SU1551664A1 - Device for controlling sheet glass layer - Google Patents

Abstract

The invention relates to the building materials industry, and more specifically to the glass industry. It can be used in finishing operations for the production of sheet glass, in particular in automating the operations of sheet glass stopping. Improves control accuracy and performance. It contains the sensor 8 position manipulator, the sensor 9 of the presence of a sheet of glass mounted on the gripper arm, control panel 10, control computing unit 11, pulse generator 12, pulse counter 13, decoder 14, trigger 15, element 16, main driver 17 pulses, additional shaper 18 pulses. 7 il.

Description

ate

OO O 4

fieL

The invention relates to the building materials industry, more specifically to the glass industry, and can be used in finishing operations for the production of sheet glass, in particular in automating the operations of stopping sheet glass.

The aim of the invention is to improve the control accuracy and performance.

FIG. 1 shows a flow chart of the device; in fig. 2 - vacuum gripper manipulator of the torus, pressed to the glass; in fig. 3 - vacuum gripper at a distance of the thickness of the glass during the reverse course; in fig. 4 is a block diagram of the device; in fig. 5 is a block diagram of a control panel and a decoder; in fig. 6 is a block diagram of a control computing unit; in fig. 7 - the algorithm of the sheet glass stacker.

The control unit of the sheet glass stacker contains a roller table 1 with glass 2, a glass stack 3, an industrial robot 4 consisting of a manipulator 5 with an actuator, a vacuum gripper 6 with an actuator and vacuum suction cups 7, a sensor 8 of the manipulator, (information) a glass sheet presence sensor 9 mounted on the tongue 6 of the manipulator 5, the control panel 10, the control computing unit 11, the pulse generator 10, the pulse counter 13, the decoder 14, the trigger 15, the OR element 16, the main pulse shaper 17 and additional pulse shaper 18. The control panel consists of a tumbler 19 and 20 and buttons 21 and 22.

The decoder 14 consists of a binary-descrambler 23, inverters 24-28, elements AND-NO 29-31, element AND-NOT 32, elements OR 33 and 34.

Unit 11 (FIG. 6) contains a control unit 35, a memory device.

36, arithmetic logic unit

37, digital-to-analog converters 38 and 39, actuator control unit 40 of the manipulator 5, technological command input unit 41, technological command output unit 42.

The device works as follows.

five

0

five

0

five

0

five

0

five

A program whose implementation allows the manipulator 5 to pick up the sheet glass 2 from the roller table 1, transfer the sheet to the stopping path (points A, C (, B) and directly stop) is moved to the control computing unit 11 of the industrial robot 4. 6, robot 4 from roller table 1 to point A is carried out according to the unchanged program concluded in the initial training cycle of robot 4. The movement of the mercury from point A to B and back from point B to A during stopping is carried out in a self-learning mode, during which initially the location (coordinate) of the container (point B) is refined, and then in each stop cycle, when the manipulator 5 is reversed, in block 11, the coordinate of point C, which is separated from point C, or point B by thickness of glass 2, is entered. C |, the control unit 11 is switched to the self-learning mode and in the next cycle, gripper 6 with glass 2 performs the processing of the C coordinate (. Glass 2 stops, and during the reverse of gripper 6, the signal from the sensor 9 in the memory of the block 11 is entered the coordinate t points With j + 1. In the next cycle, this coordinate is already being worked out, and so on.

Thus, the entire stack of glass 3 is set.

At the same time, the amount of program memory allocated for the implementation of the stopping path (points A, C-, B) is minimal, since there is no need for the initial training cycle of industrial robot 4 to memorize the coordinates of points C, ... Cf00 with the thickness feet 3 per 100 sheets. The current coordinate point C is recorded in each previous stop cycle, and the record is made in self-learning mode.

The control panel 10 is designed for storing the set position of the gripper 6 of the manipulator 5 into the operational memory of the block 11. The trajectory of the gripper 6 of the manipulator 5 is programmed in the following sequence.

In the program of the toggle switch 19, at the required time of working out by gripping 6 of the manipulator 5 of the trajectory, the toggle switch 20 is moved to the Frame position. After working off the geometry of the current frame (working off a certain part of the trajectory), a COH pulse is generated in the control unit 11 the program is paused, and block 11 is ready to switch the operation mode.

Toggle switch 19 is set to Training. Start buttons 21 and Frame Record are pressed. In this case, the current coordinates of the gripper 6 of the manipulator 5 are recorded in the operational memory. The recording is carried out in a program frame with a number one greater than the previous worked frame (part of the program). After recording the frame, block 11 is ready to switch the operating mode.

The toggle switch 19 is set to the Program position, and the Start button 21 is pressed. At the same time, the processing of the interrupted program from the frame following the retrained is resumed.

This order of training of an industrial robot is realized in self-learning mode, when the current coordinate of point C is memorized ;, When the contacts of sensor 9 are closed (during trial testing of the trajectory or during stopping), an impulse is generated in the pulse former 17, which is fed to the first logical input of the OR element 16. From the output of the OR element 16, the pulse arrives at the input of block 11, fixing the end of the geometry of the current frame, which ends the comparison of the current coordinates with the task and the transition occurs to the next frame of the program. As a result, the movement of the gripper 6 of the manipulator 5 from point A to point B stops, and when it proceeds to the next program frame, the movement in the direction opposite to point B to point A is resumed.

During the return stroke, the contacts of the sensor 9 open at the distance of the glass thickness from the container wall or from the previously laid glass. In the additional pulse shaper 18, a pulse is generated that switches the trigger 15 so that its output forms the resolution of the counter 13 to the count of pulses from the pulse generator 12. The state of the pulse counter 13 is decrypted in the decoder 14. When the first pulse arrives at the first output of the binary-decoding decoder 23, a signal is generated in the form of a logical zero, which is fed to the second input of the element 34. At the output of the element 34, a pulse is generated that converts the block 11 into Time-lapse mode of the program. The first input of the element 34 is intended for operation in the mode of single-stage program development during control from the control panel 19 of the control. At the same time, the zero signal, arriving at the second input of element 30, blocks the resolution of automatic operation, which is carried out only if there are 30 logical units on the three inputs of the element.

The zero signal from the second output of the decoder 23 (the counter 13 counted two pulses from the generator 12) is fed to the third input of the element 30 and the third input of the element 34, confirming the time-lapse mode of the program. Simultaneously, the signal from the second output of the decoder 23 through the inventory

28 arrives at the second input of the element OR 16. At the output of the element OR 16, a pulse is generated that simulates a pulse of COH (the end of the geometry work), which is formed inside the block 11. This completes the comparison of the current coordinates with the specified program. The current frame ends and block 11 is ready to switch

in Training mode.

This mode starts when logical O is generated, at the third and fourth outputs of the decoder 23. In this case, the zero signal from the third output of the decoder 23 is fed to the second input of element 29, blocking the Program mode, and to the second input of element 33. At the output of element 33, Team Training. The first input of the element 33 is connected to the remote control 10 and operates in the learning mode from the remote control 10. The zero signal from the fourth output of the decoder 23 is fed to the third inputs of the AND AND elements

29 and 33, confirming the blocking of the Program mode and the Training mode. At the same time, this signal arrives at the second input of the element AND-NOT 31. At the output of the element AND-NOT 31

in the form of logical 1 is formed

715

Start team. First entry element

AND-NOT 31 works on the Start command from the remote control 10.

With the appearance of a logical O on the first output of the decoder 23 in the block. 11, a frame is recorded with the current coordinate information (the coordinate located at a distance of the glass thickness from the container wall or from the retained glass glass) to the block 11 from the position sensor 8.

The logical zero signal from the sixth output of the decoder 23 enters the third input of the NAND element 31, at the output of which a Start command is formed, which returns block 11 to the working mode of the previously recorded program. The self-learning mode is over.

The pulse from the seventh output of the decoder 23 switches the trigger 15 to the initial state. The contents of the counter 13 pulses are zeroed and the counting of the pulses stops. The circuit comes to its original state.

The third input of the element OR 16 receives a signal when the specified and current coordinates are equal, compared in block 11, when working out the trajectory in the Program and Automatic modes.

The device operates according to the following algorithm:

After the start of the program of the sheet glass stacker executed, for example, on the basis of the TUR-10 robot with the UPM-772 positional numerical control device, the tare changing control is carried out. By the algorithmic block Tare change is meant the control of tare change operations, the control of the location of the foot edge, for example, after a bob glass or when a malfunction has occurred. If the program fixes such a moment (fixing it can be entered by the operator or automatically), the program proceeds

to the algorithmic block. Movement from point A to point B with min speed. In this case, the state of the sensor 9 is continuously monitored. If the sensor 9 is not closed, the movement from point A to point B with the minimum speed continues. If the sensor 9 touches the back wall of the container or a partially laid foot (in case of a program failure in the previous cycle), the contact of the sensor 9 is closed and the manipulator 5 is stopped. After

eight

five

Q

Q

0

five

0

five

stopping the manipulator 5 begins reversing its direction of movement. The algorithmic block begins to function. Movement to point A with rain speed. At the same time, the state of the sensor 9 is monitored. As soon as the sensor 9 opens, and this happens when the vacuum gripper 6 moves away from the container wall or from the glass for a distance equal to the thickness of the glass being laid, the movement back is briefly stopped. The recording of the C point is recorded. The recording of the C coordinate is made as follows: the program switches to the Training mode, then the C coordinate is directly recorded ;. After recording the coordinate C (again switching over to the Program mode and monitoring the block Stop is dialed. If the glass stop is completely laid on the container, a command is issued to the operator to replace the container and the npoi- frame stops. If the stop is not fully typed after the next coordinate recording Cj, the manipulator 5 begins to move back to point A at maximum speed. After the manipulator 5 (vacuum gripper 6) comes out at point A, the program of capturing the next sheet 2 of glass from the roller table 1 begins and realizes his wasp at point A. When glass is captured, sensor 9 closes, but if sensor 9 is not closed, the implementation of a fragment of the program for capturing glass and transferring it to point A continues.

To close the sensor 9, a transition is made to an algorithmic unit. Movement from point A to point C - with max speed. Movement to the point

Ke C with maximum speed is possible due to the fact that in the previous cycle the coordinate of this point was accurately recorded. When approaching the point C - (the vacuum in the suction cups of the gripper 7 is turned off. Glass 2 is placed in the foot 3, the movement from point C to point A starts again with the minimum speed, the recording of the coordinate of point C 1- + 1 and then all the program fragments are processed in the same way .

If, after the next stop, caused not by an emergency stop or by changing the tare, there was no failure in the program, the working out of the trajectory is slow

for the purpose of recording the tare coordinates, it is not necessary and the program from the algorithmic unit Tare change is immediately switched to the algorithmic unit Sensor is closed and the program is processed in the same way as previously described.

The use of the invention poems: to increase the speed of the manipulator when working out the stopping path, to improve the accuracy of positioning of the glass sheets in the drain, i.e. improve control accuracy and performance „

Claims (1)

Invention Formula A sheet glass stacker control device containing a manipulator position sensor, on which a vacuum tong with a glass sheet sensor and actuating elements of the manipulator mechanism and vacuum tong, are attached, the control computing unit, the OR element, the main pulse shaper, and the control panel; glass sheet through the main pulse shaper connected to the first inputs of the OR element and the control computing unit, the second NN NNN, N N NNNNNN five Q - 0 five 0 the input of which is connected to the output of the OR element, the second input of which is connected to the first output of the controlling computing unit, the second and third outputs of which are connected respectively to the actuating elements of the manipulator and vacuum gripper, and the position sensor of the manipulator is connected to the third input of the controlling computing unit, characterized in that, in order to increase control accuracy and productivity, a pulse generator, a pulse counter, a decoder, a trigger and an additional driver are introduced into it pulses, the sensor for the presence of a glass sheet through an additional pulse shaper connected to one trigger input, the other input of which is connected to the first output of the decoder, the second output of which is connected to the fourth input of the controlling computing unit, the trigger output is connected to the first input of the pulse counter, the second input of which is connected to the pulse generator, the output of the pulse counter is connected to the first input of the decoder, the second input of which is connected to the control panel, and the third output of the decoder from one with a third input of the OR element. No. L Phie. one 7 6 7 Bt FIG. 2 Fig.Z r cho vO in Ш g