SU1208537A1 - Device for checking systems for controlling feed of blanks in stamping machines - Google Patents

Abstract

The invention relates to the field of control technology for automated sheet-stamping complexes and lines using industrial robots and manipulators. The device consists of a generator of reference pulses, a key with a photo sensor for moving the workpiece, a counter, a delay element, a multiplication unit, a register and a comparator. The principle of the device is to pre-calibrate the meter with a memory of the thickness of the workpiece from this batch and its one-and-a-half size (using a multiplier and a register). When the next billet is supplied by the robot hand from the feeder to the initial position, the thickness of this billet is measured by counting the number of stable frequency pulses over the time interval of movement of the end, which determines the thickness of the billet, between the elements of the photo sensor of the displacement sensor. If this number exceeds the value stored in the register, the command to reset the double blanks is entered. 2 Il. c @ l

Description

The invention relates to the field of automation and computer technology and is intended for use in automated sheet-building complexes and lines using industrial robots and manipulators.

The aim of the invention is to improve the accuracy and reliability of the device.

FIG. Figure 1 shows the structural diagram of the photosensor of the movement of the workpiece and its location relative to the path of movement of one of the corners of the workpiece; in fig. 2 - functional device diagram.

The device contains a photosensor 1 moving the workpiece with an emitter and a photodetector 3, multiplier 4 (multiplier), register 5, differentiating element 6, single impulse generator 7 (button), counter 8, trigger 9, key 10, delay element 11, generator 12 reference impulses , comparator 13. Positions 14 and 15 denote, respectively, the workpiece and the robot arm, which moves this workpiece to the upper position 16.

The device works as follows.

Before switching on the robotic technology complex 3, the automatic mode calibrates the device for detecting dual workpieces by pressing button 7. The signal from button 7 sets counter 8 to zero and trigger 9 is activated. When the workpiece 14 is moved by hand 15 of the robot to the upper position, the radiator light is interrupted 2, and the photodetector 3 generates a signal whose duration is determined by the time of interruption of the light flux. For the duration of the signal from the photosensor 1, the key 10 is opened and, in addition, a delay element 11 is triggered by this signal. The pulses of the generator 12, the passage through the public key, 10, are counted by the counter 8. The information signals of the counter 8 are fed to the input of the comparator 13 and to the input of the multiplier 4 ,. The multiplier 4 increases the number recorded in the counter by 1.5 times, and the result is fed to the information input parallel to register 3.

At the end of the photo sensor 1 signal (the workpiece has passed the optical axis of the photo sensor 1), the key 10 is closed. In the counter 8, the number corresponding to the thickness of the workpiece 14 is fixed. Through the differentiating element 16, the trigger 9 returns to the initial state. Changing the signal at the output of the trigger 9 provides a record multiplied by a constant

the coefficient is 1.5 of the number recorded in the counter 8 in the parallel register 5. Thus, in the parallel register 5 the number corresponding to the one-and-a-half thickness of the workpiece 14 is written. This number is taken as a sample with which the thicknesses of all subsequent ones will be compared. blanks that are moved by the hand of the robot 15 from the feeder to the upper position 16.

At the end of the time determined by the delay element 11, the counter 8 is set to the initial

condition. The time interval formed by the element. 11, is chosen so that, before its termination, the control system of the robotized technological complex polls the output signal of the device. This completes the calibration (device setup). When moving to the upper position 16 of the next workpiece, the delay element 11 is opened. The key 10 opens, the number corresponding to the thickness of the workpiece 14 is fixed in the counter 8. This number is compared with the sample by the comparator 13. The sample’s one-and-a-half thickness margin ensures reliable operation of the device with a certain instability of the lifting speed billet 14 and different thickness blanks 14 in the package. Before the end of the time determined by the delay element 11, the output signal of the comparator 13 is interrogated by the control unit of the robotic processing facility. Then, the counter 8 is set to the zero state by the signal of the delay element 11, and the device is ready for a new cycle of operation.

If in the gripper of the robot there are two blanks 14, then the counter 8 will fix the number corresponding to twice the thickness of the blank. And

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the presence or absence of a gap between the blanks does not matter. After comparison with the sample (the number corresponding to one and a half thickness of the workpiece), the state of the output signal of the comparator 13 changes. This change is perceived by the robotic control system, the technological complex, which instructs the robot to reset the dual blanks.

To eliminate the nonflatness of blanks on the operation of the device, the narrowest part of the blank 14 is inserted into the working area of the sensor 1, the angle of the rectangular blank, as shown in FIG. one.

Claims (1)

Invention Formula A device for controlling control systems for supplying billets to punching aggregates, comprising a generator of reference pulses connected in series, a key whose other input is connected to the output of the photocell of the displacement of the billet. ten 08537 4 and a counter, characterized in that, in order to increase the accuracy and reliability of the device, it contains a delay element, the input and output of which are connected respectively to the output of the photo sensor for moving the workpiece and the counter reset input connected in series with the multiplication unit, register and comparator; the output of which is the output of the device and the other input is connected to the input of the multiplication unit and the output of the counter, a single pulse generator connected to the reset input of the counter, and connected in series a differentiating element and trigger, another input and output of which are connected respectively to the reset input of the counter and the register entry input, and the input of the differentiating element - to the output of the photo sensor for moving the workpiece, the optical axis of the photo sensor for moving the workpiece being parallel to the zagot plane Application at the intersection with the path of movement of one of its corners. 15 20 25 (Rig. 2.