SU1414624A1 - Apparatus for controlling assembly robot - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create assembly robots. The purpose of the invention is to improve the accuracy of the device by eliminating the jamming of the assembled parts during their vertical misalignment. For this, two step elements and two adjustable coordinates of the gripper are introduced. 2 Il.

Description

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This invention relates to robotics and can be used to create assembly robots.

The purpose of the invention is to increase the accuracy of the device by eliminating jamming of the assembled parts in case of their vertical misalignment.

FIG. 1 shows a functional diagram of the device; in fig. 2 is a diagram of the movement of the adjustable coordinates.

The device contains the program setting unit 1, the assembly 2 correction unit, the first 3, the second 4, the third 5, the fourth 6 and the fifth 7 adjustable coordinates, the first adders 8, the first amplifiers 9, the motors 10, the sensors 11 and 12 of speed and moment, respectively , actuators 13, second adder 14, second amplifier 15, first switch 16, first threshold element 17, speed controller 18, second switch 19, gripper 20, third switch 21, first and second controlled amplifiers 22 and 23, respectively, second and third thresholds 24 and 25, respectively.

FIG. 1 and 2 are denoted by U; Vy, Lp, V. and 1 are the output signals of block 1; 8 - 11Ч) l perpendicularity of the axes of the assembled parts; u) and w - angular velocities of coordinates 6 and 7.

The device works as follows.

To bring the part to the position of the assembly by the robot grip (the other part is a base and is fixed, the non-parallelism of the coordinate axes of the parts is possible, caused by technological and structural reasons for the angle 0, signals from the outputs of block I of the Vx, Vy program set and 4 speeds are unremarkable. Each signal from the V or Vy output passes through key 16 or 19 to the adder 8 of the corresponding coordinate 3 of the I.1I 4 and further through the amplifier 9 to the motor 10, then movement through the sensor 12 of the MO is transmitted to the executive The first mechanism 13 (time interval O-t). From the sensor 12 of the moment, the signal is removed that corresponds to the developed moment of resistance to the force of action of the gripper transformed through the actuator 13 at the current coordinate 3 or 4.

After the output of the gripper 20 to the assembly mode, the signals from the outputs Vx and y are zero, the signal V saves the speed of movement along coordinate 5 until the parts touch (interval 1, -tj) in the same way as engines 10 move along coordinates 3 and 4. At the moment of contact details (time tj.) sigpal from the sensor 12 of the moment of coordinate 5 exceeds the threshold of the threshold element 17 and switches the key 21. The input of the engine 10 is connected to the output of the second amplifier 15. The signal F from the output of the unit 1 controls from this moment on

0 5

five

Z-coordinates. The hole-detail has angle θ — the angle of chamfer of the part, Fj is the vertical force of influence, F is the reactive force along one of the horizontal coordinates (for example, Y), and Fx Fj ctg-f. This ratio is inherent in the self-interaction of parts, the greater the deviation of the centers of the axes of coordinates of the parts along one of the horizontal coordinates, the greater the reaction force along this coordinate. This relationship is incorporated in block 2 of the correction of the assembly process.

Thus, from the moment the force Fj is acting (moment t), the reactive forces F and Fy through actuating mechanisms 13 and sensors 12 coordinate points 3 and 4 in the form of signals through signal amplifiers 22 and 23 are connected to keys 16 and 19. To this moment, the signal from the threshold element 17 switches the keys 16 and 19 to the signal connection of the reactive forces from the control inputs of the adders 8, coordinates 3 and 4, respectively. At the time of alignment of the centers of the shaft forming parts and the hole (time tj), the signal from the sensor 12 5 does not pass through the threshold element 17 that leads through keys 16, 19 and 21 to the connection of signals from the outputs of block 1, respectively, Vx, V ,,, z with the inputs of adders 8, respectively, of coordinates 3, 4 and 5. Since at this time only the output V of the program is not zeroed , the detail is omitted at coordinate 5 (interval tj-t).

If there is non-parallelism, namely, the angle 0 between the coordinate axes of the assembled parts (moment t), the parts are wedged. The FZ signal controls the impact force along the coordinate 5, and the threshold element 17 switches the keys 16 and 19 to the coordinates 3 and 4 coordinates from the controlled amplifiers 22 and 23. The output signal - unit 1 ugfels the amplification factor of the amplifiers 22 and 23, the igif model, and the coefficient of friction between the parts collected.

From sensors 12 of the moment of coordinates 3 and 4, signals that are opposite in sign are received to controlled amplifiers 22 and 23 (Fig. 2), rather than when moving parts along the chamfer, i.e. promote even more jamming of parts. But at some point (interval) the signal from the controlled amplifier 22 (23) exceeds the threshold of the threshold element 24 (25) and a constant signal arrives at the input of the speed regulator 18 coordinate 6 (7). Happens ka. Grip on coordinate 6 (rotation around the horizontal axis X) and coordinate 7 (rotation around the horizontal axis Y). The constant signal from the threshold elements 24 or 25 should correspond to the swing speed

  Vx / l or cOg, Vtp / 1. where 1 is the length of the shaft part.

Thus, the movement of the part along the coordinates 6 and 7 leads to a decrease in the angle G, and the motion along the coordinates 3 and 4 leads to a combination of the vertical axes of the details. At the same time, vertical force action contributes to the lowering of the part along coordinate 5 to the guaranteed assembly of parts. The predominant feature of combining the axes of assembled parts in the period under consideration (period t, - t) is the use of force information only along the coordinates of m 3, 4 and 5, leading to a constructive simplification of the proposed device. At the moment of assembly (moment tg), the span 20 is expanded and then its coordinate movements depend on the signal from block 1 of the program's task. The controller 18 of the speed of coordinates 6 or 7 controls the speed of swing of the gripper 20, depending on the input signal, and structurally can use the elements of 8-11 coordinates 3 or 4 with their connections.

Claims (1)

Invention Formula A device for controlling an assembly robot that contains a program.ma.mma task block, the first and second outputs of which are connected to the first input of the corresponding keys, and the third output to the first input of the first and second controlled amplifiers, and in the first and second adjustable coordinates in series connected the first adder, the first amplifier and the engine, kinematically connected through the torque sensor with the actuator 5 Q 5 n and directly with a speed sensor connected by an output to the first input of the first adder, the second input of each of which is connected respectively to the output of the first and second keys)) connected by a second input to the output of the corresponding controlled amplifier, the second input of which is connected to the output of the torque sensor the first and second adjustable coordinates, respectively, as well as the third adjustable coordinate, the serially connected first adder, first amplifier, third key, and engine, kinematically coupled through the sensor of the moment with the executive. mechanism and directly with the speed sensor, under the scaled output to the first input of the first adder, the second input of which is connected to the fourth output of the program task block connected by the fifth output to the first input The second adder, the output of which through the second amplifier is connected to the second input of the third key, and the second input to the output of the torque sensor and the input of the first threshold element connected by the code to the third input of the first, second and third keys, characterized by that, in order to increase accuracy, it contains the second and third threshold elements and the fourth and fifth adjustable coordinates, kinematically connected speed controller and actuator, and the input of the second and third threshold elements are connected respectively with the output of the first and second regulators speeds of the fourth and fifth adjustable coordinates. z o 2 X about