SU1541556A2 - Device for control of adaptive robot - Google Patents

Abstract

The invention relates to robotics and can be used to create adaptive robots equipped with an intelligent gripper. The aim of the invention is to expand the functionality of the device by providing capture of objects displaced in a horizontal plane relative to the vertical axis of the gripper. The device contains compressors of the gripper jaws and gripper lifting drives, which are connected to the output of the program task block via the corresponding keys. One of the keys is controlled by the signals of the slip sensor, which are amplified, differentiated, and processed in the series-connected threshold element and the first trigger. The other key is controlled by signals from tactile sensors mounted on each of the gripper jaws, and these signals are pre-processed in element I. The device also contains a drive for horizontal movement of the gripper, which is controlled by signals from tactile sensors processed in series-connected element OR, second trigger and key system. If the object being captured is displaced relative to the gripper axis, before the object is gripped, the gripper position is corrected relative to the object by the signals of tactile sensors. When the object is simultaneously touched with both jaws, the object is gripped and lifted in the tong. 1 and

Description

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swarm trigger 18, third and fourth keys 19 and 20, power supply unit 21, fifth key 22, third horizontal movement actuator 23, second element NOT 24.5

The device works as follows.

In the initial state, the gripper 1 is connected to the gripped part 3i located on the working surface and having a linear displacement in the horizontal direction along the X axis relative to the vertical axis of symmetry of the gripper 1. The jaws 2 gripper 1 are separated, the signal | ly with tactile sensors 11 are missing, the element 11 13 has an output O, while the second key 16 is open, and the fifth key 22 with a single signal from the element 24 is closed. When the device 20 is turned on, a single pulse is formed at the second output of the program setting block 12, which sets the trigger 8 to the zero state, then 25 1 appears at the output of the NOT element 14 and the first switch 15 closes.

From the third output of the program setting block 12, a command is given, for example, the compression voltage of the jaws 2 of the gripper 1. This command, via an open first key 15, is applied to the compression actuator 9. The lips 2 grips 1 begin to shrink. At the same time, from the direct output of the trigger 18, which in the initial state was indifferent in what state, for example, a single signal, the single signal holds the third key 19 in the closed state, and the zero signal from the inverse output of the trigger 18 holds the fourth one. key 20 in the open state. Then the positive potential from the terminal plus the power supply unit 21 through the closed third and fifth keys 19 and 22 is fed to the horizontal movement actuator 23, which will move the gripper 1 in one of the directions along the X axis, and it does not matter in which direction. Since part 3 is displaced along the X axis relative to the vertical axis of the symmetry of the grips 1, when the gripper 1 is horizontally moved and the jaws 2 are simultaneously pressed, the surface of the part 3 touches only one of the tactile sensors 11, the signal from which passed through the OR element 17 , changes the state of trigger 18 to the opposite. Direct trigger output 1 & appears oh and on in35

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verse 1. Then the third key 19 opens, and the fourth key 20 closes, and the negative potential from the minus1-1 terminal of the power supply unit 21 through the fourth and fifth keys 20 and 22 is now applied to the horizontal movement actuator 23, which moves the gripper 1 in the opposite direction direction to touch with another tactile sensor 11.

Further, the sequence of actions is repeated until both tactile sensors 11 simultaneously touch the surface of the part 3. At the output of the element 13 there will be 1, therefore the fifth key 22 will open and the second key 16 will close. The command for the horizontal movement actuator 23 will not be received regardless of the state of the trigger 18, and the horizontal movement of the gripper 1 will stop. From the first output of the program setting unit 12, a command is given, for example, to lift the gripper 1. This command, via the closed second key 16, is fed to the elevator drive 10. The latter begins to lift the gripper 1, the jaws 2 of the gripper 1 continue to contract, covering the part 3 more strongly. However, due to insufficient compression of the jaws 2, the component 3 slips into them, leaving it to remain on the working surface. As the jaws 2 increase in compression, the slippage of part 3 decreases, and the load on gripper 1 increases. The load grows as the slippage process of part 3 takes place. The voltage from the slip sensor 4 is amplified by the amplifier 5 and differentiated by the differentiator 6.

 While the signal at the output of the differentiator 6 does not reach the threshold of the threshold element 7, the signal at the first input of the trigger 8 does not enter and the state of the device does not change: the gripper 1 continues to rise, and the jaws 2 compress the component 3 more strongly. 1 it turns out - etcfl sufficient for reliable fixation of the part 3, it is detached from the working surface. In this case, for a short time of the part 3, kinetic energy is connected, which is recorded (by the slip sensor 4 as a multiple

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Claims (1)

Claim Device for controlling an adaptive robot according to ed. No. 1188700, characterized in that, in order to expand the functionality, it contains a second element NOT, a serially connected OR element, a second trigger and a third key, as well as a series-connected power supply, a fourth key, a fifth key and a third drive, with tactile outputs sensors are connected to the corresponding inputs of the OR element, the output of the AND element through the second element is NOT connected to the second input of the fifth key, the first input of which is connected to the output of the third key connected by the second input to the second output power supply, and the second output of the second trigger is connected to the second input of the fourth key.