SU875331A1

SU875331A1 - Device for control of assembly robot

Info

Publication number: SU875331A1
Application number: SU802884957A
Authority: SU
Inventors: Александр Архипович Кобзев; Игорь Николаевич Егоров; Владимир Николаевич Кравченко; Владимир Иосифович Головинов; Юрий Дмитриевич Сомин; Яков Исаакович Аронов
Original assignee: Владимирский политехнический институт
Priority date: 1980-02-15
Filing date: 1980-02-15
Publication date: 1981-10-23

Description

Изобретение относитс к робототехнике и может быть использовано дл создани роботов, осуществл ющих сбо ку деталей типа вал-отверстие. Известно устройство дл управлени сборочным роботом, содержащее сумматор , шаговый двигатель, коммутатор, редуктор и дешифратор, которое не обеспечивает сборку деталей типа вал отверстие til Наиболее близким по технической сущности к предлагаемому вл етс устройство, содержшцее пульт управле ни , первый элемент ИЛИ, первый реверсивный счетчик и по каждой коорди нате X, Y, Z исполнительный механизм первый и второй элементы И, выходы которых подключены ко входу коммутатора , выходом соединенного со входом шагового двигател , причем выходы . первого и второго элементов И координат X и У подключены ко входам первого элемента ИЛИ, а выход генератора соединен с первыми входами первого и второго элементов И координат X ,. У Z Г21. Недостатком известного устройства вл етс также невозможность применени его дл сборки деталей типа валотверстие . Цель изобретени - расширение функциональных возможностей устройства. Цель достигаетс тем, что устройство содержит элемент НЕ, второй элемент ИЛИ, второй реверсивный счетчик, элемент задержки, с третьего по двенадцатый элементы И, п ть триггеров, два дешифратора и по каждой координате X, Y, 2 датчик момента, через который вал шагового двигател св зан с исполнительным механизмом, выход первого элемента ИЛИ соединен с первыми входами третьего и четвертого элементов И, выходы которых подключены соответственно ко входу и выходу первого триггера, соединенного выходом через последовательно подключенные первый реверсивный счетчик, первый дешифратор и п тый элемент И со входом второго триггера, пер-.ый выход которого подключен к первым входам шестого и седьмого элементов И, а второй выход - к первым входам восьмого и дев того элементов И, выходы которых соединены соответственно с выходом шестого элемента И и вторыми входами третьего элемента И и первого реверсивного счетчика, и с выходом седьмого элемента И, и втогнлм входом четвертого элемента И, и третьим входом . первого реверсивного счетчика, выход второго элемента ИЛИ подключен через элемент задержки ко второму входу п того элемента И и непосредственно ко входу третьего триггера, первый выход которого подсоединен ко вторым входам шестого и дев того элементов И, третьему входу п того элемента И, а.также вторым входом вторыхThe invention relates to robotics and can be used to create robots that assemble parts of the shaft-hole type. A device for controlling an assembly robot containing an adder, a stepper motor, a switch, a gearbox and a decoder that does not provide assembly of parts such as a shaft orifice til is known. The device closest in technical essence to the proposed device is a device that contains the control panel, the first element OR, the first reversible the counter and for each coordinate X, Y, Z the actuator are the first and second elements And, the outputs of which are connected to the input of the switch, the output connected to the input of the stepping motor, and the outputs. The first and second elements AND coordinates X and Y are connected to the inputs of the first element OR, and the generator output is connected to the first inputs of the first and second elements AND coordinates X ,. At Z Г21. A disadvantage of the known device is the impossibility of using it for assembling parts of the shaft-hole type. The purpose of the invention is to expand the functionality of the device. The goal is achieved by the fact that the device contains a NOT element, a second OR element, a second reversible counter, a delay element, from the third to the twelfth elements AND, five triggers, two decoders, and for each X, Y coordinate, 2 a moment sensor through which the stepper shaft the motor is connected to the actuator, the output of the first element OR is connected to the first inputs of the third and fourth elements AND, the outputs of which are connected respectively to the input and output of the first trigger connected by the output through serially connected first the first reversible counter, the first decoder and the fifth element And with the input of the second trigger, the first output of which is connected to the first inputs of the sixth and seventh elements And, and the second output to the first inputs of the eighth and ninth elements And, the outputs of which are connected respectively with the output of the sixth element And and the second inputs of the third element And and the first reversible counter, and with the output of the seventh element And, and the input of the fourth element And, and the third input. the first reversible counter, the output of the second element OR is connected via a delay element to the second input of the fifth element AND directly to the input of the third trigger, the first output of which is connected to the second inputs of the sixth and ninth elements AND, the third input of the fifth element AND, as well the second entrance of the second

элементов И координат X и Y , выход первого дешифратора соединен с первым входом четвёртого триггера, подключенного выходом к первому входу дес того элемента И, второй вход которого соединен с первым выходом пулта управлени , а выход - через элемент НЕ с первыми входами одиннадцатого и двенадцатого элементов И и непосредственно со вторым входом первого элемента И координаты Z, первы выход п того триггера подключен ко второму входу одиннадцатого элемента И, выходом соединенного с третьими входами первого и второго элементов И координаты X, а второй выхой п того триггера подключен ко второму входу двенадцатого элемента И, выходом соединенного с третьими входами первго и второго элементов и координаты Y, второй выход пульта управлени подключен к первому и второму входам второго ревеЕ сивного счетчика, выход которого через второй дешифратор соединен со входом пульта управлени , третий выход которого подключен ко второму входу второго элемента И координаты Z , выход первого элемента И координаты Z соединен .с третьим и четвертым входами второго реверсивного счетчика, выходы датчиков момента координат X и Y подключены ко входам второго элемента ИЛИ, а выход датчика момента координаты Z - ко второму входу четвертого триггера и входу п того триггера.And X and Y coordinates, the output of the first decoder is connected to the first input of the fourth trigger connected by the output to the first input of the tenth AND element, the second input of which is connected to the first output of the control panel, and the output through the NOT element to the first inputs of the eleventh and twelfth elements And directly with the second input of the first element And the Z coordinates, the first output of the fifth trigger is connected to the second input of the eleventh element I, the output connected to the third inputs of the first and second elements And coordinates X, and the second output of the fifth trigger is connected to the second input of the twelfth element I, the output connected to the third inputs of the first and second elements and the Y coordinate, the second output of the control panel is connected to the first and second inputs of the second rover counter, the output of which is connected through the second decoder with the input of the control panel, the third output of which is connected to the second input of the second element And the Z coordinate, the output of the first element And the Z coordinate is connected to the third and fourth inputs of the second reversing counter, you ode sensor coordinate points X and Y are connected to the inputs of a second OR gate, and the output torque sensor coordinate Z - to the second input of the fourth flip-flop and the input of the fifth flip-flop.

На чертеже представлена функциональна схема предлагаемого устройства .The drawing shows a functional diagram of the device.

Устройство содержит генератор 1, координаты X ,Y ,Z ,2, 3, 4, COOT-, ветственно, первые элементы И 5, вторые элементы и б, коммутаторы 7, шаговый двигатель 8, датчики 9 момента исполнительные механизмы 10, первый и второй реверсивные счетчики 11 и 12 соответственно, первый и второй дешифраторы 13 и 14 соответственно, первый, второй, третий, четвертый и п тый триггеры 15,16,17,18 и 19 соответственно , пульт 20 управлени , первый и второй элементы ИЛИ 21 и 22 соответственно, элемент НЕ 23, третий, четвертый, п тый, шестой, седьмой, восьмой, дев тый, дес тый, одиннадцатый и двенадцатый элементы И 24,25,26,27,28,29,30,31,32 и 33 соответственно, элемент 34 задержки, схват 35 исполнительного органа робота .The device contains a generator 1, coordinates X, Y, Z, 2, 3, 4, COOT-, branch, the first elements And 5, the second elements and b, switches 7, the stepping motor 8, the sensors 9 of the moment actuators 10, the first and second reversible counters 11 and 12, respectively, the first and second decoders 13 and 14, respectively, the first, second, third, fourth and fifth triggers 15,16,17,18 and 19, respectively, the control panel 20, the first and second elements OR 21 and 22 respectively, the element is NOT 23, the third, the fourth, the fifth, the sixth, the seventh, the eighth, the ninth, the tenth, the eleventh, and two eleventh elements And 24,25,26,27,28,29,30,31,32 and 33, respectively, delay element 34, gripper 35 of the robot's executive body.

Устройство работает следующим образом.The device works as follows.

По первому выходу пульта 20 управлени перемещени Z на реверсивный счетчик 12 подаетс число импульсов , соответствующее величине гарантированного дл сборки перемещени по Z, после чего деталь (вал), расположенна в схвате 35 робота, свободно перемещаетс в отверсти под действием силы т жести. При подаче сигнала по второму выходу пульта 20 на пр мом выходе дес того элемента И 3, по вл етс сигнал, поступающий на второй вход первого элемента И -5 координаты Z4. В результате импульсы с генератора 1 проход через элемент И 5, коммутатор 7 на шаговый двигатель8 перемещающий подвижную деталь, -например вал, расположенную в схвате 35 робота вниз по оси Z. При контакте деталей, что обусловлено несовпадением одной или двух горизонтальных осей, на выходе датчика 9 момента координаты Z 4 формируетс сигнал. Так как дальнейшее перемещение невозможно ввиду контакта деталей, то происходит закручивание торсиона датчика 9 момента.The first output of the control panel 20 of the displacement control Z to the reversible counter 12 is supplied with the number of pulses corresponding to the magnitude of the displacement guaranteed for the assembly along Z, after which the part (shaft) located in the robot arm 35 moves freely in the hole under the force of gravity. When a signal is applied at the second output of the console 20 at the direct output of the tenth element And 3, a signal arrives at the second input of the first element And -5 of the Z4 coordinate. As a result, the pulses from the generator 1 pass through the element I 5, the switch 7 to the stepper motor 8 moving the moving part, for example, a shaft located in the robot's tongue 35 down the Z axis. When the parts are in contact, which is caused by a mismatch of one or two horizontal axes, the output The torque sensor 9 of the Z 4 coordinate signal is generated. Since further movement is impossible due to the contact of parts, the torsion of the torque sensor 9 occurs.

.Положим, что контакт деталей произошел в правой полуплоскости, расположени осей X , Y. Сигнал с выхода датчика 9 момента координаты Z 4 поступает на вход четвертого триггера 18, измен его состо ние, и через дес тый элемент И 31, прекраща подачу импульсов с генератора 1 на вход привода координаты Z 4. В результате на оба входа одиннгодцатого элемента И 32 подаютс сигналы и он дает разрешение на работу привода координаты X 2.Let us suppose that the contact of the parts occurred in the right half-plane, the location of the axes X, Y. The signal from the output of the sensor 9 of the moment of the coordinate Z 4 enters the input of the fourth trigger 18, changes its state, and through the tenth element I 31, stopping the flow of pulses from generator 1 to the input of the drive coordinates Z 4. As a result, both inputs of the one-year element I 32 are given signals and it gives permission for the drive to operate the coordinates X 2.

Claims

The pulses from the generator 1 through the first element AND 5, since the second and third triggers 16 and 17, are in the zero state are fed to the switch 7, driven by a stepper motor 8, which through the mechanism 10 moves the robot gripper 35 with the part (shaft ) in a certain direction, such as forward. The trigger 17 determines the direction of movement of the drives: its zero state corresponds to the movement i forward, and to the single state, backward. Simultaneously, the pulses through the element AND 24, since there is resolution from the element 29 and trigger 15 with a counting input with a division factor of two, are received from the 1 input of the counter 11 since moving to the right is impossible due to contact details, the torsion is twisted Sensor 9 of the moment of the X coordinate, which fixes the stop, will form at the same time a sigal at the output. This signal, through the second element OR 22, changes the state of direction trigger 17. As a result, the pulses from the generator 1 are fed through an AND 6 element to the bus back of the switch 7, and movement begins n rear. At the output of the decoder 13, the signal takes place only when the number in the counter 11 is zero. Since every second pulse was applied to the meter 11 / then after the torque sensor 9 triggered after the first pulse, the number in the counter 11 will be zero. The signal from the output of the decoder 13 is fed to the input of the fifth element And 26 to the other inputs of which are output from the element 34. delay and trigger 17, which leads to the triggering of trigger 16 for controlling the count of counter 11. As it moves backward from the generator 1, received counter 11 through element 24, as well as signal at the output of element 27, with a division factor of two. Further, when moving backward, every second pulse is counted. When the displaced parts are fully moved and in contact, the sensor 9 of the moment of the X coordinate generates a signal. As a result of moving along the X axis, the number in the counter 11 is equal to half of the deviation from the axes of the mating parts. Indeed, complete movement in a moving part from one extreme position to another is equal to double axis deviation (and every second impulse is applied to counter 11. After stopping; signal from sensor 9 of moment of X coordinate through OR element, direction trigger 17 is activated. Engine reversal occurs 8, since the pulses from generator 1 to switch 7 are fed through element 5. Counter 11 then starts in subtraction mode, since a signal is fed to it from the direct output of trigger 16 and inverse of trigger 17 through element nt And 30. Moreover, every impulse arriving at the input of counter 11 is subtracted through the element And 6 Z coordinates. Thus, when moving halfway between the extreme points of contact of the parts, i.e., the axes of the parts are aligned, the number in the counter is 11 will be equal to zero, and the signal at the output of the decoder 13 will be given, giving the command the drive to the Z coordinate. Consider the second possible case of the mutual arrangement of the parts after lowering your drive along axis 2. The shaft is located in the left half-plane. When a signal is fed to the input of the X 2 coordinate, 1pulses from the generator 1 through the And 5 element of the X coordinate (the circuit in the initial state,) is fed to the input of the switch 7, as a result, the motor 8 moves the gripper 35 to the right. Counter 11 operation jST on addition, since the control signal is fed to the addition bus from the inverse outputs of the flip-flops 16 and 17 through the element and 29. Every second pulse is fed to the counting input of the counter 11 from generator 1. With full movement to the right and the contact of the parts, a signal is produced at the output of the torque sensor 9 that changes state. Trigger 17. As a result, the engine 8 will reverse, since the pulses from generator 1 to the input of Switch 7 are now fed through element AND 6 of the Y coordinate. The number in counter 11 is half the distance traveled. Further, the scheme works as described above. From counter 11, the subtraction of each pulse occurs. When the counter 11 is zeroed out, which indicates that the Y axes coincide, a signal is generated at the output of the decoder 13, which commands the drive to the Y coordinate. Next, the drive of the coordinate coordinate 2 is displaced. When a signal is received from the decoder 13, the trigger 18 is triggered The output signal appears, and the element And 31 opens the element And 5 coordinates 4, thereby skipping the pulses from the generator 1 to the engine 8 coordinates. The part (shaft) is moved downward until the chamfers of the joint are in contact with the parts. Upon contact of the parts, the torque sensor 9 is triggered from the coordinate 7 .. As a result, the trigger 18 is triggered, switching off the Z coordinates of the generator E from the input of the Z coordinate 4 and trigger 19, including the And 33, And 5 elements of the Z coordinate via elements 31 and 5 of the Z coordinate. 3 drive the Y axis. After combining the X axis, the output of the decoder 13 generates a signal that changes the state of the trigger 18 and thereby through the elements 31 and 5, connecting the output of the generator 1 to the input of the engine 8, the Z coordinate. (shaft) located in the tong 35, the counter 12 operates in dir have subtraction. When moving by the amount guaranteed for assembly (the number of pulses entered into counter 12), the output of the decoder 14 generates a signal indicating the end of the assembly process (end), and decompression of the tongs 35, after which the assembly occurs as a result of the shaft moving in hole with force t tinsel. The use of the proposed device will allow assembly of shaft-bore parts as a result of controlling the variable and non-reference point coordinate system of the robot for moving, fixing, stopping when the mating parts contact, regardless of the magnitude of the coordinate movement and the corresponding control of these operations. for controlling the assembly robot, containing the control panel, the first element OR, the first reversible counter and for each coordinate X, Y, Z The first and second elements AND whose outputs are connected to the input of the switch, the output connected to the input of the stepping motor, the outputs of the first and second elements AND of the coordinates X and Y are connected to the inputs of the first element OR, and the output of the generator is connected to the first inputs of the first and the second element AND the coordinate X, Y, Z, characterized in that, in order to expand the functionality of the device, it contains the element NOT, the second element OR the second reversible counter, the delay element, from the third to the twelfth elements And, five triggers, two decoders and each XY coordinate, Z is the sensor of the moment through which the stepping motor is connected to the actuator, the output of the first element OR is connected to the first inputs of the third and fourth elements AND, the outputs of which are connected respectively to the input and output the first trigger connected by the output through a series of first reversible counter, the first decoder and the fifth element I with the input of the second trigger, the first output of which is connected to the first inputs of the sixth and seventh elements And the second output to the first inputs of the eighth and ninth elements And, the outputs of which are connected respectively to the output of the sixth element And the second inputs of the third element And, and the first reversive counter, and the output of the seventh element And, and the second input of the fourth element And, and the third input of the first reversible counter, the output of the second element OR is connected through a delay element to the second input of the fifth element AND and directly to the input of the third trigger, the first output of which is connected to the second inputs of the sixth and ninth ele And the third input of the first element And, as well as the second input of the second elements And coordinates X and Y, the output of the first decoder is connected to the first input of the fourth trigger connected by the output to the first input of the tenth element And, the second input of which is connected to the first output of the console control, and the output through the element is NOT with the first inputs of the eleventh and twelfth elements AND, and directly with the second input of the first element AND the Z coordinates, the first output of the fifth trigger is connected to the second input of the eleventh element AND, output one of the first and second elements AND coordinates X, and the second output of the fifth trigger is connected to the second input of the twelfth element I, the output connected to the third inputs of the first and second elements And the Y coordinate, the second output of the control panel is connected to the first and second inputs of the second reversible counter, the output of which through the second decoder is connected to the control panel input, the third output of which is connected to the second input of the second element AND the Z coordinate of the first element And the Z coordinate of the cone Inen with the third and fourth inputs of the second reversible counter, the outputs of the sensors of the moment of coordinates X and Y are connected to the inputs of the second element OR, and the output of the sensor of the moment of Z coordinates to the second input of the fourth trigger and the input of the fifth trigger. Sources of information taken into account during the examination 1. USSR author's certificate No. 228761, class C. 05 V 19/40, 1967.

2. USSR author's certificate No. 444162, class C. 05 V 19/40, 1972 (prototype).