm product movement drive unit, (C) is a detailed circuit diagram of the first arm sensor unit, the product gripping detection unit and the product extraction unit; (D) is a detailed circuit diagram of the second arm sensor unit, the second arm sensor selection drive unit and the second arm product movement drive unit, ) Is a detailed circuit diagram of the second arm product take-out / movement drive switching unit and the second arm product take-out drive unit, and (b) a detailed circuit diagram of the electrostatic / overload extraction unit and the power supply unit.

Claims (3)

Detects the operation of the starting unit 110 for outputting the starting signal, the rotating arm sensor unit 120 for detecting the completion of rotation of the rotating arm 2, and the first arm 3 for drawing and moving the product. The first arm sensor 130 to detect, the second arm sensor 130 for detecting the completion of the operation of the second arm 4 for the removal and movement of the product, and the second arm for withdrawal and movement of the product The second arm sensor 130 for detecting the completion of the operation of (4) and the first arm 3 is driven in response to the signals of the starter 110 and the first arm sensor 130 when the product is withdrawn. The second arm for driving the second arm 4 under the control of the first arm product extraction drive unit 160 and the second arm sensor unit 130 and the first arm product extraction drive unit 160 when the product is withdrawn. A product withdrawal driver 180 and a rotary arm driver 150 for driving the rotary arm 2 under the control of the rotary arm sensor 120 when the product is moved after the product is withdrawn; and the first arm sensor when the product is moved. Part 130 and rotary arm drive unit 150 The first arm product movement driver 170 for driving the first arm 3 under control, and the second arm 4 under the control of the second arm sensor unit 140 and the rotary arm driver 150 when the product is moved. A second arm product movement driving unit 190 for driving the second arm product extraction driving unit 180 and a second arm product movement driving unit 190 to selectively operate when the product is withdrawn and moved; / Moving switch unit 200, the second arm sensor switching unit 210 for switching the detection signal of the second arm sensor unit 140 when the product is withdrawn and moved, and whether the product is introduced into the hand (5) The product introduction detection unit 220 to detect, the product holding control unit 230 holding a product when the product is introduced into the hand 5, and the power failure / overload detection control unit 240 to control to return to the initial state in the case of power failure and overload Robot drive control circuit, characterized in that consisting of). The method of claim 1, wherein the first arm product movement driver 170 and the second arm product movement driver 190, the first arm (3) and the set time after a set time from the time the rotary arm driver 150 moves the product And a timer (T ₁₇₁ ) (T ₁₉₁ ) for driving the second arm (4), respectively. According to claim 1, the rotary arm driving unit 150, the first arm product movement driving unit 170 and the second arm product movement driving unit 190 is the rotation arm (2), the first after a set time from the completion time of the movement of the product And a timer (T ₁₅₁ ) (T ₁₇₂ ) (T ₁₉₂ ) for driving the arm (3) and the second arm (4) to the original return. ※ Note: The disclosure is based on the initial application.