SU447687A1 - Device for controlling an automatic robot arm - Google Patents

Description

one

The invention relates to systems controlled by computing devices, as well as to automatic manipulator operations designed to automate various technological processes and operations in many industries, in particular, in the machine tool industry, instrument engineering and the steel industry.

Known robots are known to carry out a series of technological operations for moving an object from place to place, oriented packing, etc. A control device for such a robot manipulator contains sensors for contacting the object, which are connected to the corresponding inputs of the unit questioning the position of the object in the work area. The gripper control block has a set of standard programs defining the types of work (for example, moving an object to a given point, oriented packing, etc.). The search for the object is carried out along a specific trajectory determined by the search program, i.e., blind detection of the object is provided.

The robot manipulator makes it possible to replace manual labor with machine when performing certain technological operations, which makes it possible to increase labor productivity and ensure work in hot and harmful

environments in the absence of man. In addition, such robots relieve the worker from performing heavy and monotonous manual labor.

However, these robotic manipulators are characterized by low speed, due to a long search for a subject, as well as the complexity of the entire device. Implementation is hampered by stringent requirements.

imposed on sensors and other elements, especially in hot and harmful environments.

The purpose of the invention is to increase the speed and simplify the control device of the robot arm.

The proposed device for controlling a robotic arm contains a sensitive field made in the form of a matrix of movable busbars installed above the conductive substrate and spring-loaded relative to it. Each bus of the matrix is provided with contacts installed on the side facing the conductive substrate, and the contacts are interconnected with the corresponding inputs of the sensor interrogation unit, each bus being isolated from the contacts of other buses.

FIG. i schematically represents the sensitive field; in fig. 2 — one of the embodiments of tires for sensitive floor;

in fig. 3 is a block diagram of a device for controlling an automatic robotic arm.

The parameters of the position of the object on the working surface are determined by means of the sensitive field 1 (see Fig. 1), on which the subject 2 is located to be manipulated. The sensitive field is made in the form of a matrix of rigid coordinate vertical 3 and horizontal 4 women, which are fortified movably over the conductive substrate 5 (see Fig. 2). With the help of the elastic element 6, each matrix is spring-loaded relative to the substrate and provided with contacts 7, which allows, independently of other women, when an object hits it, it goes down and electrically contacts the conductive substrate. All the contacts of each bus electrical are combined into a common terminal and are mounted on the tires from the side of the conductive substrate. Vertical and horizontal tires have grooves 9 at their intersections, ensuring that the tires do not come into contact with the substrate. General conclusions from horizontal and vertical tires of the sensitive floor are connected to the corresponding inputs of the sensor polling unit 10 (see Fig. 3). The outputs of this block are connected to the inputs of the initial vertical strip number determination unit 11, closed on the substrate, the initial horizontal bus number determination unit 12, closed on the substrate, and to the inputs of the vertical and horizontal tires number 13 closed on the substrate. The outputs of the blocks 13 and 14 are connected to the input of the block 15 for determining the angle of inclination of the axis of symmetry of the object to the horizontal axis of the floor. The outputs of the blocks 11 and 13 are connected to the input of the block 16 determining the center coordinate of the object along the X axis. The outputs of the blocks 12 and 14 are connected to the input of the block 17 determining the coordinate of the center of the object along the axis Y. the robot manipulator 19, and the robot control input according to the standard programs of block 18 is connected to the output of the robot standard programs block 20.

Subject 2 to be manipulated, located on sensitive field 1, closes horizontal and vertical tires directly below it to the conductive substrate 5. The electric potential, supplied to the substrate, through the closed contacts of the corresponding structures under the object, passes to these tires. Tires closed to the substrate are marked with bold lines (see Fig. 1). Horizontal lines are assigned Xi-Xp numbers, and vertical ones - YI-Y. Item 2, which is located on the sensitive floor, closes the vertical sections with the Unich-UKOP and

horizontal tires X - Kosh with the number of horizontal closed women

Ijf -

and NUMBER of vertical tires closed on the substrate

u - ukoi. The Umch Coordinates of the center of the object are determined according to the expressions

.. T ..

  AND

.Un g Uko11

Have

To roughly determine the angle of inclination of the axis of symmetry of the object and the subsequent orientation of the gripper of the actuator

enough to find the slope of my right, passing

through the points (beginning, Ynach) and (Khkov, UKON). Angle

will be determined accurately enough if the length

the subject is many times its width.

Block 10 poll sensors in series

interrogates the vertical and horizontal tires of the sensitive floor and can be carried out both sequentially and in parallel. In the blocks for determining the number of initial vertical and horizontal tires closed to the substrate (11, 12), the number of tires on which there is no potential is counted, starting from tires with numbers Xi, Yi to tires with numbers, Uvach. Blocks 13 and 14 count the number of vertical and horizontal tires that are under potential - / X and / y. Blocks 11-14 can be implemented, for example, in the form of integrators.

The voltages corresponding to the calculated values of initial and / x go to block 16

determine the coordinates of the center of the object along the axis X - Hz, where the summation is performed:

Lz l: „ah -j- -.

The second coordinate is determined similarly.

the center of the object Uts in block 14. Blocks 14 and 16

can be implemented on operating

amplifiers

The values of / x and / y enter the block 15 for determining the angle of inclination of the axis of symmetry of the object to the horizontal axis of the floor. The calculated coordinates Hz and Uz allow us to derive the gripper of the robot over the center of symmetry of the object. To make it easier to pick up the object, it is necessary to unfold the gripper in accordance with the angle of inclination of the object f. However, the angle of inclination is determined ambiguously, since if φ is an angle with respect to the X axis, then the angle φ determines the second position of the object

same vertical and horizontal tires. In the case of a four-finger gripper, this ambiguity is not an obstacle to accurately grasping the object (the fingers unfold accordingly). For

a two-finger gripper robot is necessary

test taking in accordance with the calculated angle f. In the case of an unsuccessful attempt, the gripper unfolds at an angle of-ф and captures the object.

Signals containing information about the coordinates and angle of inclination f, in the form of analog voltages, are supplied to the robot actuator control unit 18, which converts these signals into the form necessary to control the angular and linear movements of the robot gripper. The same block includes stresses from a block of 20 standard programs that control the movement of the robot's gripper after picking up the object. Standard programs allow you to perform specific types of work: moving an item to a specific point, oriented stacking, sorting, etc.

Implementing a device for controlling an automatic robot arm is not difficult. The design of the sensitive field is simple and its production does not require the use of expensive and complex equipment. The whole electronic part can be performed on standard

integrated microcircuits - the logic elements of the 133rd series and operational amplifiers of the 1UT 401 type, etc.

Subject invention

A device for controlling an automatic robot arm comprising sensors for contacting an object, the outputs of which through the sensor polling unit are connected to the corresponding inputs of the object position determination unit, the outputs of which are connected to the corresponding inputs of the control unit by the actuator, characterized by the purpose of raising the speed and simplifying the device is that it contains a sensitive field made in the form of an array of moving buses mounted above the conductive substrate and zhinennyh relative thereto, each bus

equipped with contacts installed on the side facing the conductive substrate, the contacts of each bus being electrically connected to each other and to the corresponding input of the sensor interrogation unit and

insulated from the contacts of other tires.

J9

// // L //

9ut 2

FIG. 3