SU970323A1 - Device for controlling industrial robot - Google Patents

Description

(St) INDUSTRIAL ROBOT MANAGEMENT DEVICE

The invention relates to automation devices for production processes and can be used to control various types of industrial robots with pneumatic actuators. A control device for an industrial robot is known, which includes pneumatic cylinders that perform all robots in three degrees of mobility, air distributors of these cylinders and a cyclic program control system 1. The disadvantage of this device is that there is a transition from one step of the robot’s work program. on the other, it is carried out on time exposures, and not on feedback sensors, which does not allow to obtain the optimum cycle time of the robot and even if the specified time intervals are incorrect, STI to breakdowns. Closest to the present invention is an industrial robot control device comprising power cylinders in terms of the number, degrees of freedom of a robot with stem positioning endpoint sensors and a program control cyclic system including a mode and manual control unit, the outputs of which are connected to the trigger input of the shift register and the inputs of the power switches connected by their outputs to the inputs of electromagnets for controlling the power distributors of the power cylinders, and the outputs of the end point sensors positioning rods and key inputs of Silo connected to program array. The disadvantages of this device include the low productivity of the robot that is being patched by it, since the device does not allow the combination of movements along a given 397P path, and the simultaneous combination of movements is often impossible due to the presence of various obstacles interfering in the robot's manipulation zone. The purpose of the invention is to expand the functionality of the device. The goal is achieved by the fact that in a control device of an industrial robot containing power cylinders according to the number of degrees of freedom of a robot with stem positioning endpoint sensors and a cyclic program control system including a block of modes and manual control 15, the outputs of which are connected to a shift register trigger input and the inputs of the power switches connected by their outputs with the inputs of the ele | control cylinders for air distributors of power cylinders, where the outputs of the sensors of the rod end positioning points and the inputs of the power switches are connected to the program matrix, each power cylinder is mounted by a rod parallel to its rod, on which at least one intermediate sensor is fixed, and the cyclic system software control contains elements And by the number of intermediate sensors, the inputs and outputs of which, like the outputs of intermediate sensors, are connected to a program matrix. FIG. Figure 1 shows the pneumocinematic diagram of the device proposed; in fig. 2 is a block diagram of a cyclic program control system of the device proposed; in fig. 3 trajectories of movement of the robot gripper controlled by the proposed device; in fig. k - cyclogram of the robot gripper movement. The industrial robot control unit contains a pneumatic cylinder 1 of the gripper extension, on the rod 2 of which a gripper 3 is fixed. At the ends of the pneumatic cylinder 1, there are dampers k and 5, for example, hydraulic and associated sensors 6 and 7 of positioning end points interacting with stops 8 and 9, the positioning of the rod 2 is located at points. Parallel to the rod 2 of the pneumatic cylinder 1 there is a rod 10, which is attached to the rod 2 by means of brackets 11. On. The rod 10 is fixed at least one intermediate sensor 12 with the possibility of its movement and fastening along the rod 10, which interacts with the stop 13 fixed on the pneumatic cylinder .1. The air in the cavity of the pneumatic cylinder 1 is supplied from the air distributor 1. The pneumatic cylinder 1 of the extension is fixed to the housing of the pneumatic cylinder 15 for lifting, and the stem 16 of the lifting cylinder 15 is rigidly connected to the base 17. At the ends of the pneumatic cylinder 15 there are dampers 18 and 19 and are connected with With these, sensors 20 and 21 of the positioning endpoints interacting with the stops 22 and 23 at the rod positioning points 1b. Parallel to the rod 1b of the pneumatic cylinder 15 there is a rod 2k, which is attached to the rod 1b using a bracket 25. At the rod 2k at least one intermediate sensor 2b is fixed with the possibility of its movement and fastening along itang 2k, which interacts with the stop 27 fixed on the body of the pneumatic cylinder 15 The air in the cavity of the pneumatic cylinder 15 is supplied from the air distribution I 1 20. The housing of the pneumatic cylinder 29 of rotation is pivotally fixed on the lever 30 rigidly connected to the case of the pneumatic cylinder 15 of lifting with the lever 32 rigidly fastened to the rotation shaft of the air cylinder 1 extendible gripper. At the ends of the pneumatic cylinder 29 of rotation, dampers 33 and 3 and associated sensors 35 and 3B of positioning end points are located, which cooperate with stops 37 and 38 at the positioning points of the rod 31. Parallel to the rod 31 of the pneumatic cylinder 29 there is a rod 39. which is attached to the rod 31 at support bracket 40. At least one intermediate sensor il is mounted on the rod 39 with the possibility of its movement and fastening along the rod 39, which interacts with the stop 2 mounted on the body of the pneumatic cylinder 29. Air supply in the cavity pneumatic cylinder RA 29 is accomplished by air distributor 3. Further, in FIG. Figure 1 shows technological equipment, such as a kk press, with a pneumatic driven slide 45, on which a punch is fixed, B. The extreme positions of the slide 45 are positioned sensors 7 and 8 positioning end points, rigidly fixed to the press body and there is at least one intermediate sensor E with the ability to move and mount at any point between the sensors 7 and k8. All three sensors 7, B and kS are triggered by interacting with the stop 50 mounted on the slide 5 of the press 4. The stroke of the slide of the central press of the press t is performed by means of the air diffuser divider 51. All air distributors T, 28, 43 and 51, sensors 6, The 7.20, 21, 35, 36, and 8 positioning end points and the intermediate sensors 12, 2b, 41, and 49 are electrically connected to the software-controlled cycle system. The software control cycloop system (Fig. 2) consists of block 5 and manual control, which sets the adjustment or automatic operation mode of the device, the shift register 53. block 5 of force, output keys, block 55 of electromagnets of air distributors 14, 28, 43 and 51, block 5b of sensors 6, 7, 20, 21, 35, 3b, 47, and 48 end positioning points, block 57 intermediate sensors 12, 26, 41, and 43, block 58 of circuits And according to the number of intermediate sensors and software matrix 59A separate row 60 of program matrix 59. The inputs of all bits of the shift register are derived. 53 (. .Na Figure 2 shows the six bits 1-U1 shift register); on a separate row 61 - the outputs of all bits of the shift register 53, on a separate row b2 - the inputs of all the power switches of the block 54 of power switches, the outputs of which are fed to the inputs of the corresponding electromagnets of the distributors of the block 55 of electromagnets; on a separate pd 63 -. the outputs of all the feedback sensors of the 5 sensors block, the separate outputs of all intermediate sensors of the robot and the process equipment 57 and the separate B5 outputs of all inputs and outputs of the two-input circuits AND block 53. On FIG. Figure 3 shows the trajectory of the gripper 3 robot, controlled by the proposed device, where 66 is the die matrix, and 67 and 68 are the guide columns of the punch, which the robot gripper must bypass when moving from point b9 to point 79. On (Lig. 4 chart a shows the dependence of the distance traveled d by extension from time t, graph b) —the angle of rotation -f from time -t. The device works as follows. In the adjustment mode, manual control is carried out from the buttons of the block 52 of the modes and manual control of the power keys of the block 54 of the power switches, and therefore, the electromagnets of the air distributors of the block 55 and the pneumatic cylinders 1, 15 and 29. In the automatic mode, the control From each digit (from I to / 1) of the shift register 53. When issuing a control signal, for example, from the output of the first bit, that air distributor actuates the power switch According to the program matrix 59, the output of the first bit 1 is interrupted when the program is entered. In addition, when the first bit of the shift register is activated, the next one, i.e. the second bit II, which is triggered when the sensor is tested, controlling the execution of the motion specified in the first bit. For example, from the output of the first bit of the shift register, the control signal is applied to the power switch, which switches the air distributor 14 of the pneumatic cylinder 1 to retract the rod 2. When activated, -. The scientific research institute of the first discharge I prepares the second discharge C, and the transition to the second discharge takes place after the sensor 7, which controls the retraction of the rod, has been triggered, since the output of this sensor is programmed into the second bit II. The output of the second bit, for example, is connected by a program matrix to the input of the power switch of the power switch unit 54, which switches the air distributor 43 pneumatic-1 cylinder 29 to the turn of the gripper 3 counterclockwise. A counterclockwise rotation occurs, at the end of which a sensor 35 triggers, controlling the anticlockwise rotation. The output of sensor 35 is connected by a program matrix to the input of the third digit iTl of the shift register. There is a transition to the third bit 111 of the shift register, and then the work of the robot is carried out

depending on the program, connected to the program matrix. The trajectory of coverage with the robot fragment described above is shown by a dashed line in FIG. 3

As can be seen from FIG. 3, retracting the brush prior to its positioning is realized by the LQ value, and part of this path is damped before the positioning of the rod 2 in section 1. A considerable amount of time is spent on the damping of robots with pneumatic actuators, which causes a considerable duration of the operating cycle The class of robots. The application of the proposed device makes it possible to significantly shorten the cycle time of a robot by combining motion at various degrees of mobility using intermediate sensors. We look at the above program fragment with the combination of movement for pulling and rotating the brush 3 of the robot. From the first section 1 of the register, a control signal is sent to the power switch of the block St, switching the air distributor of the pneumatic cylinder 1 on the retraction of the current 2. Switching to the second section II of the shift register It occurs via an intermediate sensor 12, which is tuned to the length I, (Fig. 3), which is characterized by the output of the cysts of the robot 3 beyond the zone of possible collision when turning from the punch guide 68. When the second bit triggers, the stem 2 continues to be injected. The second bit output of the shift register 53 is switched by software matrix 59 to the input of the power switch of unit 5, switching the air distributor 3 pneumatic cylinder 29 to rotate counterclockwise, and the hand 3 turns against clockwise one. temporarily with the traction of the brush; Tracks; burn; the movement of the brush 3 while combining the movements is shown in FIG. 3 dot-dash line. I Upon completion of the combined movement in two degrees of mobility, the shift to the third bit Il of the shift register 53 is performed after the sensors 7 and 35 controlling the positioning by pulling and turning counterclockwise are activated. For this, the output of one of the circuits AND block 58 is fed to the input of the third bit of the shift register 53 according to software matrix 59, to the inputs of which

outputs from sensors 7 and 35 are provided, controlling the positioning by pulling in and turning counterclockwise. Thus, when each intermediate sensor is used, when movements are combined, after HELP, the positioning adjustment is performed for each of the coordinates using the AND schemes, the number of which must therefore be equal to the number of intermediate sensors.

FIG. shows the cyclogram of movement of the gripper 3 of the robot of the program fragment described above without combining the movements along the coordinates (shown on the cyclogram by the dashed line) and with the combination of movements (shown on the cyclogram by the dash-dotted line), where t, is the response time of the air distributor when the gripper starts to move signal; t Q is the time of passage of LV, before the start of damping of the track; tj in time to position the gripper by retraction; from .t to the response time of the air distributor controlling the rotation of the gripper; from t to t5 - time to turn the grip on an angle of 0% (Fig. 3) before the start of damping Turning; t is the time before positioning of the gripper in a turn without a combination of movements; t is the time of the beginning of the combination of movements after the passage of the distance Ln in retraction; from t- to tg is the response time of the air and air distributor controlling the gripper rotation when the movements are combined; tg is the time before the start of damping when turning with a combination of movements; the time before the positioning of the gripper in rotation when combining movements. As can be seen from FIG. 3 and 4, when combining movements, the time for the passage of the tongue along the trajectory indicated by the dash-dotted line is less than the time for the passage of the trajectory indicated by the dashed line, howl by t, in this case the passage of the LQ-LQ parts damping is performed when the rod 2 is positioned in retraction, aligned in time with turning it counterclockwise. As shown by practical studies of various cyclograms of the operation of a robot controlled by the proposed device, for example, in the secondary section

stamping flat parts, it is possible to shorten the working cycle of the robot by half.

Claims (2)

1. Bel Nin PI Industrial robots. M., Mechanical Engineering, 1975, with. 105 2. Electrical production technology. Collection, issue. 9 (100). Informzlektro, 1977, p. (prototype ."five fff in (Pui.f 5d ..- /: S s "M .J } Cj - O) rl "J -fj one -M