SU1206081A1 - Manipulator grip - Google Patents

Description

The invention is related to the gripping devices of adaptive robotic manipulators and can be used to capture objects of manipulation by adapting to their type and orientation.

The purpose of the invention is to expand the functionality that can determine the size of the object being captured and the corresponding change in the capture force.

FIG. Fig. 1 shows a block diagram of a manipulator gripper; Fig. 2 is a diagram of a unit for forming a code of a standard size.

The manipulator grip contains sponge 2 connected to the drive 1 with blocks 3 and 4 located on them, each of which is a set of identical electromagnets, a DC source 5, a relay 6 including normally closed contacts 7 and 8 and normally open contacts 9 and 10, as well as power supply unit 11.

In addition, the device contains serially connected size code generation unit 12 with a control input, switching unit 13, OR element 14 and current switch 15 included in the power supply unit of the relay. The device also contains a vibrator, for example a one-shot 16, a type and orientation indicator 17 with a control input, switching blocks 18 and 19, each of which has two control inputs, encoders 20 and 21. At the same time, the inputs of the code generation unit 12, frame size are associated with the first outputs of the switching blocks 18 and 19, the first control inputs; which are connected, respectively, to the outputs of the encoders 20 and 21, the inputs connected to the outputs of the block 13, which are connected to the inputs of the OR element 14 and the inputs of the type indicator 17 and orientation control input and a control unit 12 forming the input frame size code, and second control input units 18 and 19 connected to the output switching odnovibrato- 16 pa.

Electromagnets of one sponge are located against electromagnets of another sponge. Switching units 18 and 19, respectively, are included in the break of the supply circuit of the windings of the electromagnets, respectively. The two second outputs of the switching unit 18 are directly connected to the poles of the source 5

direct current, to which the two second outputs of the switching unit 19 are connected separately by pairs of contacts 7, 9 and 8, 10 of relay 6. The first outputs of the switching units 18 and 19 are connected to the corresponding inputs of the unit 12 for generating the size code.

The block 12 of forming the size code (Fig. 2) consists of a discrete signal generator 22, each of which contains a series-connected self-oscillator 23, a detector 24 and a pulse shaper 25, the output of which serves

the output of the signal former 22, and the inputs of the latter and the inputs of the block 12 forms: the 11th code of the frame size are the inputs of the autogenerator 23, the sensitive element of which

windings of electromagnets are blocks 3 and 4. The output of each discrete signal generator 22 is connected to the input of the decoder 26, the outputs of the code associated with the inputs of the register 27, the control input and outputs of which serve to control the inputs and outputs of the size-forming code unit 12.

The number of shapers 22 discrete signal corresponds to the number of electromagnets.

The capture device operates as follows.

In production, objects of manipulation often arrive in the capture zone of a robot arm oriented incorrectly, which, when further processed, leads to a violation of the conditions for performing technological operations. In addition, it is possible that such objects are not provided by the technological process in the processed set of objects. To eliminate such

situations by imparting to the robot robots equipped with a device for capturing, the ability to adapt to the type and orientation of the objects being manipulated by them, the device performs the function of identifying the type and orientation of the captured objects and testing the results obtained

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for example, exemption from unforeseen objects for processing or from processed objects oriented in a capture zone in an unforeseen manner.

The operation mode of the device is characterized by the states of Waiting, Grabbing, Freeing from holding incorrectly, Holding the desired object with the required one.

orientation and release.

The mode of operation is preceded by the training mode of the capture device. In the initial position, when the source 5 is turned on, the sponges 2 are separated with V9DOM 1 and blocks 3 and 4, the windings of electromagnets of which are connected to the source 5 by normally closed contacts 7 and 8 of relay 6 so that they create opposing magnetic fields that repel the jaws 2. Such inclusion it is provided with single values of control signals arriving at the first inputs of blocks 18 and 19 from the outputs of the encoders.

Switching blocks 18 and 19 provide for the connection of electromagnets selected by symmetrically encoders to the poles of source 5 directly and through contacts 7, 9 and 8, 10 of relay 6, respectively. In addition, for the duration of the pulse of the one-shot 16 switching units, each electromagnet from blocks 3 and 4 is connected to its shaper 22 discrete signal as its sensitive element.

In the Standby state, the switching units 18 and 19 by single signals from the first control inputs through their second outputs are connected in parallel to the windings of each of the electromagnets of blocks 3 and 4 separately. Thus, the electromagnets of blocks 3 and 4 create counter-magnetic fluxes, and the relay 6 is turned on due to the fact that all 2 contacts of block 13 are closed and are connected, the outputs of block 12 are inputs of OR element 14 (Figures 2 and 1)

Block 12 generates a binary positional code of the size of the object at the moment of arrival at its control input of the falling edge of a pulse from the one-shot 16, which starts at the moment the source 5 is turned on, and

06081

until the formation of the positional code. When the leading edge of the specified signal arrives at the second, control inputs of blocks 18 and 19

5 switching, connecting the solenoids of the electromagnets of blocks 3 and 4 to the driver 25, the formation of the discharge binary code of the object feature is carried out at divorced

10 2 or the absence of an object in the capture zone in the Waiting state (Fig. 2).

Formed on the driver x 22 binary code is fed to the inputs

15, the decimator 26, and in the form of a 2-digit position code, is fed to the inputs of the register 27 (Fig. 2). So the decoder 26 generates a corresponding to each incoming on

Its 20 inputs to the code size are one single logic signal on one of its outputs. The absence of the object in the capture zone corresponds to the zero code at the entrance

25 of the decoder 26, which leads to the occurrence of a corresponding unit value in one of the bits of the positional code at the output of the deoshfrarator 26.

With this resolution, 2 different sizes of standard sizes can be identified, corresponding to the type and orientation of the objects held in the capture zone of 5 mt. Since the one-shot 16 is started after switching on the source 5 only when the drive 1 captures the object, the code remains unchanged until the indicated moment,

 stored in register 27 and written to it with; arrival at its control input of the trailing edge of the one-shot 16 pulse (Fig. 2). Code no size, act

 from the outputs of the register 27 to 2 inputs of the block 13 and through the contacts of the block 13 closed by the operator to its 2 outputs and further to the inputs of the element 14 OR, supports at the output of the last

50 level of the logical unit that holds the current switch 15 in the open state, closing the power supply unit 11 of the relay 6. Forward by gripping the winding object of the electromagnets of the unit 4

55 through the normally closed contacts 7 and 8 of the relay 6 are connected to the source 5 in such a way that reciprocal repulsion of the jaws 2 by magnetic FIELDS of electromagnets of blocks 3 and 4 occurs (Fig. 1).

The execution of the training mode of the device for gripping is carried out in the following way. Before the capture, the object is fed into the area of movement of the arm of the manipulator or by other means. Thus, the object appears to be definitely oriented with respect to the jaws 2 in the capture zone. When 10 of the jaws 2 are compressed by the drive 1, they are energized from the source 5 through the open key 15 to accelerate the approaching and capture the object to be manipulated. Relay 6 turns on and switches its contacts, changing the polarity of the power supplied to the coils of electromagnets 3 and 4, as a result, magnetic fields of electromagnets attract sponges 2–20 with an average value of the gripping force determined by the code of the absence of a standard size in the gripping zone in the initial state of the Standby.

Thus, when voltage is applied from source 25 and drive 1 is turned on, an object is captured, the retention force of which is the sum of the indicated interaction force between magnetic fields and drive 1. 30 Consequently, the retention force of objects may change when the interaction intensity of magnetic fluxes, which, in turn, can adjust jc with the appropriate inclusion of the required number of electromagnets of blocks 3 and 4. To realize |; and differentiated, by compressing force, to keep the captured 40 ektov manipulation in the learning mode code size obtained is examined correctly oriented in the zone of gripping the object to be processed further. .45

I

The code of a standard size that is already present in the capture zone of an object is produced by the action of a pulse from the output of the one-shot 16, which is consumed at the moment actuator 1 operates to compress the jaws 2 and supply voltage from the source 5 to the operator or at the command of an external control device of the entire robot unit. The signal from the output of the single-55 vibrator 16 is fed to the second control inputs of the switching blocks 18 and 19 (Fig. 1), and each block of blocks of its second outputs connects the windings of the corresponding electromagnets blocks 3 and 4 to the input of block 22, 12 (FIG. 2). Thus, each winding, as an inductance coil with a ferromagnetic pole located inside it, performs the functions of the insensitive element of the autogenerator 23 of its former 22 when it is connected through the commutators of the blocks.

The inductance coil included in the oscillator circuit of the autogenerator 23 creates an electromagnetic field with a frequency of 200-300 kHz, and the presence of metal objects under its pole leads to a breakdown of this generation due to the occurrence of a counter electromagnetic flow of eddy currents directed against the flow of the inductor. The breakdown of the oscillations is detected by the detector 24, and the corresponding signal from the latter is fed to the pulse shaper 25, which generates a signal for the presence of the object surface in the capture zone studied by a particular electromagnet, i.e. a certain bit of a 2M bit of a standard size. Thus, the configuration of an object, depending on its orientation with respect to the electromagnets of blocks 3 and 4 in the capture zone, is characterized by its size code indicating that the type of object being processed corresponds to one of the specified possible ones, as well as its position in the capture zone.

If, in the learning mode, an object of the required type is captured and held in the desired position, then the discharge code of register 27, containing the only unit of the positional output code of the decoder 26, is manually closed with the corresponding contact of the unit 13 and is fed to the input of element 14 OR, whose single output signal provides an open state current key. 15 and the on state of the relay biv mode of the device for gripping, which ensures that the object in question is held in this position. The specified single jpasr of the position code size

one .

It is strewn with the switch of the block 13 into the output bit of the code of the effort of the block 13 (Fig. 1), corresponding to the required optimal compressive force of the idea. sponge 2 object. With an appropriate organization of W1fwriters 20 and 21, the highest unit of their input 2-digit codes leads to the emergence of output M-bit codes with a large number of unit bits. Thus, sprinkling the unit of the positional code of the object size from the discharge of its type into the required discharge of the force of its capture and retention by the switch of the block determines the adaptation algorithm of the device to capture to the processed objects by the force of their capture and retention, Consequently, the required adaptation to the type and orientation of the captured objects is provided by the organization of connections between the input and output bits of the block 13, corresponding to the optimal compressive force of the object, which are determined by individual properties each identified object.

The organization of these links for all objects included in their processed set and correctly located in the capture zone leads to the fact that objects not intended to perform any manipulations with them, or processed objects located in the capture zone in the wrong way. , cause the appearance of such codes of their standard sizes, the unit bits of which do not pass through the contacts of the block 13 to the input of the element 14 OR. The absence of single logical signals at the inputs of element 14 OR leads to the break of the circuit in block 11 of relay 6, its de-energization, as a result of which the supply polarity of the electromagnets of the blocks 4 changes again, and the resulting magnetic fields repulse and dissolve the jaws 2, freeing up a set of objects that is unnecessary in a given technological operation or a necessary object, but oriented incorrectly.

Repeat the procedure for compressing the sponges 2 when all objects from each of their processed aggregates are sequentially demanded in the required way, the code of the optimal compressive strength is compared to 060818

The code is of the standard size, which is expressed in the organization in block 13 of the corresponding links between the register 27 and the OR element 14 (Fig. 1). The force code 5 corresponding to the type and orientation of the object of manipulation is indicated by the indicator 17 (Fig. 1). Thus, in establishing an unambiguous correspondence between each object oriented 10 from the entire aggregate to be processed and the indication of its type and orientation, determined by the size, and setting the optimum gripping and holding force for it consists of conducting a training mode of the gripper.

In order to establish an unambiguous correspondence between the objects under study and their signs, the training mode includes also the implementation of the screening stage inherent in all learning robotics devices. This stage consists in introducing the SRI and eliminating from the entire considered set different objects that are different from one another, but not individually identifiable by this method, which in this case can be with irreducible equality of the types of different manipulative objects or their different orientations.

After the learning mode is completed, the capture device goes into an operation mode that is carried out

5 as follows.

In the Wait state, sponges 2 are divorced, and in the higher bit of the size code, a unit missing object appears at the output of the decoder 26

0 determines the zero signals coming from the outputs of all drivers 22 due to the absence of an object at the contact surfaces at the moment of arrival of the leading edge

5 pulses from a one-shot 16 to

the second control inputs of blocks 18 and 19. The unit of this bit along the trailing edge of the one-shot pulse 16 is written into the register 27 from the output

0 decoder 26 and is fed to the input unit 13. (Fig. 1).

After the action of the control signal from the one-shot 16 unit of no size, formed without an object in the pickup zone or when the jaws 2 were released, one of the initially closed 2 contacts of the block 13 enters its input of the element 14 OR, causing a single logical signal at its output that converts the current switch 15 to an open state, closing the circuit of the power supply unit 11 of the relay 6.

When oriented feeding of the desired object to the capture zone, the operator drives the object 1 to compress the object with 2 jaws

force, determined by the unit of the absence of which generates a value. in accordance with the size, as well as launching the one-shot 16. During the pulse of the one-shot 16, with its leading edge connecting through blocks 18 and 19 all electromagnets of blocks 3 and 4 as inductors to their shaper 22, and a captured object size code is generated. The inclusion of the required part of electromagnets of blocks 3. And 4 in the composition, respectively, of electromagnets of blocks 3 and 4 is caused by the unit absent in the code section of the decoder 26, fed through the Christmas tree 13 to the inputs of the encoders 20 and 21, their output codes include the required electromagnets of blocks 3 and 4 (Fig. 1).

After the front pulse of the one-shot 16, the switches of the switching blocks 18 and 19 disconnect the electromagnets of blocks 3 and 4 from the contacts of relay 6 and the poles of source 5, respectively, connecting them to their discrete signal conditioners of block 12, where the frame size code is written to the register 27. On the trailing edge of the control pulse of the single-vibrator 16 (Fig. 1).

The size code from the register 27 of the cherz contacts of the block 13 after the end of the pulse of the one-shot 16 reaches the inputs of the encoders 20 and 21, in which it is encrypted into the code fed to the switching blocks 18 and 19 as control switching signals. When a single signal arrives at this control input, the switches of blocks 18 and 19 connect the corresponding electromagnets of blocks 3 and 4 to a set of, respectively, electromagnets of blocks 3 and 4, uniting their power windings (Fig. 1). From the output of block 13, the code is induced on the indicator 17 and at the same time can be supplied to the external, in relation to the capture device, control device.

So, at the time of the action of the leading edge of the pulse of the one-shot 16, some of the electromagnets from blocks 3 and 4 cease to function as electromagnets and begin to work as the sensing elements of the generators of the formers 22, each

The relevant code size code.

When exposed to a pulse of one-shot 16, the decoder 26 receives and

converts the generated code of a standard size into a position code of type and orientation, which, being written into register 27, only at the appearance of the trailing edge of the considered pulse

and transformed in block 13 into a code of forces, enters the switching blocks 18 and 19 by the time of the end of the specified pulse. The appearance of a non-zero force code occurs only when the size code formed in block 12 corresponds to the correct orientation of the object intended for further processing. In this case, the indicated 2-bit discharge code, which simultaneously arrives at the inputs of the encoders 20 and 21, causes, at their outputs, corresponding to the required holding force of the object K-rad codes containing so many units in their bits as well as what pairs of electromagnets should be included in the composition of the electromagnets of blocks 3 and 4 and is activated to ensure the optimum holding of the identified object.

In this way, the gripping device is adapted according to the holding force to the type and orientation of the gripped object of manipulation. Thus, after the end of the action of a single-vibrator pulse 16, the electromagnets of blocks 3 and 4 include only those electromagnets whose switches from blocks 18 and 19 at their first control inputs from the outputs of encoders 20 and 21 have single ogle control signals. When electromagnets of blocks 3 and 4 compress the object with jaws 2 due to the fact that the electromagnet winding of block 4 is connected to source 5 via contacts 9 and 10, turned on by key 15

five

0

five

the relay 6, with the current switch 15 being held in the on state corresponding to the type and orientation of the object with a unit at the inputs of the element 14 OR (Fig. 1).

At the same time, the generated code value can also be sent to the robot control device using the proposed device for

capture, which allows, at the indicated signs of the determined signs, the repeated external level, to fulfill the necessary results.

corrective actions. After performing the necessary manipulations with the object and releasing it from the device, the capture device again returns to the original Waiting state. The cycle of capture, identification of the type and orientation, setting the optimal holding force or release from. object of manipulation with

5.6.

From 16 ynfl.8) (.

It

Editor N. Tupitsa

Compiled by F. Mayorov Tehred M. Parotsay.

8617/15 Circulation xy. Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Branch PPP Patent, Uzhgorod, st. Project, 4

%; 8x

FIG. 2

Proofreader L. Patay

Claims (2)

1. SCOPE OF THE MANIPULATOR, comprising jaws mounted on the housing with a drive for moving them, each of which has an electromagnet, a direct current source, and a relay with two pairs of contacts, one of which is made normally closed and the other is normally open, characterized in that, with In order to expand the functionality that can determine the size of the captured object and the corresponding change in the capture force, it is equipped with a vibrator, two switching units, each of which has two inputs control, two encoders, an indicator of the type and orientation of the object with a control input, connected in series to the size code generation unit with a control input, a third switching unit, an OR element and a current switch included in the relay power circuit, and additional electromagnets installed on each sponge, with the electromagnets of one jaw are located opposite the electromagnets of the other and are connected respectively to the first and second switching units, the first outputs of which are connected to the inputs of the unit code size, and the first control inputs are connected, respectively, to the outputs of the first and second encoders, the inputs associated with the outputs of the third switching unit and with the inputs of an indicator of the type and orientation of the object, the control input of which and the control input of the code generation unit of type * size, and also the second control inputs of the first and second switching units' are connected to the vibrator input ©, the second output of the first switching unit is directly connected to a direct current source, and the second output of the second unit to The circuit is connected to a DC source through relay contacts. 2. The device according to claim 1, characterized in that the unit for generating a size code consists of sequentially connected discrete signal conditioners, the number of which corresponds to the number of decoder electromagnets and code register, while the discrete signal generator is made in the form of a series-connected oscillator, detector, and pulse shaper , and the control input of the code register is the control input of the unit for generating the size code. SU „„ 1206081 1 1206081 2