SU1511108A1 - Control device for industrial robot - Google Patents

Abstract

The invention relates to robotics and can be used to create industrial robots that perform assembly operations. The purpose of the invention is to expand the functionality of the device by ensuring the fixation of adjustable coordinates at an intermediate positioning point. A multiplexer, a second position sensor and electromagnetic clutches are introduced into the device containing the counter, program setting block, electromagnetic distributors, keys and first position sensors. When processing the program, the coordinates are not moved to their final positions, but to an intermediate point caused by the triggering of the second position sensor, which is located in the gripper area of the robot, followed by fixing, if necessary, the coordinate force cylinders using the appropriate electromagnetic couplings. 1 il.

Description

The invention relates to robotics and can be used to create industrial robots that perform assembly operations.

The aim of the invention is to enhance the functionality of the device by ensuring that the adjustable coordinates are fixed at an intermediate positioning point.

The drawing shows the functional diagram of the device.

The device contains a counter 1, a program setting unit 2, electromagnetic distributors 3, keys 4, electromagnetic clutches 5, power cylinders 6, first 7 and second 8 position sensors and multiplexer 9.

The device works as follows.

In the first frame of the program from block 2, the following information is output: the direction of movement of the ram cylinder of the required coordinate, sensor number 7 or 8 and the state of brake couplings 5. Sensor number 7 or 8 of the positioning point is specified in the form of a binary code received at the address inputs of a multiplexer 9, as a result, a lobe level O is set at its output, since the robot has not yet reached a predetermined point and the sensor signal 7 or 8 corresponds to the logic level O. This level arrives at the input of the frame counter and blocks the change in the state of its outputs, and consequently, the output of the next program block address. There is a working out

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the corresponding coordinate and output at the programmed point, as evidenced by the level of logical I coming from the sensor 7 of the specified positioning point. The level of the logical unit comes through multiplexer 9 to the input of counter I and changes the state of its outputs, the program frame address is changed, and information about the next frame comes from block 2, including information about the state of the brake coupling 5 of that coordinate, which was worked out in the previous frame; the power cylinder rod 6, and through it the power cylinder rod can be fixed at the programmed point or can continue to move if this point is not finite. When fixing the power cylinder 6, the electromagnets of the keys 4 are disconnected, and, consequently, air or oil is blocked from entering the working cavities of the cylinder 6.

IF the output of the gripper arm to a rigidly programmed point can lead to a breakdown of the manipulator design or technological equipment, and this is possible with large variations in the positioning of the technological equipment, in this case, the movement of any coordinate of the robot occurs until the sensor 8 is floating

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The positioning points, the exposure of the sensor 8 located in the area of the gripper, is rendered not by the rod of the power cylinder 6 of the manipulator, but by the structural elements of the process equipment.

Claims (1)

Invention Formula A device for controlling an industrial robot, containing a counter, the outputs of which are connected to the inputs of the program setting block, and along each adjustable coordinate electromagnetic distributors, the input of each of which is connected to the corresponding first output of the program setting block, and the outputs through the corresponding keys to the inputs a corresponding ram, associated with the respective first position sensors, characterized in that, in order to extend the functionality, it contains a multiplex A second position sensor and each variable coordinate associated with the power cylinder electromagnetic clutch, the input of each of which is connected to the input vtorm corresponding keys and with the corresponding first output of the program setting block connected by the second outputs to the first inputs of the multiplexer, the output of which is connected to the input counter, and the second inputs - with the outputs of the first and second position sensors. Compiled by E. Politov. Editor P. Veselovska Tehred M. Khodanych Proofreader M. Vasilyeva Order 5846/20 Circulation 778 VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5 Subscription