SU1442395A2 - Apparatus for controlling manipulator grip - Google Patents

Abstract

The invention relates to the field of robotics and can be used in the automation of assembly processes using robots equipped with sensory grippers. The purpose of the invention is to expand the technological capabilities of the device. To do this, a device containing a gripper jaws with a compression drive, a comparison unit, a control unit associated with the gripper movement drive, a compression force sensor, an inductive slip sensor with a movable brush, an adder, a tactile sensor mounted on one of the jaw lips, memory element and inverter. The device allows the metered compressive force of the part without slipping, both when gripping it and when performing an assembly operation with pressing, by appropriately inserting a signal from the slip sensor into the gripper control jaws, which is performed by switching the contacts of a tactile sensor that interacts with assembly matching part. 3 il. S (l

Description

4 :: Is3

oo with

SP

 TO

The invention relates to robotics, can be used to create retrofit robotized complexes to is an improvement of the device according to the author. CB. NO 13372GzO.

The aim of the invention is the expansion of the technological capabilities of the device through the introduction of automatic dosing of the compression envelope force; 3 and 1 torus when it performs an assembly operation associated with the pressing.

FIG. 1 shows a functional scheme of usroice: E a; in fig. 2 - (oistruction of tactile l, and chicho, vari; t; in Fig. 3 - view A in Fig. 2.

The device contains a sensor 1 amplified compression, an inductance sensor 1 2 gfccalling, nodvizhny ngtak 3 sensors. pci-y is a setpoint adjuster 4 of the minimum level of compressing force, adder lake, fasting 6 comparisons, normal | Ziy ;; reformer} (current amplifier) 7, n-electrophoretic converter (EPP), yogi, .4y) ; distributor 9, б,; ЮК 10 controls, software 11 for vertical movement of the tongue, alternator signal generator 12, differential-differential circuit 13 for switching on slip sensors, from Lite; 1b; 4. ; leio.aul torus 15, switch i6 of operation mode, inductor set:; 7. g ub 18 cxBa-i a. the object is manulirova1 5 (dehal; -, a hype- matic drive 20 of compression of the lip; a gripper, a former of 21 discrete signals of a slip sensor, a tactical sensor 22, a memory element 23, an invertoi 24, a matching loop 25.

l oiiC i pVKH, i (bar ;;. 1 of the first, item i2 consists of a moving 26, kD - ;: l; - :;; 27, returnable pin and 23, KOjirvca 29,; one contact 30, akTHv ix ripy kop; -: Hi; 3i, upper krnnki 32, oenozzni 33, ukhyvrov; - klk) chat, 1 34 and non-contact contacts 35.

The device works e; food with; dku way.

After recording all the positioning points of the grab manina; tory in obkhche- mode. imruning it in the memory of the control unit 10 and checking the programmed b; kh; 0 ugraniln is transferred to the automatic mode and the device is equipped with an IGRA system /; ; works in automatic mode. In this case, the switch 5 of the operating mode is set to the corresponding 1H, its position. The seizure with divorced sponges sS onekaekaets to the volume; chtu 19 15: Aiipu. so that the latter turns out to be interstitial. At contact -; Game 3 1, atomic iracnection of Om 19; iai; HiTylation iirrox starts 110 days up and liocju; working out; ip; th nereklee:, n-1 and block 10 of the control of the command command f ode 1 i vertical; nepeMeij.ciuivj ekvvat ga isa- HOBKv.

0

0

After switching on the air distributor 9, at the command of block 0, the clamp and the air through the EPG 8 is supplied to the pneumatic actuator 20, as a result of which the jaws i.o. are compressed. After the gripper jaws come into contact with the manipulation object 19, the compression force sensor 1, located on the inner surface of the sponge, sends a signal to the comparison unit 6, where it is compared with the reference signal and g, the level of which determines the minimum level of force measured with the object being gripped. This signal comes from an adjustable setpoint 4 of the minimum level of compressive force. Voltage imbalance (supplied to the input of the normalizing converter 7, which converts the input voltage signal into a unified current signal and supplies it to the first input of the EPC 8; which doses the compressed air into the pneumatic actuator 20 in accordance with the early mini; 1 level.

After working out the preset minimum; th effort to compress, the control unit (according to the recorded program) instructs the drive 11 to shift the gripper to lift the object. In the process of executing this command; when the compressive force is insufficient, the gripped object remains in place or in the process of lifting the tongue begins to slip in the jaws 18. The rod 3 begins to descend and, in the presence of slippage, the positive polarity appears at the output of the yoke 13, which enters the input of the adder 5, Summing up, for example, a female c / c, increases it and thereby automatically and smoothly increases it: 1, a large dosage of heel force 18.

With sufficient force to capture the force, the object 19 begins to rise together with its gripper and the slip sensor rod 3 stops moving, stopping to increase the compressive force dosing signal. Part 19 is captured and transferred to the assembly position. After contact of the pressed-in part 19 with the mating part 25 in, the result of the interaction of the movable rod 26 of the tactile sensor 22 with the associated part 25 switches contacts KB-1 of the tactile sensor. At the first time after the contacts of the tactile sensor have triggered, the inputs magnitude common mode signals. The signal Ui from the memory element 23 receives a non-inverting input, and the signal Uz via a closed contact leads to the inverting input. As a result, at the output of the inverter 24 at the first moment there is a zero signal. In the process of performing the manipulation of the assembly operation by the gripper, the signal on the inverting-i; evi of the inverter 24 decreases as the sliding element sponges in absolute value decrease due to the change in the direction of movement of the slip sensor 3 and on the non-inverting input due to the memory element is equal to a constant value, i.e. U {const. As a consequence, the output signal (/ o of the inverter 24 increases in absolute value and, adding to the initial value of the compressive force, which is determined by the level of the reference signal (Uc, as well as the level of the correction force t / i, automatically increases the compressive strength of the jaws the movement in the grip of the part 19 when pressing it into the hole of the part 25 with guaranteed tension.

After connecting the part 19 with the part 25, the microswitch 34 (KB-2) is triggered, after the gripping-lowering drive 11 stops, and then the p-unclamping command comes from the control unit 10

The gripper jaws 18 are consumed, and after lifting the gripper, the stem 26 of the tactile sensor 22 under the action of the return spring 28 is lowered and the contacts of the tactile sensor move to their original position.

Claims (1)

Invention Formula Manipulator gripper control device according to aut. St. No. 1337250, characterized in that, in order to expand technological capabilities, a tactile sensor mounted on one of the gripper jaws, a memory element and an inverter are inserted, the input of the memory element and one of the inputs of the inverter connected to the mode switch work, respectively, through a normally closed and normally open contacts, tactile sensor, the other input of the inverter is connected to the output of the memory element through a normally open 10 of the gripper, in which the air contact of the tactile sensor is located, and the outputs of the divider 9 switch the sub-inverter line through the normally closed tip of the compressed air to the atmosphere and under the de-tact of the tactile sensor and the output of the return springs installed in the memory are connected to the corresponding non-working cavity of the gripper pneumatic cylinder, the inputs of the adder. R Kf Reset / 709 K 14 15 I Bo3dt / J ( The gripper jaws 18 are consumed, and after lifting the gripper, the stem 26 of the tactile sensor 22 under the action of the return spring 28 is lowered and the contacts of the tactile sensor move to their original position. Invention Formula Manipulator gripper control device according to aut. St. No. 1337250, characterized in that, in order to expand technological capabilities, a tactile sensor mounted on one of the gripper jaws, a memory element and an inverter are inserted, the input of the memory element and one of the inputs of the inverter connected to the mode switch work, respectively, through a normally closed and normally open contacts, tactile sensor, the other input of the inverter is connected to the output of the memory element through a normally open 0 The 0 contact of the tactile sensor and the outputs of the inverter through the normally closed contact of the tactile sensor and the output of the memory element are connected to the corresponding inputs of the adder. OS / 709 K 15 I Bo3dt / J ( IS ue.2 u, df ( iB one/ w J. / 31 FTs.2.3