SU1176303A1 - Device for cyclic programmed control of mechanical arms - Google Patents

Abstract

DEVICE FOR CYCLIC SOFTWARE MANAGEMENT OF MANIPULATORS, containing control panel, memory, matching unit, control unit consisting of AND, counter, decoder, and generator of pulses, trigger and comparator, connected in series, the outputs of which are connected to the inputs of the And element, however, the other inputs of the AND element are associated with. external equipment, trigger inputs and the meter installation input are connected to the control panel start output, some comparator inputs are connected to the information output of the storage device, and others are connected to the signal output of the matching unit, the inputs of which are connected to the sensors of the manipulator and process equipment, and the decoder outputs connected to a software address input of a memory device, as well as an amplifier unit, the outputs of which are connected to manipulator drives and technological equipment , in order to expand the field of application of the device, a switch and an operative interrupt unit, consisting of elements 2I-NOT, triggers, a multi-input element AND-NO, an inverter and elements 2I-2 OR-NOT, are introduced into it; the outputs of the 2I-NOT elements are connected to the first setup inputs of the triggers, the second installation inputs of which are combined, the first outputs are connected to the inputs of the NAND element, the output of which is connected to the inverter and to the first inputs of the 2I-2I-OR-NE elements, the inverted output (L torus is connected to the second the inputs of elements 2I-2I-OR-NOT, the outputs of which are connected to the inputs of the amplifier unit, the third inputs of the elements 2I-2ILI-NOT connected to the output of the emergency word of the storage device, the fourth inputs of the elements 2I-2I-OR are NOT connected to the command output of the storage device , the second outputs of the triggers are connected to the emergency address input of the memory device 100, the combined setup inputs of the triggers are connected to the installation output of the control panel, the first inputs of the elements 2I-NOT are connected to the output of the states of the block lasovany, second inputs of NOR element 2i are connected to the emergency exit information storage device, the inverter output is also connected to one input of AND gate control unit and an output element fi-HE is connected to the input of the emergency switch input

Description

the switch start is connected to the switch start switch house start-up terminal, connected to the external equipment, starting, stopping outputs, and receiving.

1 7 (1303

one

The invention relates to robotics, specifically to devices for controlling industrial robots.

The purpose of the invention is to expand the field of application of the device.

Figure 1 presents the block diagram of the device; in fig. 2 is a functional block interrupt circuit diagram; FIG. 3 is a functional block diagram of the control unit; in FIG. A, one of the possible switch schemes.

The device comprises a control unit 1, an amplifier unit 2, a storage device 3, a control panel 4, a unit 5 for matching with the manipulator and process equipment sensors, an operational interruption unit 6, a switch 7.

The outputs of block 2 of the amplifiers are connected by circuit 8 to the actuator drives and command circuits of the process equipment, and the inputs by circuit 9 to the command outputs of block 6 of the operational interruption.

The address output of block 6 is connected to the emergency address input of storage device 3 by circuit 10, and the blocking output of circuit 1I to the blocking input of control unit 1, alarms. 12 output circuit with emergency switch input 7.

The installation input of block 6 is connected via circuit 1 3 to the installation output of control panel 4, the state input of circuit 1D is connected to the output of the state of the glare 5 matching 5, the information alarm input by circuit 15 is connected to the information alarm output of memory 3, the input of the alarm word by circuit 16 is B1.1 emergency emergency memory memory; its devices 3, the command input of the chain 17 - with the command output of the storage device 3.

The information output of the storage device 3 is connected to the information input of the control unit 1 by the circuit 18 and the address input is programmed

memory 3 by a circuit 19c with an address output of control unit 1.

The starting input of the control unit 1 is connected by a circuit 20 with the starting output of the control panel 4, the signal input of the circuit 21 is connected with the signal output of the matching unit 5. The control input of the unit 1 is connected by a circuit 22 with the process equipment, and the unit receives signals about the readiness of the equipment for operation.

The inputs of the matching unit 5 are connected by a circuit 23 to the sensors of the manipulator and the process equipment.

The start input of the switch 7 is connected by a pulley 24 to the start output of the control panel 4. The start output of the switch 7 by the circuit 25 is connected to the switching circuits of the process equipment, making it turn on; the stopping of the output by the circuit 26 — with the switching circuits of the process equipment, making it turn off; circuit 27 start output - with switching elements of other similar robot control devices when operating in a single robotic system.

Operational interrupt unit 6 contains N-bit register 27, executed on triggers 28, group 29 containing N logic elements 30 2H-IIK, group 31, containing N elements 2I-2I-11PI-NOT, logical element 33 N I-PE and an inverter 34. The number N is determined by the maximum possible number of technological equipment, this control device operates with KOTOjibiM.

The S inputs of the trippers 28 of the register 27 are connected to the outputs of the logic elements 30 of the group 29. The R inputs of the flip-flops 28 are connected together and form the installation 1.1 input block. 6 is operatively connected to the circuit 13. The latter serves to set the triggers 28 to their initial state from the control panel 4. The Q-outputs of the flip-flops 28 form the address output of block 6 and are connected to the chain 10. The code at this address output goes through the chain 10, enters the memory 3 and the alarm words that define the emergency configurations of the manipulator and the emergency equipment of the process equipment come from it . The first inputs of elements 30 of group 29 form the input of states of block 6 and are connected to circuit 14, through which information about the state of technological equipment j i. the equipment is in the initial state or in the operating cycle. The second inputs of the elements 30 form the information input of the block 6 and are connected to the circuit 15, through which from the storage device 3 comes to the block 6 information about the possibility of an emergency situation during the interaction of the manipulator and the process equipment. The information is contained in a special discharge of the command word performed by the robotic complex at the given moment. Q-triggers trigger 28 of the register 27 is connected to the corresponding inputs of the logic element 33 N AND-NOT. The output of the element 33 is connected to the input of the inverter 34 and with one of the inputs of the elements 32 of the group 31. The output of the inverter 34 is connected to the second inputs of the elements 32, the third inputs of which form in the block 6 an alarm word input and connected to the circuit 16. Through the circuit 16 of the memory 3 comes to block 6 an emergency word defining the emergency configuration of the manipulator and. emergency response of process equipment. The fourth inputs of the elements 32 form in the block 6 the input of the control word and are connected to the chain 17, through which the block word enters the block 6 from the storage device 3, which specifies the operation of the manipulator drives and the process equipment. The inputs of elements 32 of group 31 form the command output of block 6 and are connected to circuit 9, through KO to block 2 of amplifiers, information is received about which actuator drives must currently work 3034 and which commands must execute the process equipment. The output of the inverter 34 forms a blocking unit 6 and is connected to the circuit I 1, by which the control unit 1 receives a signal in the event of a serial situation that prohibits further execution of the operating program by the control unit. The output of the logic element 33 also forms the emergency output of the unit 6 and is connected to the circuit 12, through which the switch 7 receives a signal for emergency shutdown of the corresponding technological equipment. j The control unit (Fig. 3) contains a decoder 35, a counter 36, a logical multi-input element AND 37, a pulse generator 38, a trigger 39, a comparator 40, made, for example, on EXCLUSIVE OR elements. The outputs of the decoder 35 form the address output of the control unit 1 and are connected to the circuit 19, through which the address of the program control word is fed to the memory device 3. The inputs of the decoder 35 are connected to the outputs of the counter 36. The information input of the block 1 is formed by the first inputs of the comparator 40, which are connected to the circuit 18. Information comes from circuit 18 from the memory 3 to the control block 1, which needs to be monitored for the next program step. The second inputs of the comparator 40 form the signal input of the unit 1 and are connected to the circuit 21, through which, via the matching unit 5, information about the state of the manipulator and the process equipment comes. The trigger inputs 39 and the Reset input of the counter 36 form the starting input of the unit 1 and are connected to the circuit 20, through which the control unit 1 receives from the control panel 4 signals to stop and start the program. The outputs of the trigger 39 and the comparator 40 are connected to the inputs of the element 37. Some of the inputs of the element 37 form the control input of the unit 1 and are connected to the circuit 22. One of the inputs of the element 37 forms the blocking input of the block 1 and is connected to the circuit 11. One of the inputs of the element 37 is also connected with 38 pulse generator ..

Switch 7 contains a group of 41 keys, made according to the standard scheme on transistors 42 in an amount equal to F, where F corresponds to the number of units of technological equipment that need to be turned off when conducting an emergency;

The collector circuit of transistors 42 includes windings of relays 43, which, by contacts 44, turn off the process equipment.

In the base circuits of transistors 42, there are base resistors 45, the second ends of which form the emergency input of co-switch 1 and are connected to circuit 12, there are groups 46 and 47 of switching elements 48 and 49, which are used to manually turn on and off the process equipment.

The outputs of the elements 48 of group 46 form the starting output of the switch 7 and are connected to the circuit 25, and the outputs of the elements 49 of the group 47 form the stopping output of the switch 7 and are connected to the circuit 26. The second group of 50 keys is also performed according to the standard circuit on transistors 51 in the number Z where Z corresponds to the number of commands required to transmit to the other similar control panel of the second manipulator, if it exists in the robotic complex.

The collector circuits of transistors 51 include windings of relays 52. The base circuits of transistors 51 are base resistors 53, the second ends of which form the start of switch 7 and are connected to circuit 24. The latter connects the keys of group 50 to the controls on control panel 4 .

This group of commands duplicates commands from the control panel 4 to the control device, for example, Start, Stop, etc., and transmits them to another similar control device to enable control of the robotic complex, which includes two control devices (from any of them).

Contacts 54 are combined into a contact group 55, and their outputs form the start output of switch 7 and are connected to circuit 27, through which

duplicate signals from the control device to the second one with the same device.

5 The composition of the remaining blocks has not been disclosed, since they are not the subject of the invention and can be borrowed from the prototype.

Operation of the device for cyclic

0 software control is presented on the example of a robotic complex consisting of technological equipment (TO) and two manipulators, and consequently, two devices

5 cyclic program control, which are interconnected.

To switch on the complex from switch 7 through circuit 25, commands are sent to the equipment of the complex by switching elements 48 of group 46

The inclusion of MOT. After switching on, all the involved TO units set the signals of the logical unit at the control input of the control unit 1,.

5 arriving on the chain 22 and confirming the inclusion of the equipment.

In addition, the initial state of the block 6 operational interruption and

0 counter 36 of control block 1. For this, from the control panel 4, a Reset signal is supplied, which is fed through circuit 13 to the installation input of the operational interruption unit 6 and through the circuit

5 20 - to the input Reset the counter 36, set the triggers 30 of the register 29 and the counter 36 to the initial state.

After installing block 6, the interrupt is reset

0 to the blocking input of the control unit 1 through the circuit 11 comes a logical unit signal enabling the operation of the control unit 1. After setting the counter 36 to the initial position, the signal Reset to the storage device 3 through the circuit 19 from the output of the decimator 35 receives the initial address of the program of the complex, calling the command word of the initial state,

0 which enters via circuit 17 to operative interrupt block 6, and from there via circuit 9 to block 2 of amplifiers and, passing along circuit 8, hits the manipulator and the process equipment, and causes the maintenance and manipulator to be reset. In chain 18, this control word is fed to comparator 40 of control block 1. 71 The comparator compares the information of the transmitted control word and the information received through the block 5 of matching on the circuit 18 from the sensors of the manipulator and the process equipment. If the manipulator and maintenance command is executed, the information received from the sensors corresponds to the control word and a signal of a logical unit is sent to the element 37 at the output of the comparator. The control unit 1 is ready for operation in automatic mode, and at all inputs of the element I 37- (with the exception of two inputs) signals of a logical unit are installed. One of the remaining inputs receives pulses from the generator 38, and the second, remaining input is connected to the output of the flip-flop 39 and holds a logical zero signal on it. Upon arrival of the signal circuit 20. Starting from the control panel 4, the trigger 39 is reversed and the signal of the logical unit is set on it. The first impulse of the generator that arrives after this generates pulses at the output of the element 37 and changes the state of the counter 36 and at the output of the encoder 35 the address of the next control word is formed. The new command word is fed to the comparator 40 of the control unit 1 and, if its information differs from the information of the previous command word, the comparator signal removes the logical units from the corresponding inputs of the And 37 element, prohibiting the passage of pulses from the generator 38, This means that the counter state is not will change, and consequently, the new command word will not be recalled from the storage device 3 until the sensors confirm the execution of the previous command word by the manipulator and technological equipment it. The Reset and Start signals from the control panel 4 along circuit 24 are sent to the keys of the group., Triggering the corresponding relays 52, which by contacts 54 through circuit 27 transmit these commands to the cyclic program control device of the second manipulator, ensuring its initial position and start. 3 Thus, the introduction of a double-walled or a D-combo allows you to manually install and start the complex from any of the control devices in the complex. After the manipulator and the TO of the called command word have been executed, the control unit 1 sends the address of the next control word over circuit 19 to memory 3. At some points in the program, such manipulator and maintenance interactions are possible, which, in the event of an emergency operation of the equipment, can lead to breakage of the manipulator and the process equipment itself. For example, the press self-propelled when the manipulator arm is in the stamp area. Information about this dangerous interaction is recorded in a special command word category and when the corresponding command word is called through circuit 15 it enters the information emergency input of the operative interregional unit 6. If an accident does not occur, the command word is stored on the command outputs of the operational interrupt block 6, i.e. at the outputs of elements 32. If an emergency situation arises (the press punch went off when the robot arm is under pressure), then a sensor for unauthorized, emergency operation is sent from a sensor installed on a potentially dangerous element of the process equipment. This signal through the matching unit 5 goes through the circuit 14 to the input of the states of the operational interruption unit 6, and then to one of the elements 30. The failure signal goes before the accident occurs, since the sensor speed is higher than the process equipment. Thus, one of the elements 30 receives signals about the possibility of an emergency situation and that an emergency situation occurs. Then, on the output of the corresponding element 30, a signal is generated, which enters the corresponding trigger 28 of the register 27 and transfers it to the second position. At the address output of the operative block 6, the breakdown is the address of the emergency word, which sets the response of the manipulator and equipment to the occurrence of this emergency situation. The chain 10 address arrives at the emergency address input of the storage device 3 and extracts from it the corresponding emergency word, which arrives at the group 31 of the elements 32 through the chain 16.

At the same time, the signal from the triggered trigger 28 goes to element 33, which changes the signal at the output and allows the operational output of the block 6 to quickly interrupt the emergency command word received through the circuit 16. This same signal from the output of element 33, passing through the inverter 34, enters to the other inputs of elements 32 and prohibits the passage to the command output of block 6 of operational interruption of the command word received through circuit 17. At the same time, the signal from the output of element 33 through circuit 12 goes to a group of 41 keys, causing a trigger tgaanie relay 43 which contacts 44 of circuit 26 is produced t off processing equipment. The signal from the inverter output, through the circuit 11, goes to the control unit 1 and sets one of the inputs of the element 37 to the state of the logical unit.

This prohibits the passage to the counter 36 of the signals of the clock frequency of the generator 38, and therefore, no further development of the program takes place.

The emergency command word from the command output of the operative preglogani unit 6 through the circuit 9 enters the amplifier unit 2, which along the chain 8 causes the triggering of the corresponding manipulator drives and processing equipment, ensuring their response to the emergency situation that has arisen. For example, they force the arm of a manipulator to be pulled out from under the press while simultaneously turning it to the side.

After eliminating the causes of the alarm, the signal control device Reset from the control panel 4 is reset and is again ready for automatic operation.

The presence of an operative interruption unit avoids breaks of the manipulators and process equipment in the event of emergency situations, when there is an interaction between the manipulator and the equipment.

(Rig.2

20

22

eleven

13

FIG. J

Claims (1)

DEVICE FOR CYCLIC SOFTWARE CONTROL OF MANIPULATORS, comprising a control panel, a storage device, a matching unit, a control unit consisting of series-connected multi-input element And, a counter, a decoder, as well as a pulse generator, trigger and comparator, the outputs of which are connected to the inputs of the element And, at this other inputs of the AND element are connected to. external equipment, trigger inputs and counter installation input are connected to the control panel output, some comparator inputs are connected to the information output of the storage device, and others are connected to the signal output of the matching unit, the inputs of which are connected to the sensors of the manipulator and technological equipment, while the outputs of the decoder are connected with a software address input of the storage device, as well as an amplifier block, the outputs of which are connected to the drives of the manipulator and technological equipment, characterized in that, in order to expand the scope of the device, a switch and an operational interrupt unit are introduced into it, consisting of 2I-NOT elements, triggers, a multi-input NAND element, an inverter and 2I-2IIILI-NOT elements, while the outputs of 2I elements -NOT connected to the first installation inputs of the triggers, the second installation inputs of which are combined, the first outputs are connected to the inputs of the AND-NOT element, the output of which is connected to the inverter and to the first inputs of the 2I-2I-OR-NOT elements, the inverter output is connected to the second inputs of the element o 2I-2I-OR-NOT, the outputs of which are connected to the inputs of the amplifier unit, the third inputs of the elements 2I-2II-OR-NOT connected to the output of the emergency word of the storage device, the fourth inputs of the elements 2I-2I-OR-NOT connected to the command output of the storage device, the second outputs the triggers are connected to the emergency address input of the storage device, the combined installation inputs of the triggers are connected to the installation output of the control panel, the first inputs of 2I-NOT elements are connected to the status output of the matching unit, the second inputs are comrade 2I-NO elements are connected to the emergency exit information storage device, the output of the inverter is also coupled to one input of AND gate and an output control unit elemonta AND-NO element is connected to the input of the emergency switch input 11 TIS 1 1 76 303 start of the switch is connected to the output of the start of the control panel, start, stop outputs, as well as the output of the start of the switch are connected to external equipment.