KR930008337B1 - Driving device for industrial robot - Google Patents

Abstract

The device comprises a horizontal cylinder mount placed on the body plate, a loadless air-pressure cylinder placed on the mount, an L-type plate which is jointed with the piston ram of the air- pressure cylinder, a horizontal pulley for running guided by the pulley support shaft placed on the L-type plate in linear direction in plural, and a pulley moving in the limit of a horizontal slot which is placed on the bottom of the L-type plate, and the horizontal position control device of robot bottom part including a horizontal driving axle placed in crossing direction with the body plate through the pulley, thereby controlling the whole work field by only one operater using a computer and a joystick.

Description

Industrial Robot Drive

1 is a schematic diagram of an industrial robot to which the driving device of the present invention is applied.

Figure 2 is a side view of the robot horizontal drive portion of the present invention.

3 is a rear view of the robot horizontal drive portion of the present invention.

4 is a perspective view of a cylinder mount of the robot horizontal drive device of the present invention.

5 is a plan view of a horizontal pulley portion of the robot horizontal drive device of the present invention.

6 is a block diagram of a control circuit unit of the robot driving apparatus of the present invention.

7 is a detailed circuit diagram of the pneumatic position control signal generator of the robot drive control unit of the present invention.

8 is a detailed circuit diagram of the solenoid valve driver of the robot driver control circuit unit of the present invention.

9 is an internal waveform diagram of the circuit of FIG.

10 is a characteristic of the movement distance per hour of the robot according to the present invention.

* Explanation of symbols for main parts of the drawings

1: horizontal slot 2: vertical slot

3: vertically driven pneumatic cylinder 4: robot end

5 body plate 7 horizontal drive cylinder mounting table

8: rodless pneumatic cylinder 9: piston ram

10: joint 11: L-shaped plate

12: horizontal drive shaft 13: horizontal pulley

14 pulley support shaft 15 diskette

16: potentiometer 17: A / D converter

19, 24A, 24B: Amplifier 20: Electric-pneumatic proportional valve

21: Air Combination 22: D / A Converter

23A, 23B: Stepped wave generator 25A, 25B: Solenoid valve

26A, 26B: Needle Valve 27: Computer

28: joystick 29, 30: comparator

31: or gate 34: inverter

Q ₁ , Q ₄ : Transistors D ₁ , D ₃ : Dios

R _A , R _D , R ₁ , R ₇ : Resistance 25A ', 25B': Solenoid coil

The present invention relates to a robot apparatus for handling heavy goods, and more particularly, to an industrial robot driving apparatus by enabling precise positioning of the robot through a pneumatic control method using a computer and a joystick.

Robots using electric motors are not practical because their weight is too large and too expensive to be applied to industrial sites dealing with heavy objects because the ratio of their own loads to small loads is small (about 30: 1). In addition, the hydraulic robot using the hydraulic pressure is limited in its use in the working phenomenon of high temperature multi-dust.

However, the pneumatically driven robot has a high weight to payload ratio (2: 1) and is easy to use in a harsh working environment. Therefore, the robot handles heavy objects such as ladle nozzle replacement work in the steel mill, and converter roll and construction work. In this case, it contributes greatly to improving working conditions, reducing manpower and maximizing power utilization.

The Balaman manipulator, which is a representative pneumatic industrial robot, has already been commercialized and widely used.

The Balaman manipulator is used when remote control of heavy weight is required in a coarse working environment, which is a vertical cylinder that can be controlled only in the vertical direction, and only lifts the heavy weight. Since it needs to move, remote control of the horizontal position is impossible and it requires more than one worker per robot.

As such, the limitation of the capability of the pneumatic balaman manipulator is used only for simple end point control rather than continuous position control of the load because of nonlinearity such as air compressibility and low viscosity in the pneumatic position control system.

In addition, a pneumatic position controller using an intermittent signal was proposed by the Korea Institute of Science and Technology in 1982, "Development of a pulsation type intermittent control technique using the pneumatic position controller". It is not suitable for actuators for position control of robots that handle heavy objects, such as over-response.

SUMMARY OF THE INVENTION An object of the present invention is to provide an industrial robot drive device suitable for precise position control in a heavy working environment such as attaching and detaching a nozzle to a ladle hole of a steel mill.

The present invention is achieved by a horizontal moving device including a double horizontal pulley in a conventional Balaman manipulator and a robot control circuit unit by a computer and a joystick simultaneously using a proportional control signal and an intermittent signal.

Hereinafter, the present invention will be described with reference to the accompanying drawings.

1 is a conceptual diagram of the present invention, a horizontal slot 1 controlled by a rodless pneumatic cylinder 8 on a body plate 5 and a vertical slot 2 controlled by a vertically driven pneumatic cylinder 3. It is shown that the robot distal end (hand) 4 is remotely controlled by the pulley moving on the horizontal and vertical slots 1 and 2.

2 to 5 show the configuration of the horizontal slot 1 portion of the body plate 5 of FIG.

Here, a horizontal drive cylinder mounting base 7 is disposed above the body plate 5, and a rodless pneumatic cylinder 8 is installed on the mounting base 7. In addition, the guide slits 7 ′ of FIG. 4 for sliding the piston ram 9 connected to the piston of the rodless pneumatic cylinder 8 are formed above the mounting table 7.

The piston ram 9 is coupled through the joint 10 and the L-shaped plate 11 installed in the body plate (5).

On the upper end of the L-shaped plate 11, a horizontal pulley 13 for sliding the longitudinal pulley support shaft 14 installed on both inner walls facing in the width direction of the body plate 5 is installed. A sliding pulley in the horizontal slot 1 coupled to the horizontal robot shaft 12 across the width direction of the body plate 5 is installed below the plate 11.

6 is a block diagram of the robot control circuit unit, in which the position of the piston ram 9 of the rodless pneumatic cylinder 8 is detected by the potentiometer 16 and connected to the digital signal in the A / D converter 17. The information of the A / D converter 17 is compared with the position control program information of the computer 27 and connected to the D / A converter 22.

The analog signal converted by the D / A converter 22 is intermittently supplied to the rodless pneumatic cylinder 8 through the respective amplifiers 24A and 24B through the step wave generators 23A and 23B, respectively. To control solenoid valves 25A and 25B.

In addition, the output of the staircase wave generators 23A and 23B is ORed to the orifice 31 and amplified by the amplifier 19, and then the pneumatic flow rate of the air combination 21 supplied to the solenoid valves 25A and 25B. It is configured to control the regulating electro-pneumatic proportional valve (20).

Where 26A and 26B are needle valves.

7 shows a pneumatic position control circuit by the D / A converter 22 and the stepped wave generators 23A and 23B.

Here, the output analog signal voltage Vo of the D / A converter is connected to each non-inverting terminal (+) of the comparators 29 and 30 through the respective voltage divider R _A , R _B and R _C , R _D. ) And an inverting terminal (-), and the inverting terminal (-) of the comparator 29 and the non-inverting terminal (+) of the comparator 30 have a signal voltage Vo through the joystick 28. ) Are connected to common input.

The outputs of the comparators 29 and 30 are connected to be supplied to the amplifiers 24B and 24A of FIG. 8, respectively, and the outputs of the comparators 29 and 30 are connected to the variable resistor R ₃ of the or gate 31 and It is configured to be connected to the amplifier 19 to generate an electro-pneumatic proportional valve control signal via the diode (D ₁ ).

8 is a detailed circuit diagram of the amplifiers 24A and 24B. The signals output from the stepped wave generators 23A and 23B are connected to the bases of the transistors Q _{1 to} Q ₃ of the inverter IC 34. The collector outputs of the transistors Q ₁ and Q ₃ are connected to be applied to the bases of the transistors Q ₂ and Q ₄ for controlling the solenoid coils 25A 'and 25B' of the solenoid valves 25A and 25B. Do.

Referring to the operation and effects of the present invention configured as described above are as follows.

With reference to FIGS. 1 to 5, the piston ram 9 is moved left and right on the second drawing by the pneumatic pressure applied to the rodless pneumatic cylinder installed on the body plate 5. The double horizontal pulley 13 on the L-shaped plate 11 connected to the ram 9 and the joint 10 is horizontally moved along the longitudinal pulley support shaft of the body plate 5.

The double horizontal pulley prevents the torsion of the joint 10.

Accordingly, it is possible to precisely control the horizontal position of the robot end 4 of FIG. 1 in the direction in which the horizontal drive shaft 12 coupled to the lower portion of the L-shaped plate 11 moves.

Here, the guide slot (7 ') of the upper surface of the horizontal drive cylinder mounting base (7') guides the piston ram (9) of the rodless pneumatic cylinder (8), the coupling groove (lower) of the mounting table (7) 7 ") accepts the top edge of the bodyplate to ensure strong tightening by bolt tightening.

The robot end horizontal moving device to be driven in this way is obtained from the horizontal movement of the rodless pneumatic cylinder by the system of FIG. The desired position value input from the computer keyboard is multiplied by the gain value by the pre-programmed computer 27 program and converted into the corresponding digital value. This value generates a digital error signal corresponding to the difference between the two values by comparing the value corresponding to the current position of the ram of the rodless cylinder 8 with the digital value input through the potentiometer 16 and the A / D converter 17. .

The current position of the piston ram 9 of the cylinder 8 refers to the final horizontal position just before the execution of the horizontal control, which is detected by the potentiometer 16 and digitally changed as the A / D converter 17 to provide a diskette. It is memorized in 15.

This process is repeated for every horizontal control run.

On the other hand, the digital error signal is converted to a voltage corresponding to the D / A converter 22, and then logically summed to the or gate 31 through the steps and the generators 23A and 23B, and then the electro-pneumatic proportional valve amplifier 19. Amplified in to adjust the opening degree of the electro-pneumatic proportional valve (20).

Therefore, the flow rate of the compressed air of constant pressure supplied from the air combination 21 is adjusted. In addition, the D / A converter 22 causes the stepped wave signals to be generated by the stepped wave generators 23A and 23B in order to reduce the error by the computer program. By amplifying through and opening and closing the solenoid valves 25A and 25B, the flow rate regulated by the electro-pneumatic proportional valve 20 is supplied into the ford pneumatic cylinder 8.

In this case, the digital input / output device of the D / A converter 22 may open and close up to eight solenoid valves in case of 8 bits and 16 in case of 16 bits.

By the flow rate supplied into the cylinder, the piston ram 9 moves forward or backward and moves horizontally to a desired position. At this time, the distance the ram 9 moves is changed to a digital value through the A / D converter 17 and the diskette ( 15) are stored as files.

This has already been described. Means for controlling the position of the robot using a joystick are shown in FIG. For example, a joystick 28 such as a variable resistor and a comparator 29 and 30 are used. The voltage V ₁ from the joystick 28 is compared with a reference voltage sent to the comparators 29 and 30. By doing this, the output values of the comparators 29 and 30 are made to be 1 or 0 of the TTL logical value.

The maximum voltage of the joystick 28 and the voltage toward the positive terminal of the comparator 29 and the negative terminal of the comparator 30 were set to V ₀ , and V ₀ is sufficient as a value of about 10-15V.

When the voltage across the positive terminal of the comparator 29 is obtained using the resistors R _A and R _B called V _R1 ,

It becomes like If the V _R1 value is set slightly larger than the neutral state voltage value V _{0/2 of the} joystick 28, the comparator 29 if the voltage V ₁ coming from the joystick 28 is smaller than the V _R1 value as in the ninth diagram of the comparator. The voltage across the output terminal of is 5V, which represents 1 of the TTL logic value, and when it is larger than the V _R1 value, 0V represents 0 of the TTL logic value.

Similarly, the voltage across the negative terminal of the comparator 30 is referred to as V _R2 , and is obtained by using V ₀ and the resistors R _C and R _D.

If this V _R2 value is set slightly smaller than the neutral state voltage value V _0/2 of the joystick 28, it has the same characteristics as the ninth diagram.

Therefore, when (a) and (b) of FIG. 9 are overlapped, it becomes like FIG. 9c. When the lever of the joystick 28 is in the middle state, that is, when the output voltage of the joystick 28 is V _0/2 , the input terminal voltages of the amplifiers 24A and 24B are all maintained at the state 1 of the TTL logic value as in the ninth diagram. Therefore, since pneumatic cylinder is applied to both ends of pneumatic cylinder (8), pneumatic cylinder (8) decreases the forward and backward output voltage V _L gradually and exceeds V _R1 value. The voltage at the output terminal to the amplifier 24B is maintained at 1 of the TTL logic value.

At this time, the pneumatic cylinder 8 moves to the left at a constant speed. When the joystick 28 is released in this state, the joystick 28 returns to the neutral state and the pneumatic cylinder 8 stops again. Then, if the joystick lever is pushed to the right, the voltage V _L of the joystick 28 gradually increases and exceeds the value of V _R2 , and the output terminal voltage to the amplifier 24A maintains one state of the TTL logic value and the output to the amplifier 24B. The terminal voltage changes to the zero state of the TTL logic value. At this time, the pneumatic cylinder 8 is moved to the right at a constant speed.

On the other hand, since the or gate 31 logically sums the logic values of the output terminals of the comparators 29 and 30, the output value of the or gate 31 always maintains a value of about 5 V as the TTL logic value 1, and the variable resistor R _3. ) And the diode (D ₁ ) can be used to change the voltage value entering the regulator amplifier 19, so that the flow rate entering the pneumatic cylinder (8) can be adjusted to allow speed control.

Next, the operation of the amplifiers 24A and 24B and the solenoid valves 25A and 25B will be described with reference to FIG. When one of the TTL logic values is generated in the stepped wave generator 23A or 23B, this signal passes through the individual inverters of the inverter IC 34 to the base of the transistor Q ₁ or Q3 of each amplifier 24A or 24B. Applied per row.

Accordingly, a bias is provided to the base of the transistors Q ₂ or Q ₄ of the amplifiers 24A and 24B forward and forward B + through the resistors R ₄ or R ₆ so that the transistors Q ₂ or Q ₄ are turned on and the solenoid valve ( 24A or 25B) solenoid coil 25A 'or 25B' for control can be driven.

Data for the present invention which is position controlled as described above is shown in FIG.

This data sets the slope (Kp) of the minimum output voltage and the maximum output voltage of the D / A converter within the range of 0.76V-0.84V, and the load (m ₁ ) up to 0㎏-36㎏ at the robot end 4 This is the result of moving the robot distal end 4 by 35.87 by using a computer.

As can be seen here, the robot distal end 4 reaches the desired position accurately without overresponding.

As can be seen here, the robot distal end 4 is reached exactly at the desired position without transient response.

As described above, the bar name can be used to control the position of the robot end for handling heavy loads in the harsh working environment such as ladle nozzle replacement work in the steel mill, converter lead and construction work, and a single computer control panel and one worker Only a unique effect that can easily remotely control a plurality of robot workplaces will appear.

Claims (1)

In the pneumatic robot drive device, a horizontal drive cylinder mounting table (7) installed on the body plate (5), a rodless pneumatic cylinder (8) arranged on the mounting table (7), and the pneumatic cylinder (8) L-shaped plate (11) coupled to the piston ram (9) through the joint (10), and the pulley support is installed in a plurality of upper portions of the L-shaped plate (11) and installed in the longitudinal direction of the body plate (5) A horizontal pulley 13 which is guided and slides on the shaft 14, a pulley which is installed below the L-shaped plate 11 and moves within a horizontal slot 1 range, and a body plate penetrating the pulley; 5) a robot end horizontal pitch control device including a horizontal drive shaft 12 installed in a transverse direction; An industrial robot drive device having a vertical position control device for the robot end of the Balaman manifold.

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