SU1278203A1 - Method for controlling robotic set - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create robotic complexes. The purpose of the invention is to increase speed by ensuring parallel operation of the drives, as well as improving the reliability of the device by ensuring control of the execution of commands. For this, the device additionally introduces the position sensor of the actuators, four photosensors, a current sensor, a threshold element, two delay lines, and logistic S circuits. 1 hp f-ly, 2 ill.

Description

The invention relates to robotics and can be used to create robotic complexes. The purpose of the invention is to increase the speed of operation, by providing parallel drive robots, as well as improving the reliability of the device by ensuring control of command execution. FIG. functionality on the device diagram is presented; Fig. 2 is a functional block diagram of the control unit and the switch. The device contains a switch, a source 2 voltage, an element AND-HE 3, elements AND 4-8, an element ISH-HE 9, elements K) and 11 delays, a current sensor 12, a threshold element 13, a block 14 of manipulator actuators, an actuator 15- 22 position sensors 23-30, control unit 31, sensor position sensor unit 32, first inverter 33, control unit and switch enter counter 34, decoders 35-49 second inverter 50, elements OR 5155 triggers 56-60, keys 61- 69, integrator 70, standby multivibrators 71-81, switches 82 and 83, source 84 of the reference voltage. The device works like this. In the initial position, the first and second arms of the manipulator are opened and located at the outlets of the two-strand vibrating hopper, which forms two streams of oriented billets, the blanks in each of the vibrating hopper actuators 15 and 16, the vibrating hopper is in working condition. There are no blanks at the outputs of the vibrating hopper, the rays of the photo sensors 25 and 26 of the vibrating hopper outputs are not interrupted1 and single signals from the outputs of photo sensors 25 and 26 are received at the second inputs of elements 5 and 6. The sequence of operations in the robotic complex is determined by the structure of control unit 31, which in turn are their own: with the help of output signals using the switch 1, the drives 15-22 and 14 of the technological equipment and the manipulator turn on the operating mode. The control unit 31 operates as follows. At the moment the power supply 2 is connected by the switch 83, the counter 34 is set to zero by means of an inverter 50, an integrator 70, a reference voltage source 84. To do this, at the moment of connection, source 84 transmits a constant voltage to the input of the integrator 70, which is integrated by the integrator 70. At the output of the latter, a zero voltage first takes place, which is inverted by the inverter 50 and in the form of a logical unit is fed to the installation input of the counter 34 to zero. The counter 34 is reset. After the integration is completed, the voltage of the logical unit appears at the output of the integrator 70, which is inverted by the inverter 50 to a logical zero and does not interfere with the operation of the counter 34. After the switch 82 is pressed, the trigger 60 closes. the latter, with its output impulse through the element OR 51, writes a unit to the counter 34. A logical unit occurs at the output of the decoder 35, which is fed to the control input of switch 61 key 61. The key 61 connects the output of voltage source 2 to the inputs of elements 5 and 6. This voltage passes through the elements of And 5 and 6, since at their other inputs there are single signals, and the post-falls on the drives 15 and 16 of the vibrating hopper clamps. The vibrating hopper clips release the head blanks, which are pushed to the vibrating hopper outlets. When the output of one of the blanks is reached, the beam of the corresponding photo sensor 25 and 26 is interrupted, and a zero signal starts to come from the output of the 25 or 26 to the corresponding element And 7 of the 8. Thus, the control signal from the first output of the switch I and the corresponding 15 or 16 drive are interrupted. ceases to act, which causes the corresponding stream to stop. In this way, a piece is delivered to the output of the vibrating hopper of billets oriented in a certain way. The orientation of the blanks is carried out with the help of mechanical devices located in the channels of the vibrating hopper. The second channel of piece by piece delivery works in a similar way. If at the two outputs of the yibrobunker there are simultaneously blanks.

then the zero signals of the photosensors 25 and 26, which arrive at the inputs of the element OR NOT 9, form at its output a single signal that responds to the execution of the command of the control unit 31. If a malfunction of one of the channels of piece-by-piece delivery of blanks occurs, then at the output of block 9 a single signal is not generated and the operation of the complex is blocked, which prevents the possibility of mechanical parts failure. In the case of normal operation, the response signal from the output of block 9 is fed to the seventh input of control unit 31, i.e. to the input of the standby multivibrator 77. The latter produces a pulse with the level of a logical unit, which through block 51 enters the input of the counter 34. At the output of the counter 34, a code (number 2) appears. As a result, the logical unit at the output of the decoder 35 is replaced by a logical zero, and at the output of the decoder 36 a logical unit appears, which sets the trigger 56 to the one state. The trigger 56 opens the key 62 with a signal of its direct output and thereby connects the power supply 2 to the electrical winding of the gripper drive of the block 14. After the command is received, the manipulator grips close and clamp the workpieces protruding from the vibrator hopper outputs. The blanks, like the grippers of the manipulator, are spaced apart relative to each other by a distance equal to the distance between the centers of the spindles of the machine tool. After executing the command Clamping tongs, the 32 position sensor block of the manipulator from its first output causes a single signal to the input of the control block 31. After that, from the output of the standby multivibrator 71, through block 51, a single pulse arrives at the input of the counter 34, which sets a code (number 3) at the output of the counter 34, which results in the signal of the logical unit at the output of the decoder 37. This signal from the output of the decoder 37 through the element OR 52 is fed to the first input of the trigger 57 and sets it to one state. The signal from its direct output. The flip-flop 57 unlocks the key 63 and connects the source 2 to the second input of the block 14 of the actuator actuators. After this, the command to turn the grippers with the manipulator bar to the right is executed. By turning the workpiece, it is removed from the outlets of the vibrating hopper. After executing the rotation command of the block

The 32 position sensors of the manipulator from its second output transmit a single signal that is fed to the input of the waiting multivibrator 72. The pulse from the output of the multivibrator 72 through the block 51 enters the countable input of the counter 34 and sets the code (number 4) at the output of the latter. At the output of the decoder 38, a single signal appears, which is fed to

the first input of the trigger 58. At the direct output of the latter, a logical unit is set up that opens the key 64 connecting source 2 to the input of the block 14 of the manipulator drives. As a result, the command for moving the manipulator arm is executed. After executing this command, the blanks clamped in the tongs are located opposite the collets of the machine tool holders. The answer about the execution of this command from the third output of block 32 goes to the third input of block 31, after which a single impulse occurs at the output of the waiting multivibrator 73, which passes through block 51 to the input of counter 34 and sets the output code (number 5) at its output. At the output of the decoder 39, a single signal appears, which through the element OR 53 enters the first input of the trigger 59. The latter opens the key 65 with its direct output and thereby connects source 2 with drives 19 and 20 pedals of the machine. Wherein

The source voltage through the current sensor 12 turns on the drive 15 of the first pedal of the machine, thereby opening the first collet of the machine. Powerful actuators 19 and 20, made on AC electromagnets, should not

is switched on at the same time, as the total starting current can disable the power supply 2 and the supply circuits. Consistent them

inclusion reduces the speed of the entire complex.

To increase the speed and ensure at the same time the voltage of the device, supplied by the actuator 20 of the second pedal, the siachapa is delayed for a short time by the delay element 10, and then goes to the first input of the element 8, if

the current consumed by the actuator 19 of the first pedal passed the starting stage and reached its nominal value, then the signal from the second output of current sensor 12 triggers the threshold element 13, the unit input of which is fed to the input of elements AND 8. Thus, the output voltage element 8 turns on the actuator 20 of the second pedal while the actuator 19 is in operation, but after the termination of its inrush current consumption. After the completion of the command of the Collet, unclench the output signals of the sensors 27 and 28 of the position of the drives 19 and 20 of the first and second pedals of the machine to the first and second inputs of block 7. If both collets are unclenched, then a single signal appears at the output of block 7. by responding to the execution of the Unclench Dagi command, which is fed to the input of control unit 31. This input of block 31 is the input of a standby multivibrator 78, which at the moment of arrival of a high voltage at its input generates a pulse at its output with the level of a logical unit, which through block 51 enters the input of the counter and sets the code at its output (number 6 ), At the output of the deflator 40 pov; A single signal is transmitted through the RShI element 54 to the input of the trigger 57 and sets the latter to the initial position. In this case, the key 63 closes and de-energizes the actuator turning the manipulator to the right. The trigger 57 opens, with its inverse output, kgoc 66, which connects to the power supply 2 a drive for turning the manipulator to the left. After the execution of this command, the workpiece parts, clamped in the grippers, take up the working positions in the machine chucks. The response to the execution of this command is a signal that comes from the output of block 32 to the input of control block 31. As a result, a code (number 7) is set at the output of counter 34, and a signal appears at the output of decoder 4, which through the OR 55 element goes to a second input of the trigger 59, which is then set to the zero state.

The key 65 closes and turns off the source 2 from the drives 17 and 18 collets, the collet of the machine is compressed, at the outputs

sensors 23 and 24, a logic zero signal appears, which is transmitted to the input of the inverter 33 through an AND 7 element. A logic unit signal appears at the output of the inverter 33, which then enters the input of the standby multivibrator 79, and which is the response to Team Squeeze Collet. A single pulse from the output of the multivibrator 79 through the block 51 is fed to the input of the counter 34 and sets the code (number 8) at its output. A high level signal appears at the output of the decoder 42, which is fed to the second input of the trigger 56 and sets it to the initial state . As a result, a zero signal appears at the output of the trigger 56, the key 62 closes and turns off the source 2 from the scope of the manipulator. The grippers of the manipulator open and release the workpieces of the parts clamped in the machine chucks. The answer about the execution of this command comes from the output of block 32 to the input of block 31, t, e. A code (number 9) is set at the output of counter 34 at the output of the standby multivibrator 76, a signal appears at the output of the decoder 43, which through the second input of the OR element 52 arrives at the first input of the flip-flop 57 and sets the last one to one. A trigger 57 opens its key 63 with a signal of its direct output, which corresponds to a turn of the manipulator to the right. After receiving a response on the execution of a command from the output of block 32, a code (number 10) is established at the output of the counter 34. The decoder 44, with its output signal, overturns the trigger 58 into the initial state, after which the key 64 is closed, the Inverse output

the trigger 58 opens the key 67, which connects the voltage source 2 to the input of the manipulator actuator unit 14. In this case, the command Slide manipulator is executed. After executing the command: the response signal from the fifth output of the block 32 writes a code (number P) into the counter 34. The decoder 45 output signal through the element OR 54 sets the trigger 57 to the initial state, the key 63 is closed, and the key 66 is opened, and the i command is executed. Rotate the manipulator to the left. After executing the command and the arrival of the response signal at the input of the counter 34, it is set code (number 12). The decoder 46 opens the key 68 with the output signal. As a result, the voltage of source 2 is connected to the output of switch 1. This voltage turns on the drive 21 of the second caliper, and after a delay by element 11, the drive 22 of the first slide turns on. Calipers begin to move the cutters to the workpieces in the collet, and

machine chucks begin to rotate. The delay in switching on the calipers makes it possible to spread in time the points of incision of the incisors into the workpieces and, thus, to reduce the total starting mechanical load on the common electric drive of the semi-automatic lathe. At the end of the machining process, the cam mechanism of the machine returns the calipers to their original position, and the sensors 29 and 30 of the position of the drives 21 and 22 of the first and second calipers associated with them provide the response to the execution of the command. At the same time, the output signals of the sensors 29 and 30 of the position of the actuators of the supports 21 and 22 are fed to the first and second inputs of the NAND 3. When the actuators 21 and 22 turn on, the signals of the logical unit appear at the outputs of the sensors 29 and 30, and AND-NO 3 there is a logical zero signal. After the processing is completed and the calipers return to their original position, logic zero signals appear at the outputs of sensors 29 and 30, and a positive signal edge of the logical unit appears on the AND-HI element 3, respectively, which affects the input of the standby multivibrator 80. As a result at the output of the multivibrator 80 a pulse of the signal occurs, which through the block 51 enters the input of the counter 34. The code (number 13) is set at the output of the latter, and it appears at the output of the decoder 37;

The signal that arrives at the second input of the element OR 53, the output of which is connected to the first input of the trigger 59. Under the action of the signal from the output of the decoder 37, the trigger 59 is set to one and the signal from its direct output opens the key 65. As a result, the command Open the collet of the machine. At the end of the execution of the Collet command, the output signals of the sensors 27 and 28 of the position of the actuators 19 and 20 of the first and second pedals of the machine are released to the first and second inputs of element 7. If both the collets are unclenched, then the output of block 7 is a signal of logical unit arrives at the input of the standby multivibrator 78, at the output of which a pulse is generated, which is fed through the block 51 to the input of the counter 34 and sets the code (number 14) at its output. At the same time, a signal appears at the output of the decoder 48, which opens the key 69. The last

5 connects the voltage source 2 to the inputs of the actuators 17 and 18 of the first and second pneumatic valves. Pneumatic valves connect the pneumatic circuit to the internal cavity of the machine tool chucks. As a result, the machined parts are blown out of the collets along with the chips and fall into the receiving trays. The signals from the photo sensor 23 of the first collet and the photo sensor 24 of the second collet, signaling that there are no parts in the machine chucks, are fed to the inputs of element 4. The unit 4 output signal to the input of the waiting multivibrator 81 is 0 with the answer about the execution of blowing parts from collet After receiving the response, a code (number 15) is set in the counter 34. At the output of the decoder 49, a signal appears which, through the element OR 55, sets the trigger 59 to the initial state, as a result of which the key 65 is closed. The voltage source 2 is disconnected from the collet drives, the collet is compressed, and at the outlets

0 sensors 27 and 28 a logical zero signal appears, which from the output of block 7 is fed to the input of the inverter 33. The positive edge of the signal at the output of the inverter 33 acts on

5 is the input of the multivibrator 79. The pending multivibrator 79 generates a signal that is a response to the execution of the Compress Collet command. A single pulse from the output of the multivibrator 79 through the block .51 is fed to the input of the counter 34 and sets at its output a code (number 0). At the same time, an overflow pulse appears at the fifth output of the counter 34, which through

5, block 51 is fed to the counting input of the counter 34 and sets in the counter 34 a code (number 1). After this, the cycle of operation of the device is repeated.

Claims (2)

1. A device for controlling a robotic complex containing eight drives and a control unit, the outputs of which are connected to the corresponding first inputs of the switch connected by the second input to the output of the power source, and the first outputs to the inputs of the manipulator drive unit, characterized in that device reliability, it contains a current sensor, five AND elements, eight position sensors, an AND-NOT element, an OR-NOT element, the first inverter, two delay elements, and a position sensor block keypad, the outputs of which are connected to the first inputs of the control unit connected by the second input to the output of the first element And, the first and second inputs of which are connected respectively to the output of the first and second position sensors, the second output of the switch is connected to the first inputs of the second and third elements And connected by the output to the input of the first and second drives, respectively, and the second input to the output of the third and fourth position sensors, respectively, and the first and second inputs of the KPI-NOT element, whose output is It is connected to the third input of the control unit, the third output of the switch is connected to the input of the third and fourth drives, and the fourth output to the input of the first delay element and through the current sensor, the fifth drive and the fifth position sensor connected to the first input of the fourth element. The second output of the current sensor is connected through the threshold element to the first input of the fifth element I, the second input of which is connected to the output of the first delay element and the output to the input of the hard drive connected through the position sensor to the second input the house of the fourth element And connected by the output directly to the fourth input of the control unit and through the first inverter with the fifth input of the control unit; the fifth output of the switch is connected to the input of the second delay element and through the serially connected seventh drive, the seventh position sensor and the element And - NOT with the sixth entrance control unit, and the output of the second delay element is connected through the eighth drive in series and the eighth position sensor to the second input of the NAND element. 2. The device according to claim 1, characterized in that the control unit contains the first switch, five triggers, five OR elements, fifteen decoders, eleven multivibrators waiting and serially connected reference voltage source, a second switch, an integrator, a second inverter and a counter, the second input of which is connected to the output of the first OR element, and the first outputs to the corresponding inputs of all decoders, the output of the second decoder is connected to the first input of the first trigger connected by the second input to the output of the eighth decoder, the output of the third decoder is connected to the first output of the second element One or the second input of which is connected to the output of the ninth decoder, and an output - to the first input of the second flip-flop, the fourth decoder output is connected to a first input of the third the trigger connected by the second input to the output of the tenth decoder, the output of the fifth decoder is connected to the first input of the third OR element, the second input of which is connected to the output of the thirteenth decoder, and the output to the first input of the fourth trigger, the output of the sixth decoder is connected to the first input of the fourth OR element connected by the second input to Q output of the eleventh decoder, -a output to the second input of the second trigger; the output of the seventh decoder is connected to the first input of the fifth OR element, the second input of which is connected to the output of the fifth decoder, and the output to the Second input of the fourth trigger, the output of the first decoder, the output of the first trigger, the first and second outputs of the second trigger, the first and second outputs of the third trigger, the output of the fourth trigger, the output of the twelfth decoder, and the output of the fourteenth decoder are connected to the corresponding outputs of the control unit The output of each standby multivibrator is connected to the corresponding first input of the first OR element, the second input of which is connected to the second output of the meter, the third input to the output of the fifth trigger connected to the first switch, the first inputs of the control unit with the inputs of the first six waiting multivibrators, And the second 8.0312, the third, the fourth, the fifth and the sixth inputs - with the inputs of the eleventh, seventh, eighth, ninth and tenth waiting multivibrators, respectively.