SU930254A1 - Device for control of robot production complex - Google Patents

Description

(54) DEVICE FOR CONTROLLING THE ROBOT-TECHNOLOGICAL COMPLEX

one

The invention relates to automation and computing technology and can be used in control systems of a robot-technological complex serving the main technological equipment.

Devices for controlling robotic technological complexes are known, comprising a series-connected clock generator, a matching word, a pulse distribution unit, a dial-in field, a trigger unit, an amplifier unit, an executive relay unit, and a manipulator.

These devices do not have feedback on the position of the manipulator and work only on a temporary basis.

The closest in technical essence to the invention is a device comprising a serially connected control panel, a software unit, a command distributor, a control unit and a manipulator, the first output of which is connected to the second one.

the input of the program-logic unit, as well as the delay unit, the input of which is & dinin with the second output, define commands, and the output with the third input of the program-logic unit, the fourth input of which is connected to the generator output, and the fifth input - to the first output control unit 2.

A device failure is that it does not allow control & trap by global nep stemegnsiMB manga torus, forming distributed commands into the necessary technological equipment group, which limits the scope of application of the device.

The purpose of the invention is to expand the use of the device.

The goal is achieved by the fact that the device contains a black analyzer of the controller's machine and a controlled switch, the first input of which is connected to the second output of the control unit, the second input to the output of the manipulator state analyzing unit, the generator input and the sixth

the input of the program-logic block, and the third inputs - with the outputs of the device, whose inputs are connected to the first outputs of an utphrallized switch, the second output of which is connected to the seventh input of the software-logic block, and connected to the input of the analyzer's state analyzer .

The drawing shows the functional diagram of the device.

The device contains a control panel 1, a program-logic module 2, a generator 3, a delay unit 4, a command distributor 5, a control unit b, a controllable cat 7, a manipulator 8, a manipulator state analysis unit 9, technological equipment 10.

The device works as follows.

The work program is recruited and stored in program-logic block 2 and includes the sequence of command execution during the execution of the cycle, as well as the conditions for transition from command to command within the cycle. Such conditions are the completion of the execution of a given command by the manipulator 8 and the condition of the equipment 10 before the execution of the manipulator 8 of the subsequent command.

In the initial state, in the command distributor 5, the code is recorded, according to which the initial state of the manipulator 8 is established through the control box 6 of the control unit. Simultaneously, the manipulator state analyzer block 9 determines which of the groups of technological equipment 1O has the manipulator 8. The keypad position code 8 from the analysis block 9 is fed to the input of the controlled switch 7. In accordance with this code, the information from the control block 6 (in terms of equipment control € 4 10) through the controlled switch 7 arrives to the desired group obs udovani 1D, and performs a CS u1mutatsi sensors of this equipment group 10, the input unit 2 programmnologicheskogo.

When a Start command is received from the control panel 1, the first command (s) is selected in the program-logic block 2 according to the algorithm, the conditions necessary for its fulfillment are determined (according to the condition of the equipment 10 and the manipulator 8), compared to these conditions equipment 10 and manipulator 8 and, if they coincide, issue commands (commands) to the distributor 5 commands. The command (commands) from the distributor 5 of the command, via the control unit 6, controls the manipulator 8, and through the block 6 and the switch 7, controls the necessary equipment group 10.

After the completion of the execution of the command, which is determined by block 2, the next command is sampled according to the algorithm, the conditions necessary for its fulfillment and are determined. etc. according to the program development cycle. If the next ksmandy is the command to move the manipulator 8 to the next equipment group 1.0, then after writing it to the command distributor 5, the analysis block 9 analyzes the status of the position sensor of the manipulator 8 and generates signals to the input of the block 2, where according to with them is formed a set of commands that provide the specified mode of movement. When the movement is completed, the analysis unit 9 generates a signal that the movement is completed, which enters the cluster 3 and enables the selection of the next command. In addition, in block 9 of the analysis, the code of the position to which the manipulator 8 has moved is determined. This code arrives at the controlled switch. 7, where, in accordance with the received code, a connection is made to the control system of a certain group of equipment 1O.

The control unit allows control of the manipulator bodies 8 and the equipment 10 that do not have feedback sensors. The codes of the commands controlling such bodies are delivered to the control unit 6 and then to the manipulator 8, or through the switch 7 to a certain equipment group, from the first output of the command distributor. Simultaneously, from the second output of the command distributor 5, they arrive at the inputs of the 4 delay unit where, from the moment the command arrives at the command input, the time interval determining the duration of the command processing is carried out. After testing the time interval at the output of delay block 4, a signal arrives at block 2 and indicates that the given command has been executed (time taken for the formation of a command).

The control device allows. equip 10 with J

its own (peripheral) control unit, for which it is possible to form commands defining the start of testing by the peripheral control unit of its own unit. For this, the control unit generates commands of fixed duration with a certain delay relative to any particular point in time.

For this purpose, the signal of the completion of the movement of the manipulator 8 from the output of the analysis block 9 is fed to the ahoa of the generator 3 and switches it on. The output of the generator 3 is connected to the input of the unit 2, where, in accordance with the algorithm, the required m is determined (the time of day and the output of cmf of yy and its duration is formed.

The application of the invention will make it possible to control the manipulator of ori servicing it of several groups of equipment and to control this process.

Claims (2)

1. Bel Nin PN Industrial;, robots, M., Mechanical Engineering, 1975, with. 215-227. 2. In the same place 215-227.