SU962763A1

SU962763A1 - Transmitter of position of two-speed drive of industrial robot

Info

Publication number: SU962763A1
Application number: SU803250610A
Authority: SU
Inventors: Валерий Георгиевич Градецкий; Арнольд Антонович Парой; Георгий Венедиктович Гогричиани; Карен Вартанович Самвелян; Геннадий Петрович Кузьмин; Герман Владимирович Крейнин; Георгий Валентинович Письменный
Original assignee: Научно-Исследовательский Институт Интроскопии; Государственный Научно-Исследовательский Институт Машиностроения Им.А.А.Благонравова; Центральный научно-исследовательский технологический институт
Priority date: 1980-12-29
Filing date: 1980-12-29
Publication date: 1982-09-30

Description

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Изобретение относитс к машиностроению и может быть использовано в автоматических манипул торах (промышленных роботах).The invention relates to mechanical engineering and can be used in automatic manipulators (industrial robots).

Известны датчики положени двухскоростного привода, выполненные на |СТруйных элементах типа сопло-сопло. Датчики формируют на своих выходах кодовые комбинации, кажда из которых соответствует положению привода tl 1- Q Недостаток датчиков - сложность конст™ рукции, обусловленна большим количеством использованных струйных эле-, ментов.Two-speed drive position sensors are known that are made on nozzle-nozzle type jet elements. Sensors form code combinations at their outputs, each of which corresponds to the position of the drive tl 1- Q The lack of sensors is the complexity of the design, due to the large number of used jet elements.

Наиболее близкими к предлагаемому ,5 вл ютс датчики, в которых используютс два струйных датчика,, первый из которых определ ет точку изменени скоростнрго режима движени привода , а второй - точку его остано- 2о ва 2.Closest to the present, 5 are sensors that use two inkjet sensors, the first of which determines the point of change in the speed mode of motion of the drive, and the second the point of its stop 2o.

Недостаток датчиков состоит в сложности конструкции.The lack of sensors is the complexity of the design.

Цель изобретени - упрощение конструкции датчика положени двухскоростного привода промышленного робота.The purpose of the invention is to simplify the design of the position sensor of a two-speed drive of an industrial robot.

Поставленна цель достигаетс тем, что в качестве датчика положени двухскоростного привода промышленного робота применен струйный кольцевой преобразователь, ранее использовавимйс только в качестве индикатора перемещени , что позвол ет с помощью одного чувствительного элемента формировать как команду замедлени , так и команду останова двухскоростного приво Да промы1иленного робота.This goal is achieved by using a jet ring converter as the position sensor of a two-speed drive of an industrial robot, previously used only as an indicator of movement, which allows you to generate a slowdown command and a stop command of a two-speed industrial robot using a single sensitive element.

На фиг. 1 дана конструктивна схема струйного кольцевого преобразовател ; на фиг. 2 - характеристика зависимости сигна.пов на выходе струйного кольцевого преобразовател в виде давлени от рассто ни до предмета .FIG. 1 is given the structural scheme of the jet ring converter; in fig. 2 shows the dependence of the signal lines at the output of the jet ring converter in the form of pressure from the distance to the object.

Claims

The jet ring converter includes a housing 1, a guide apparatus 2 in which the feed flow is formed, the power supply chamber 3, the receiving channel, the output power flow 5 of the power supply, the power supply nozzle 6, the power supply nozzle 7. Position 8 denotes a part that interacts with the sensor. Inkjet ring Converter works as follows. Air (gas) is supplied to the feed chamber 3 through the nozzle 6 at a certain pressure. Acceleration, twisting and formation of a vortex flow in the form of a diverging spiral occurs in the made spiral grooves of the guiding apparatus 2. In this case, the long-range flow depends on the velocity of the exhausting air and the pressure drop. As the jet converter approaches the part 8 (obstacle), an increase in resistance occurs at the point of flow outflow at the end of the receiving channel, as a result of which the pressure in it begins to change. At a certain distance, the pressure in the receiving channel increases. In Figs. -2, curves a, b and c depict the dependence of the pressure in the receiving channel on the distance to the object at various supply pressures. When moving a two-speed drive of an industrial robot, the output of the jet ring transducer used as a position sensor generates two positive pressure signals in series — one at a distance of mm and the second at a distance of mm from part 8. The first of these signals is used to slow the drive the second is to stop it. The use of an inkjet converter as an industrial robot sensor will eliminate the additional costs of developing and improving expensive equipment, which will provide savings in national economy. Claims of the Invention The use of a 1J jet ring transducer as a position sensor of a two-speed drive of an industrial robot. Sources of information, pr1) ntye into account during the examination 1. Zalmanzon LA Specialized aerodynamic automatic control systems. M., Science, 1978, p. 20.

2. Chaplygin E.I. and others. Devices of jet automation for controlling machines and industrial robots. Sat Pneumatic automation, M., Science, 1978, p. 192 (prototype).

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