CS202756B1 - Wiring for program control of movement of manipulators and robots - Google Patents

Abstract

Connection for program control of the movement of manipulators and robots, especially for stop control. The incremental position sensor is mechanically connected to the electromagnetic brake of the drive motor with a gearbox, which is equipped with a switch stop. The switch is connected to a preselection counter, to which the incremental position sensor and the preselection circuit are connected. The output of the preselection counter is connected via a logic control element to an actuator, which is connected to both the drive motor and the electromagnetic brake. The connection is advantageous to use when controlling first-generation robots and manipulators that are controlled by sequential automata.

Description

Wiring for programmatic control of the movement of manipulators and robots, especially for all-purpose control. The incremental encoder is mechanically connected to the electromagnetic brake of the geared motor, which is equipped with a switch stop. The switch is connected to a preset counter with an incremental encoder and a preset circuit. The preset counter output is connected via a logic control member to an actuator that is connected both to the drive motor and to the electromagnetic brake.

The wiring is advantageous to use in the control of first generation robots and manipulators that are controlled by sequential automata.

202,756 (51) Int. Cl? G 05 B 19/04

202 750

The subject of the invention is a circuit for programmatically controlling the movement of manipulators and robots, in particular for the one-stop control, consisting of a drive motor with an electromagnetic brake and a one-stop gearbox, position sensors, logic control, preselection counter and switches.

Stage control is the easiest way to control robots and manipulators. It uses the principle of deceleration points, when when a certain position is reached on the individual degrees of freedom, a switch is switched on by means of allusions, which changes the speed of the drive motor. In the known one-stop control systems, for each deceleration point, it is necessary to position the one-stop, respectively. switches, on the robot mechanism. This places increased demands on the design of the mechanical part of the robot, in particular as regards the location of the stops and the method of programming the movements, for which for each different position it is necessary to use an additional number of stops according to the number of deceleration points. A further disadvantage is that the position of the drive motor shaft is not defined and can change even during repeated movement due to external fault variables.

These disadvantages are substantially eliminated by the invention which consists in that the incremental position sensor is mechanically connected to the electromagnetic brake of the geared motor, which is provided with a switch stop. The switch is connected to the xx and preset counters to which the incremental encoder and preset are connected. The preset counter output is connected to the actuator via a logic control member.

The actuator is connected both to the drive motor and to the electromagnetic brake.

An essential advantage of the present invention is that it uses only a single cue which acts as a zero point and the program setting of all deceleration points is secured by presetting the counter.

The attached drawing shows a block diagram of the circuit according to the invention.

On the common shaft of the drive motor 1 there is on one side an electromagnetic brake g and an incremental position sensor 6 and on the other side a gearbox 2 with a stop 4 which controls the switch g. The switch g is connected to the preselection counter g.

The incremental encoder 6 and the preset circuit 10 are further connected to the preset counter 9 and the preset counter output g is connected to the logic control member 8 and the actuator g. The actuator g is connected to the drive motor 1 and the electromagnetic brake g.

As the drive motor 1, an asynchronous pole-switching motor can be advantageously used.

The control system operates such that the position information is sensed by the incremental position sensor 6 and stored in the preselected counter g. In the preselected counter g, the contents corresponding to the desired deceleration points are set via the preset circuit 10. the counter with the preselection g starts. When the content set by the preset circuit 10 is reached, the preset counter g outputs a signal, it is already processed in the logic control member 8, and

202 7SB introduced into the actuator £. By means of this, the drive motor 6 is switched to a lower speed or disconnected from the mains, and the electromagnetic brakes 6 which are also actuated by the actuator 4 are used for braking.

The counter program β by preselection £ is controlled by preselection circuit 10 «The circuit according to the invention is very advantageously used in controlling robots and manipulators of the first generation, which are controlled by sequential automata ·

Claims (1)

SUBJECT OF THE INVENTION Connections for the programmatic control of the movement of manipulators and robots, in particular for the one-stop control, consisting of a drive motor with an electromagnetic brake and a one-stop gearbox, a position sensor, a logic control member, a preselection counter and switches. mechanically coupled to the electromagnetic brake (3) of the drive motor (1) with the transmission (2) provided with a stop (4) of the switch (5), the switch (5) being connected to a preset counter (9) to which the incremental a position sensor (6) and a preset circuit (10), the preset counter (9) output being connected via a logic control member (8) to an actuator (7), the actuator (7) being connected to a drive motor (1) and on the electromagnetic brake (3) ·