SU1558599A1 - Apparatus for programming welding robots by learning - Google Patents

Abstract

This invention relates to automatic welding technology and can be applied when programming welding welding work. The purpose of the invention is to improve the programming performance by automatically withdrawing the welding tool from the zone of its collision with the surface of the welded product. The device contains a touch sensor mounted on the instrument, a discriminator, a trigger block, movement drives of the welding tool, a control panel, a one-shot and a logic block. At the time of a collision, the drives of coordinate movements, in the direction of operation of which free movement is possible, are simultaneously blocked, and the drives, whose operation leads to an impact, are switched on to reverse. 2 Il.

Description

The invention relates to the technology of automatic welding, in particular to the programming of welding robots by the method of learning.

The aim of the invention is to improve the programming performance by automatically withdrawing the welding tool from its location to the surface of the product to be welded.

The goal is achieved by the fact that when programming welding robots by training when hitting a tool, an obstacle automatically switches over to the return stroke of the drives of coordinate movements, which work leads to hitting, and the tool is removed from the hitting zone in the opposite direction of the hitting.

FIG. 1 shows the structural diagram of the device; in fig. 2 - functional scheme of the trigger and logical blocks.

The device contains 1 touch sensor mounted on welding tool 2, discriminator 3, one-shot 4, trigger block 5, control panel 6, logic block 7 and actuators 8 of movement of welding tool 2. Touch sensor 1 is connected to discriminator 3 whose output is connected to input one-shot 4. The output of one-shot 4 is connected to the first inputs of the trigger block 5 and logic block 7. A control panel 6 is connected to the second input of the trigger block 5, and the output of the trigger block 5 is connected to the second input of the logic block 7. drive 8

moving welding tool-2 is connected to the output of logic unit 7.

The trigger unit 5 contains an EXCLUSIVE OR element 9, an AND 10 element, the first 11 and a second 12 trigger, and the inputs of elements 9 and 10 are the second input of the trigger block 5, the output of the EXCLUSIVE OR element 9 keys to the first input of the first trigger 11 11 the output element And 10 - to the first input of the second trigger 12, the second inputs of both triggers 11 and 12 are connected to the first input of the trigger (block 5, the outputs of the trigger t1 and 12, as well as the outputs of the element EXCLUSIVE OR 9 and the element And 10 form the output of the trigger block five.

Logic block 7 contains the first 13 and second 14 switches, the distributor 15, the first and second inputs of both switches 13 and 14 form the second input of logic block 7, the third inputs of switches t3 and 14 are connected to the first input of logic 7, the outputs of the first t3 and The second 14 switches are connected respectively to the first and second inputs of the distributor 15, the outputs of which form the output of the logic unit 7.

Sensor 1 contact may have a different design, according to the principle of action it relates to textile sensor devices or other. The discriminator 3 in the case is a lower filter. It is introduced in order to avoid false detection of the device. The control panel 6 is a set of drive enable buttons according to the number of directions of movement of the manipulator. Triggers 11 and 12 - D- triggers. Switches 13 and 14 - multiplexers, distributor 15 - de

multiplexer. The symbols + and - denote mutually opposite directions of movement along the selected coordinate. The number of displacement coordinates must correspond to the NUMBER of blocks 5 and 7. The amount of tool retraction is selected by the operator according to the time parameter on the second. one-shot input 4.

The device works as follows.

The operator from the control panel 6 selects the direction of movement when training the manipulator by pressing

five

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corresponding buttons + or - in one or several coordinates. The signal at the output of the EXCLUSIVE OR 9 element appears only when one of the + or - buttons is pressed along the common coordinate. Not pressing or pressing both buttons does not cause the appearance of the signal at the output of the EXCLUSIVE OR 9 element, which eliminates the ambiguity of the device’s response to the operator’s action. Yes, the output of the AND element 10, which is the encoder of the direction of travel along the coordinate, produces a signal of the direction of travel. Both signals through the switches 13 and 14 are supplied to the distributor 15, the first input of which is informational, and the second input is address. From the output of the distributor 15, the actuator 8 is turned on in the selected direction and the welding tool 2 is moved,

In the event of a contact of the sensor 1 with contact to an obstacle at the output of the discriminator 3, a signal is generated that triggers the one-shot 4. On the signal edge of the one-shot 4, signals are triggered 11 and 12 from the outputs of the elements 9 and TO. For the duration of the signal of the one-shot 4, the switches 13 and 14 are switched to transmitting signals from the outputs of the flip-flops 11 and 12, and the signal at the output of the first flip-flop 11 characterizing the choice of this coordinate is transmitted in the forward code, and the signal at the output of the second flip-flop 12 characterizing direction of movement, is transmitted in reverse code to the inputs of the switches 13 and 14.

Thus, if the operator does not activate the movement along any coordinate, then it is not present also during the time of the one-shot signal 4. Pressing the buttons on the previously unused coordinate during the presence of the one-shot signal 4 does not cause any reaction of the device. „

If, before the impact, this coordinate is involved, then for the time being. the signal of the one-shot 4, the direction of movement along a given coordinate is backward given. Pressing the buttons in this period of time also does not show a control action. At the end of the signal from the one-shot 4, the device is ready to continue learning.

Thus, in the case of a contact of the sensor 1 with a touch on an obstacle, the signal from the one-vibrator A in the device automatically blocks movements in all coordinates except for those moving along the route, and a signal is generated for the specified coordinates. welding tool 2 in the direction opposite to that of moving.

15 Thanks to all the time.

the removal of the welding tool 2 from the emergency zone, the control of the drives 8 movements is performed automatically, the device completely eliminates -20 seconds the influence of the operator on the emergency response process.

A device for programming welding robots with training allows

to significantly increase the reliability of operation of the 25th input of the logic unit, the output of which

five

Claims (1)

reducing the time to withdraw the tool from the emergency position. Invention Formula A device for programming welding robots, containing a touch sensor mounted on the tool, connected to the discriminator input, a control panel connected to the first input of the trigger block, and tool movement drives, which in order to improve the programming performance by automatic output welding tool from the area of its collision with the surface of the product to be welded, a one-oscillator and a logic unit are added to it, and the input of the one-vibrator The output of the discriminator is connected to the output of the discriminator, and its output is connected to the first input of the logic block and the second input of the trigger block. you and the programming performance of welding robots due to g W one It is connected to the entrance of the instrument's puppy. drive gear AND 6 gvguo