SU491929A1 - Device to control the robot coloring - Google Patents

Description

one

The invention relates to the field of computer technology and automation and can be used to control flat paint robots of arbitrary configuration in various industries, in particular, in the leather, automobile, manipulator and other industries.

There are known devices for controlling a coloring robot, comprising a photo-reading unit, an ink supply control unit, and a paint sprayer unit.

A disadvantage of the known devices is the accuracy of the memorization of the contour of the product to be colored, which leads to a poor procuring of the product and a large consumption of dye, since the color is produced with a certain margin to reduce the waste. Thus, the aim of the invention is to improve the accuracy and ecology of the device.

The purpose of the invention is achieved in that the device contains a block of shift registers whose inputs are connected to the corresponding sensors of the photo-reading unit, an OR element, a polling switch, the signal inputs of which are connected to the corresponding outputs of the shift register unit and the corresponding inputs of the OR element, and the output is connected to control unit input

supply of paint, trigger, conveyor speed sensor, element “AND, the first input of which is connected to the output of the element“ OR, second input — to the sensor of the speed of the conveyor and to the control input of the shift register unit, and output to the counting input of the trigger, whose outputs are connected with the corresponding control inputs of the interrogation switch and with the control unit for the spray cell and spray gun.

The drawing shows a control device of a coloring robot, where: 1 is a conveyor; 2 - product; 3 - lamp illumination; 4 - photo reading unit; 5 - paint management unit; 6 — motion control unit of the spray gun; 7 - paint sprayer; 8 is a block of shift registers; 9 - polling switch; 10 - element II-element 12 - trigger; 13 - sensor

conveyor speed.

Photoplate unit 4 is made in the form of liiiiki photosensors located one motion above the conveyor 1 outside the painting zone. Each photo sensor is connected to

the corresponding input of the record of the shift register unit 8, whose outputs are connected to the corresponding signal inputs of the interrogation switch 9 and to the corresponding inputs of the element OR 10. Sensor output

13 conveyor speeds are connected to the control input of the shift register unit 8 and to the first input of the element 11, the second input of which is connected to the output of the element OR 10, and the output to the counting input of the trigger 12. Each of the outputs of the trigger is connected to the control unit 6 movement of the paintbrush and to the corresponding control inputs of the interrogation switch 9, the output of which is connected to the ink supply control unit 5.

The device works as follows.

During movement on conveyor 1, product 2 enters the sensitivity zone of the photosensors of the photoreading unit 4. The signals from the activated photosensors arrive at the corresponding recording inputs of the shift register unit 8. The number of registers in this block is equal to the number of photosensors. The conveyor speed sensor 13 generates clock pulses, the frequency of which is proportional to the speed of the conveyor 1. With the arrival of each clock pulse to the control input of the shift register unit 8 in this unit, the contents of all registers are shifted pa one bit to the right, and then written to. younger bits of the registers of the next photo sensor code. The number of bits in pegistors is proportional to the distance from the zone of photosensors to the zone of coloration. Thus, when the product comes to the painting zone, information about its configuration will appear in the higher bits of the registers.

Unlike an analog device, the spray gun 7 of the claimed device in the absence of the product in the paint zone is in one of the extreme positions, and does not move continuously across the conveyor, since until the product approaches the paint zone, the element "OR 10 will be" Oh and the clock pulses of the sensor 13 of the conveyor speed will not go to the counting input of the trigger 12 and, therefore, to the block 6 of the motion control of the spray gun. With the emergence of information about the product in the form of logical "1 in the higher bits of the block of shift registers 8 and, therefore, at the inputs of the element" OR 10 element "and opened, it goes, and the clock pulses of the sensor 13 of the conveyor speed arrive at the counting input of the trigger 12. Each clock pulse changes the state of the trigger 12, thereby changing the direction of movement of the spray gun 7 and the direction of polling of the shift registers by the switch of the poll 9. The direction of interrogation of the block of shift registers 8 and the direction of movement of the spray gun 7 are matched, and the speed s them is selected so that the end extending in one direction until a next clock pulse. Poll switch 9 analyzes the contents of the high bits of the shift register block 8 and generates a control signal only when there are "units" in them. The signal from the output of the polling switch 9 is fed to the block 5 of the ink feed control, which turns on or turns off the ink supply. Thus, the product is colored only within its contour.

Claims (1)

Invention Formula A device for controlling a coloring robot that contains a photo-reading unit, a paint control unit, and an ink control unit, characterized in that, in order to improve the accuracy and efficiency of the device, it contains a block of shift registers, the inputs of which are connected to the corresponding sensors of the photo-reading unit, “OR, a polling switch, the signal inputs of which are connected to the corresponding outputs of the shift register unit and to the corresponding inputs of the element“ OR, and the output is connected to the input ink control unit, trigger, conveyor speed sensor, element "AND, the first input of which is connected to the output of the element OR, the second input - to the sensor of the speed of the conveyor and to the control input of the shift register unit, output to the counting input of the trigger, outputs which are connected to the corresponding control inputs of the interrogation switch and to the control unit of the moving paint sprayer. 12