SU1662812A1 - Robotized assembly complex - Google Patents

Abstract

The invention relates to mechanical engineering and instrument making, in particular to the automation of technological assembly processes under conditions of flexible production. The aim of the invention is the expansion of technological capabilities. The robotic assembly complex includes a manipulator 10, working positions for supplying assembled parts, an assembly position, a control device 9. The working positions are arranged stepwise in height and width relative to the assembly position and, together with the interchangeable gripper of the manipulator 10, are equipped with distance sensors that specify their spatial position relative to three mutually perpendicular reflective screens. 1 hp ff, 3 ill.

Description

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The invention relates to mechanical engineering and instrument making, in particular to the automation of technological assembly processes under conditions of flexible production.

The purpose of the invention is the expansion of technological capabilities.

Figure 1 shows the kinematic-coordinate scheme of a robotic assembly complex; figure 2 - diagram of the working positions of the loading and Assembly; on fig.Z - constructive scheme of the manipulator.

The robotic assembly complex (RSK) contains an arbitrary number of working positions, for example, gripping sleeve 1, roller 2 and plate 3, which are located in elevation (Z coordinate), are stepped downwards in the direction of assembly position 4. Position 4 is located below all working positions and Equipped with a contactless distance sensor 5, which determines its coordinates XPS, YnC, Z ps.

The working positions are equipped with similar sensors 6-8, connected to the control device 9, determining their spatial position Xs, Oz, Zs Y21; Z21; and Xi4, Yi1, Zi. The manipulator 10 is moved along the coordinates X, Y, Z, equipped with a replaceable tong 11 and a contactless distance sensor 12 determining its coordinates Xp, Yp, Zp. The RSK has three mutually perpendicular reflective screens located in the XOZ, YOZ and XOY planes, reflecting the signals of the position sensors of the working positions, the assembly position and the gripper.

At the position of the assembly, sensor 5 consists of three sensors 13–15, defining, respectively, the coordinates Z ps, Ync, and HPS of this position with respect to flat reflecting screens 16–18. Similarly, the structure of the sensors is at work positions. So, the store 19 position of the feed plate is equipped with a sensorON

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mi 20-22, specifying the coordinates 2z Uz and Xs relative to the reflecting screens. The roller position 23 of the roller feed position has sensors 24-26, defining the coordinates Z2, Y2r, X2, and the sleeve feed magazine 27 has sensors 28-30 defining the coordinates of Z-H, YI and Xv. Details on the working positions are given by XPS coordinates , Ync, Znc and Xi; Yi (, Zi, X21, Ya (, Xs1, Ya1, Zs corresponding to the location of their center of gravity,

The manipulator contains the actuators 31-33 moving along the X, Y.Z coordinates connected to the movement mechanisms 34-36. Replaceable tong 11 is equipped with three sensors 37-39, specifying its coordinates Yp, Zp and Xp. and the mechanisms of rotation 40 of the gripper around the horizontal axis 41 - vertical and 42 - expansion of the gripper. A standard control device 9 is used to control the operation of the RSK.

RSK works as follows. Assembled parts from shops 19, 23 and 27 are fed to work positions 1, 2 and 3 with the corresponding coordinates Xi, YI, Zi. l 1,2 and 3, which are specified by sensors 6,7 and 8 in the form of an analog signal, for example ti, as the time of passage of a wave from sensors to reflecting screens 16-18. The gripper 11 of the manipulator 10 is equipped with three sensors 37-39, specifying its coordinates Xp, Yp, Zp in the same analog values. Based on a predetermined sequence of automatically assembled parts at the assembly position 4, the manipulator 10 carries out their capture from the working positions 1, 2 and 3. The manipulator 10 is moved to each working position by the corresponding coordinate drives 31, 32 and 33 under the action of the error control signals between data of the working position sensor and gripper 11 with respect to reflecting screens 16-18; for example, you must bring the gripper 11 of the manipulator 10 to the YI coordinate of the first working position. YI value corresponds to analog

the Atyi signal generated by gauge 29, the position of the tong 11 is set by analog A typ {sensor 37). The control unit determines the magnitude of the mismatch of these

signals and the sign of the difference, the sign sets the direction of movement of the gripper 11 along the Y axis, and the next drive 32 moves the gripper 11 until these signals are equal, i.e. Atyi Atyp. Grabbing and moving to the assembly position of the remaining parts is carried out similarly by the commands of the control device. However, since the centers of the parts of the parts (the grip point) may not coincide in the assembly position, a correction in the Znc coordinate is provided.

To eliminate the mutual influence of the wave-reflected flat screens 16-18, the gripper 11 is brought to the working position in succession in three coordinates.

Claims (2)

1. A robotized assembly complex containing a manipulator with an executive body, working positions for supplying assembled parts, an assembly position, a control device, characterized in that in order to expand technological capabilities, it is equipped with a measuring system for the position of the working positions, the assembly position and the actuator of the manipulator associated with the control device, wherein the working and assembly positions are arranged stepwise in height and width in the direction of the process, 2. The complex according to claim 1, wherein the measuring position system is made in the form of three mutually perpendicular reflecting screens covering the working zone of the complex, and contactless distance sensors located on each working position, assembly position and executive body manipula torus. I Ni -fc "4 Qj SI about OE yo oa Yu GO I