SU1234219A1 - Control system for robot of sheet-stamping press - Google Patents

Description

The invention relates to mechanical engineering, in particular, to the design of systems for adjusting pressure treatment equipment.

The purpose of the invention is to increase the reliability due to more accurate control of the number of blanks achieved by introducing into the control system feedback in bulk, or blanks.

FIG. 1 shows a diagram of a robot with a press; in fig. 2 is a block diagram of a control system; in fig. 3 - placing the sensor on the robot assembly (as shown in FIG. 1); in fig. 4 - the same.

The robot 1 is mounted on the base 2 of the press and contains a hand 3 carrying the working bodies 4, an actuator 5. The material (blanks) 6 is placed in the foot 7 on the manipulator 8.

The robot also contains an intermediate table 9, where, prior to the feeding of the blanks 6 into the die 10, their orientation is carried out. The finished product 11 after processing in the stamp 10 is transferred to the second intermediate table 12, which serves to orient the finished products before transferring them to the side 13. In the intermediate table 9, a sensor 14 is fixed, which serves to control the thickness of the workpiece 6 On the robot 1 there is also installed a sensor 15, which serves to register the beginning of the vertical stroke of the arm 3 with the working elements 4. On the shaft of the drive 5 there is installed a sensor 16 for moving the robot ..

The system (Fig. 2) also contains a billet thickness control unit 17, the output of which is connected to the information input of a pulse counter 18, the counting input of which is connected to the first output of the counter control unit 19, and the write enable input is connected to the second output of the counter control unit 19 . The first input of the counter control unit 19 is associated with the output of the robot movement sensor 16, the second input with the sensor output 15, and the third input with the output of sensor 14. Information about the output of the pulse counter 18 goes to the first input of the code comparison unit 20, the second input of which connected to the output of the fault detector 21. The output of the code comparison unit 20 is connected to the first input of the AND element 22, the second input of which is connected to the output of the sensor 14, and the output to the input of the drive locking unit 23, the output of which is connected to the input of the control unit 24. The output of the control unit 24 is connected to the input of the amplifier 25, the output of which is connected to the drive 5 (made, for example, in the form of an asynchronous electric motor with a gearbox).

The control system of the robot for the stamping press works as follows.

In the initial position, the arm 3 with the working bodies 4 fixed on it is in the extreme right position, and

0

five

0 Q

five

the latter are mounted respectively over a foot of 7 blanks, two intermediate tables 9 and 12 and a press stamp 10. The design of the drive arm 3 provides its movement during transportation of blanks and finished products from one position to another along the U-shaped trajectory. When the drive 5 of the asynchronous motor is turned on, the arm 3 goes down, takes the workpiece from the foot 7 and together with the workpiece goes up. The constant level of the foot 7 is maintained by periodically raising the manipulator 8. Then the hand 3 moves to the left (Fig. 1) by the feed step size and goes down, placing the workpiece on the first intermediate table 9, on which the workpiece is oriented and the quantity is controlled the blanks supplied to the die 10 of the press (thickness control), after which it is ready to be transferred to the die 10 of the press. Hand 3 goes to the right and the cycle repeats. For the next course of orientation, the blank from table 9 is placed in die 10, and the new blank from foot 7 is placed on table 9. Then the finished product 11 is transferred to the second intermediate table 12, the oriented blank from table 9 is pressed into die 10, and the new the blank from the foot 7 is placed on the intermediate table 9. On the intermediate table 12, orientation of the finished product 11 occurs and during the next turn the oriented finished product from the table 12 is transferred to the foot 13, from the stamp 10 to the table 12, the blank from the table 9 is transferred to the stamp 10, and a new billet from foot 7 - to the intermediate table 9. When filling all the positions, hand 3 for each move makes transfer of blanks from the foot to the intermediate table, from it to the press stamp, from the stamp the finished product to the second intermediate table and from it to the foot of the receiving manipula torus. Thus, for each cycle of the robot arm's movement, the blanks are transported and the finished part is removed after each working stroke of the press ram.

The number of blanks in the press die is monitored as follows.

The movement of the hand 3, the actuation of the working bodies 4, centering, the stroke of the press, raising the manipulator 8 and lowering the manipulator is carried out in accordance with the sequence of the technological cycle according to the commands of the control unit 24. Before starting work, the thickness of the preform is laid in the presetter 17 of the thickness of the preset. From the output of the unit 17, the information thickness in the binary-decimal code enters the information input of the pulse counter 18. In the absence of a workpiece on the intermediate table 9, the sensor 14 sends the counter control unit 19 at the recording resolution input to the counter. the counter 18 is recorded with the binary-decimal code of the thickness of the workpiece from the output of the thickness setting device 17. A pre-set also is a permissible error for determining the thickness of the workpiece at the gap setting unit 21, the binary-decimal code of which is fed to the input of the code comparison unit 20.

When the movement of the hand 3 with the workpiece, the sensor 13 is activated, which fixes the beginning of the vertical code of the working bodies 4 with the workpiece. The sensor 14 through the counter control unit 19 permits the passage of pulses from the movement sensor 16 to the counting input of the counter 18 operating in the subtraction mode. The operation of the counter 18 continues until the sensor 14, which is installed in the intermediate table 9, triggers. The difference code of the predetermined thickness of the workpiece and the number of pulses of the displacement sensor 16 is fed to the first input of the code comparison unit 20. Comparison unit 20 generates a signal "O if the difference code is less than or equal to the error tolerance code, and signal" 1 if the difference code is more than the error tolerance code. The passage of the signal from the output of block 20 comparison codes to the input node 23 blocks

The actuator is driven through element 22 on command from sensor 14, i.e., at the moment when the workpiece is transferred to the intermediate table 9. Sensor 14 will be activated earlier if the working body 4 carries the double workpiece or the workpiece is larger than the allowable thickness, and the quantity the pulses from the motion sensor 16 received at the counting input of the counter 18 will decrease, and the code comparison unit 20 will generate a ' 1 signal which blocks the operation of the drive.

The robot control system significantly improves the accuracy of controlling the number of blanks in the press stamp, since the vertical movement of the blank is measured, and the error in measuring the thickness of the blank by this device is much less than the minimum thickness of the blank and is determined by the number of pulses of the displacement sensor per robot stroke.

Thus, an increase in the reliability of the operation of the robot and the press is achieved, since the cases of supply of blanks doubled or overestimated in thickness are practically eliminated. This determines the efficiency of using the control system.

FIG. 2

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Compiled by V. Stokolov

Editor I. Segl NikTechred I. Veres Corrector A. Zimokosov

Order 2708/20 Circulation 597 Subscription

VNIIPI USSR State Committee

for inventions and discoveries

113035, Moscow, F - 35, Raushsk ab., 4/5

Branch PPP "Patent, Uzhgorod, st. Project, 4

Claims (1)

ROBOT CONTROL SYSTEM FOR SHEET STAMPING PRESS, containing a control unit connected to an amplifier with a drive of the working parts of the robot, sensors for monitoring the thickness of the workpiece and the vertical stroke of the working parts, a code comparison unit, and a pulse counter connected to the counter control unit, characterized in that, with the purpose of increasing reliability by increasing the accuracy of controlling the number of workpieces by introducing feedback on the thickness of the workpieces, it is equipped with a setter for the thickness of the workpieces, a sensor for moving workers of the organs, the setter of errors and the And elements as well as the blocking block for the drive of the working bodies of the robot, the output of which is connected to the input of the control unit, and the input to the output of the And element, one input of which is connected to the sensor for controlling the thickness of the workpiece, and the other to the output of the code comparison unit connected by its inputs to the output of the error adjuster and a pulse counter, the information input of which is connected to the output of the workpiece thickness adjuster, and the counting and enabling are connected to the corresponding outputs of the control unit Chick, priche.m latter inputs coupled to sensors monitoring workpiece thickness vertical stroke movement of the working bodies and working organs. Phil. 1 SU. „, 1234219