RU2463156C9 - Hydropneumatic system to control adaptive hydropneumatic robot - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to hydropneumatic control system for adaptive cantilever and portal hydropneumatic robots. Proposed system tracks the workpiece at stable speed irrespective of tracking part curves in meridional and latitudinal directions in two frontal planes of Cartesian space with automatic change of different units of tactile probes and air transducers. Control system processes determined (design) disturbances at lengthwise servo drives and probabilistic (random) geometrical disturbances in setting lengthwise and crosswise feed including those related with floating point of start-end of executing repeating elementary operations on next workpiece compared with previous workpiece (for example, welding points).

EFFECT: higher reliability and efficiency, linger life.

14 cl, 31 dwg, 6 tbl

Description

The invention is intended for control of adaptive industrial pneumatic-hydraulic robots, for example, according to patents RU No. 2208513 C2 - console version and No. 2224637 C1 - portal version, and can be used to control adaptive robots as separate units of technological equipment in serial, small-scale and single production, and as a local control system in robotic production as a hydraulic control valve (flexible robotic industrial module), through a pneumatic-electric sensor associated with a higher level control system.

Known control systems for industrial robots with software control using the achievements of electronics, described, for example, in the work "Control systems of industrial robots (automatic manipulators and robotic systems)." Moscow, Mechanical Engineering, 1994, 288 pages, as well as Chapter 3 in the album "Industrial Robots in Mechanical Engineering" edited by Yu.M. Solomentsev. Moscow, Mechanical Engineering, 1987, 140 l., Containing a hard-program, energy part, a system for storing and reproducing programs having sine-cosine, track and other sensors of the position of the working body in the space of the robot.

The disadvantage of such systems is, firstly, their high cost and, secondly, the fragility due to the aging of printed circuit boards, magnetic recording and reading heads, the warranty period of which is 6 years. The use of hard-programmed control of industrial robots requires an expensive modernization of production in order to increase the accuracy of basing parts - products in production lines for all technological stages, without which robots work "out of place".

Software control systems require engineering maintenance, which increases the cost of their use. In a special period, when a missile and bomb weapon is used that is specifically designed to disable electronics, control units based on them completely fail.

The proposed pneumohydraulic control system for adaptive pneumohydraulic robots does not have these disadvantages.

The technical result of the use of pneumatic and hydraulic automation without the mediation of electrical control is to increase the reliability and durability of adaptive robots in comparison with robots with electronic software control systems.

The technical result is achieved due to the fact that the pneumohydraulic control system of an adaptive pneumohydraulic robot includes a tracking and stabilizing system of the speed of the technological tool of the working body, a logical pneumatic unit, a block of pneumohydraulic logic and an energy block, while the tracking and stabilizing system of the speed of the technological tool of the working body is made in the form of a system of angular pneumatic couplings and phase sine-cosine hydraulic resolvers for four the driving axes of the gyroscope, including the main gyroscopic axis of “clean rotations, the nutation axis, the axis of precessions and the axis of manipulating the normal of the technological tool to the tangent wave bend of the tracking path, as well as in the form of two blocks of main and auxiliary probes and pneumatic sensors on both sides along the tracking of the technological tool equipped with a working feed drive and an additional outlet from the product, the logical pneumatic automation unit is made in the form of three pneumatic units of the first control level, including x the first pneumatic block of contour tracking (A1), the second globular tracking (A2) and the third hard-program pneumatic control (A3), the block of pneumohydraulic logic is made in the form of three pneumohydro blocks of the first control level, including a logical pneumohydro block for controlling linear hydraulic drives (G1), and a pneumohydro hydraulic control unit (G2) and pneumatic hydraulic unit of a push-pull pulse pneumohydraulic pump in a closed system of high hydraulic pressure (IN), and the energy unit includes a block of three phase supply process tool unit thyristor contactor timer unit, a preparation with filtration and dehumidified compressed air, gas and coolant component, wherein the logic unit is connected with pneumatic logic and block fluid energy unit, which is connected with the process tool.

The tracking and stabilizing system of the speed of the technological tool of the working body contains four-linear and six-linear angular pneumatic couplings made in the form of a spool with an annular groove separated by two partitions, with one half-ring groove connected to a supply line of compressed air drilled along the axis of the spool, and the second is brought into atmosphere, while the third and fourth lines of the four-line pneumatic coupling are formed by the inlet and outlet of the through hole in the valve body, at the six-line stump the collars of the spool are divided by two partitions at right angles to the center of the annular groove, the short part of which is connected to the compressed air supply line, and the long part is connected to the atmosphere into the atmosphere, two mutually perpendicular through holes are made in its body, which are connected in pairs with the inputs two pneumatic valves OR, while on the main gyroscopic axis of “pure rotation” two four-line pneumatic couplings (Mx) 19 and [Mz (y)] 20 are installed, the spool grooves of which are mutually perpendicular, and the openings of the spool housings are parallel, and on the other gyroscopic axes, one (Мω _к ) 18, (Мα) 22 and (Мβ) 23, with spool grooves oriented in the initial position along the axes of the Cartesian space, with its vertical plane perpendicular the frontal plane, the short spool groove of the six-linear pneumatic coupling (Mz) 21, defining the meridional or latitudinal directions of tracking, is symmetrically divided.

In the block of logical pneumatic automation, one pneumatic block A1 of the first control level is equipped with two pneumatic blocks of the second control level - the pneumatic block (B1) of the contour castling of transverse feeds to the longitudinal servo, the formation of the sign (±) of the pneumatic signals of the contour rotations of the main axis of the "pure rotation" of the gyroscope and the connection with the power unit turning on timers and a pneumatic block (B2) for generating pneumatic signals of contour control with a sign (±) of the stroke of linear hydraulic drives, pneumatic block A2 of the first control level is also equipped with two mon second-level control units - a pneumatic block (B3) of globular manipulation of the norm of a technological tool and a quick response to geometric disturbances and a pneumatic block (B4) of generating pneumatic signals of the sign (±) catching up with translational "slip" of the main gyroscopic axis (11) of "pure rotation" to minimize its mismatch parallel the normal of the technological tool by the precessions in the latitudinal and nutations in the meridional direction and connect to the dominance of one of the two mutually per pendicular linear hydraulic actuators of the third — hydraulic actuator-corrector — of the spatial declination of the working body, and the third pneumatic block A3 of the first control level is equipped with three pneumatic blocks of the second control level — pneumatic block (B5) of the directional pneumatic valves for controlling the strokes of linear and rotary hydraulic actuators, a counting pneumatic block (SB) and pneumatic PU) for manual adjustment and automatic control of robot drives, including during servicing of a technological tool, and a working control panel vmotsilindrom infeed robot console execution in pre-operative position.

In the block of pneumohydraulic logic, the logical pneumohydro block (G1) of the first control level is equipped with two pneumohydro blocks of the second control level - a start-stop pneumohydro block (B6) changing the sign (±) of the direction of travel of the linear hydraulic actuators and two-speed, two-front pneumohydroblock (B7) of the automatic control of the ratio of the variables and correction vectors in a rectangular and parallelepipedal vector velocity system of three mutually perpendicular linear hydra drives, their two-speed switching either to technological “slow” or to marching “fast” idle speed, including with instantaneous circuit “borrowing” of identical gradients to another front of anti-shock castling for connecting a large cosine velocity vector to the technological tool in case of dangerous proximity to the product.

In the pneumatic unit A1, the pneumatic unit B1 of contour castling of transverse feeds to the longitudinal servo, the formation of the sign (±) of the pneumatic signals of the contour rotation of the main axis of the "pure rotation" of the gyroscope and the connection with the power unit is equipped with five "I" valves, the inputs of which are connected to six outputs of the pneumatic sensors containing the blocks probes that respond to geometric changes in the tracking path “from the hill” and “to the hill” along the technological tool - one (I2), which generates a pneumatic feed signal “transversely forward” and, the second (I1), which forms the feed non-signal is “longitudinal” and both, through the OR pneumatic valves forming the correction “slowly”, communication with the hydraulic unit G1 (B7) and the pneumatic unit B2, the third (I3) and fourth (I4) pneumatic valves forming the pneumatic signal “in the odd and even half-cycles” back ”when diagonally mismatching a jointly connected pair of probe pneumatic sensors when they meet the depression of the tracking path and the pneumatic signal to contour the main gyroscopic axis in the direction of the probe that has“ fallen ”“ from the hill ”and the fifth one is a blocking pneumatic valve ( 5) that forms when the technological tool hits the corner along the bisector line during the "uphill" pneumatic signal "quickly backward" and to turn the same main gyroscopic axis to the side determined by the tracking direction by changing the position of the pneumatic trigger 5/2 switched by pneumatic commands " odd "or" even ", the system of pneumatic valves OR, to which the pneumatic blocks of the fourth control level are connected: the pneumatic block (E1) of switching the control system from the vertical frontal plane XOZ to horizontal XOY and (E2) - from XOY to XOZ the inputs of which are connected with the outputs of the B5 hard-program pneumatic unit for automatic frontal readjustment and with the outputs of the control panel of the control unit, as well as the pneumatic unit (E3) for automatically switching timers from the first electric time relay, set to one operating mode of the working body, to the second electric time relay, set to another technological mode through pneumatic trigger (P3) and pneumatic sensors PED1 and PED2, switched from B5 by pneumatic commands to change the frontality of the control system, and equipped with pneumatic valves Turning-off push-pull pulse of fluid pump (ID) in the "machine" or "adjustment" from the panel (CP) and powering compressed air and angular probes pnevmomuftoy blocks.

The pneumatic block of the second control level B2 is equipped with three pneumatic blocks of the third control level - the first (B1) cyclic locks of complicity and the sign (±) of the direction of the contour stroke of the linear hydraulic actuators depending on the phase position of the angular pneumatic couplings (Mx) 19 and [Mz (y)] 20 on the main the axis of the "pure rotation" of the gyroscope, the second (B2) - automatic and manual semi-automatic readjustment of the working position of linear hydraulic actuators and the third (B3), consisting of three pairs of pneumatic valves OR - output from the outputs of the first two pneumatic units B1 and B2 of pneumatic signals to the logical pneumatic unit G1.

In the pneumatic block of the second control level B2, the pneumatic block of the third control level B1 of cyclic complications of complicity and the sign (±) of the direction of the contour stroke of the linear hydraulic actuators, depending on the phase position of the angular pneumatic couplings, contains a pneumatic trigger K7 and pneumatic valve K8, as well as two distribution double-digit tandem spools (- 4/2 +4/2) PT1 and PT2, controlled by one pneumatic command “transversely-longitudinally”, and the other by pneumatic commands of changing frontality and equipped with spool blocks - one (4/2 × 2) Bz3 and the second - (4/2 × 3) Bz4; to the right ends of the tandem of the spools (-4 / 2 + 4/2) PT1 and the spool unit (4/2 × 3) Bz3 parallel connected line 77 is “longitudinal” from the pneumatic unit B1 and from it the same line 76 is “forward” parallel to the left ends block of spools (4/2 × 2) Bz3 and pneumatic trigger K7, to the right end of which a line 78 is connected “back” from the same air unit B1 and both lines “forward” and “back” are fed to the inputs of the first pneumatic valve OR (OR 31), the output of which is “transversely” connected to the pneumatic unit B4 and to the left end of the tandem spools (-4 / 2 + 4/2) PT1, while the outputs of the angled pneumatic couplings are connected s to the left inputs of both spools of the tandem PT1 from [Mz (y)] 20, and to the right inputs of both spools of the tandem PT1 from [Mx) 19, while the output line 44 of the pneumatic coupling 44 is connected to the control line of the pneumatic valve 4/2 K8 [Mz ( y)] 20, and a pair of lines from the pneumatic unit B4 connecting the globular auxiliary drive Y to the dominant drive in the frontal plane XOZ, and in the frontal plane XOY - connecting the additional drive Z are connected to the inputs of the pneumatic valve K8; the inputs of the I11 pneumatic valve are connected to the “even” line from the counting SB pneumatic unit and to the line 77 “longitudinally” from the B1 pneumatic unit, the I11 output is “even” (203 ') connected to the right end of the spool block (4/2 × 3) Bz4, to the left the end of which is connected to the output of the pneumatic valve OR24, one input of which (201) is “odd” connected to the same counting pneumatic unit SB, and the second input - with line 78 “back” from the pneumatic unit B1.

In pneumatic block A2, the pneumatic block of the second control level B3 is equipped with two pneumatic blocks of the third control level (B4) and (B5), and the first pneumatic block B4 is the formation of the sign (±) of "borrowing" in the other front of the gradient of the anti-impact cosine vector of the jerking speed of the technological tool in the direction opposite its working supply, in case of dangerous approach of the tool to the product during installation lateral supply of the working body, containing two pneumatic valves "I" - one (I12) - conjunctions of pneumatic signals from pneumatic sensors of simultaneous swinging of two main probes on the front side of the tracking circuit, and the other (I 13) - simultaneous swinging of two auxiliary probes on the wrong side of the tracking circuit, the outputs of pneumatic valves I12 and I13 are connected to the single inputs of the two-digit distribution tandem of the spools with the function "then ..., then "reverse connection (-3 / 2 + 3/2) RT3-1 controlled from the outputs of the pneumatic trigger 4/2 (P9), the paired left outputs of the two tandem spools - plus and minus - are connected to the pair of inputs" Y ", and paired right - cross - to a pair of inputs ± "Z »Two pneumatic units (E4 and E5) of the fourth level of control of linear hydraulic actuators Y and Z in pneumatic unit B2, while from the outputs of the pneumatic trigger 4/2 P9 parallel lines of frontal switching to frontal hydraulic unit G1 and the second pneumatic unit (B5) are held to hold the normal of the technological tool to tangential wave curvature of the tracking trajectory and a quick increase in the gap between the product and the technological tool when meeting a bulge or cavity during longitudinal feed contains "OR" pneumatic valves non-simultaneous swinging of the probes from the front or the wrong side of the tracking circuit, while from one group of pneumatic valves OR a pair of outputs is connected to a pneumatic hydraulic unit G2 of rotary hydraulic drives, namely, a hydraulic motor for manipulating the norm of a technological tool of a gyroscope, and from the second group of pneumatic valves OR to a working body, containing a drive of the working feed and an additional branch of the technological tool when meeting with a bulge or depression of the tracking path.

The pneumatic unit B4 is equipped with two pneumatic units of the third control level (B6) and (B7), the first pneumatic unit B6 - castling dominance of the longitudinal and transverse feeds of the latitudinal and meridional declination of the working body, containing a double-digit distribution tandem of spools (-3 / 2 + 3/2) PT2 with direct-connected "this ..., then" function controlled via a pneumatic trigger 4/2 (P10) by pneumatic signals from the outputs of a six-line angular pneumatic clutch (Мз) 21, which sets latitudinal or meridional tracking directions, on the main gyroscopic axis (11) " about rotation ”, the outputs of the angle pneumatic coupling on the axis of the precession [M) βy (z)] 23 are connected to the left inputs of its spools, and the outputs of the angle pneumatic coupling [Mαy (z)] 22 on the nutation axis of the gyroscope are connected to the right inputs, while the same pairs of outputs of the angular pneumatic couplings on the axis of precessions and nutations are fed through two “OR” valves to the end switching lines of two “I” pneumatic valves (I9 and I10), to the normally closed lines of which are connected the outputs of the pneumatic trigger 4/2 (P10), controlled by the pneumatic signal from the left “ transversely "(76/78), and on the right - with a pneumatic signal 77" longitudinally "from a pneumatic unit and B1 through pneumatic block B2, the outputs of pneumatic valves I (I9 and I10) - 154-155 and lines 152-153 of castling dominance of feeds “longitudinally” - “transversely” from the outputs of pneumatic trigger 4/2 (P10) are fed to pneumohydro block B7 of pneumohydro block G1, and the single outputs of the two-digit tandem PT2 are connected to the control of the dominant mutually perpendicular hydraulic actuators, either XZ, in the vertical frontal plane XOZ, then XY - in the XOY plane as additional drives - respectively X or Z in the pneumatic unit B2; the second pneumatic unit - B7 - of catching up “slip” of the main gyroscopic axis 11 of “pure rotation”, performed by nutations and precessions to minimize its non-parallelism to the normal tool slope perpendicular to the tracking curve trajectory tangent to the wave bend, containing a two-digit distributive tandem of spools with the function “then ..., then "(-3 / 2 + 3/2) RT3-2 reverse connection, controlled by parallel lines from the outputs of a six-line angular pneumatic coupling (Мз) 21, defining the meridional and latitudinal declination of the stroke p On the other hand, the outputs of the angular pneumatic coupling (Мω _к ) 18 are connected to the single inputs of the distribution tandem RT3-2 on the axis of manipulating the normal of the technological tool, and the paired two-digit outputs through two pairs of pneumatic valves OR are connected to the pneumatic hydraulic unit G2 - rotary hydraulic drives, and from the left outputs of the tandem -3 / 2 + 3/2) RT3-2 to the hydraulic drive of precessions (GDβ) 17, and from the right to the hydraulic drive of nutations (GDα) 16 of the gyroscope, and through the same pairs of pneumatic valves OR from the corresponding outputs of the control panel PU for commissioning css and nutation; at the same time, the B7 pneumatic unit is equipped with the E8 pneumatic unit of the fourth control unit for automatically changing the phase of the preliminary working position of the axis 12 of the precessions through a pair of pneumatic valves "HE12" and "HE14", switched by the pneumatic commands of the VK20 and VK21 directional pneumatic valves by turning the cam 171 on the same axis 12 of the precessions in the pneumatic unit B5 through the right inputs of additional pneumatic valves "OR" 54 and 55.

In the pneumatic unit A3, the pneumatic unit B5 is equipped with a unified system of track-type pneumatic sensors for monitoring the linear and rotary drives for both the console and portal versions of the adaptive robot, and in the latter version the three-coordinate trolley is turned upside down by the gyroscope, which is due to the plus sign of the Z coordinate below the zero coordinate point, at in the console-mounted robot, it is equipped with a pneumatic cylinder for supplying the three-coordinate cart to the product on the conveyor, and for the portal-type robot, the feed and division under the working body of the gyroscope on an assembly trolley with shuttle-type strokes controlled by traveling pneumatic sensors, and for a console-mounted robot it is equipped with a start-up RP pneumatic control, and for a portal-type robot - two 5/2 manual pneumatic distributors, while also equipped with adjustable stops - switching cams of the traveling pneumatic valves 3/2 for monitoring the achievement of the point of the preliminary working position (TPRP) at the beginning of the tracking trajectory; equipped with a directional pneumatic valve 5/2 (VK7) associated with the counting SB pneumatic unit when operating on an open and closed tracking path and three pneumatic units E9, E10 and E11 of the fourth level of control of automatic robot readjustment for single-front and two-front operations.

Pneumatic hydraulic unit B7 of the second control level in the pneumatic hydraulic unit G1 is equipped with pneumatic hydraulic distributors - a hydraulic unit-trigger of spools (3/2 × 3) GBz1 with a two-speed “slow-fast” function, controlled on the right by the pneumatic command 182 “slowly”, and on the left - by the pneumatic command 78 “fast” from the logical pneumatic unit B1, two pneumatic hydraulic units of globular declination of the working body - separate 3/2 Gr4 NOT, switched by pneumatic command 154 “latitudinal”, “pseudo-latitude”, and pneumatic hydraulic block of spools (3/2 × 2) GBz2 NOT, switched by pneumatic command 155 meridional ”- both from the logical pneumatic unit B4, while it is equipped with a pneumatic hydraulic unit-trigger for spools (4/2 × 2) GBz3 with frontal castling function, controlled without anti-shock“ borrowing ”of another frontality with the“ XOZ ”pneumatic command on the right and the“ XOY ”pneumatic command on the right from the pneumatic unit B3, and a separate pneumohydrotrigger 4/2 Gr5 with the function of contour switching of the dominance of feeds in the flat vector system XZ or XY, controlled by the pneumatic command 153 “longitudinally” to the right, and to the left by the pneumatic command 152 “transversely” from the pneumatic unit B4, pr than the vector gradients and velocity values of the dominant, additional and corrective feeds of linear hydraulic drives are provided by connecting the left inputs of the “D” of their hydraulic distributors 4/3 of the pneumatic hydraulic unit B6 with the outputs of the sine-cosine hydraulic sensors on the gyroscope axes - from the hydroresolver (Grzγ) 33 to the main axis pure rotations ”- to the inputs of Gr5 - to the left of the output of the hydraulic sensor (sinγx) 25 and cross to the normally open input of Gr4, and to the right - from the output of the hydraulic sensor [cosγz (y)] 26 and cross Gr5 to the right the right input of the GBz3 spool through Gr5, from the hydroresolver (Grzα) 34 on the nutation axis - to the inputs of the left GBz3 spool - to its left input from the output of the [sinαy (z)] 28, and to the right entrance of the same left GBz3 spool from the output hydrosensor [cosαy (z)] 29 and from the hydroresolver (Grzβ) 35 on the axis of precessions to the left inlet of the right spool GBz3 from the output of the hydrosensor [sinβy (z)] 31, and from the output of the hydrosensor (cosβx) 32 to the normally closed input of Gr4, while the left outputs of two spools of GBz3 are connected to a pair of inputs of the left spool of GBz2, and the right ones to a pair of inputs of rights of the same spool of the same GBz2, to each pair of inputs of spools (3/2 × 3) of the GBz1 are connected adjustable hydraulic resistances - on the left Rm - marching high speed, and on the right Rш - step "slow" hydraulic actuator, and the left and right hydraulic resistances are set to the same or fast or slow speed for all three linear hydraulic drives, each pair of hydraulic resistors is connected in parallel by one line, with the first and second with the output of the spools NOT (GBz2), and the third with the output NOT (Gr4), normally open inputs of GBz2 are NOT connected to the outputs of the right spool GBz3, normally closed to the outputs of the left spool of the same GBz3, and the inputs of the hydraulic sensors 25-26, 28-29 and 31-32 are connected to the trunk line "D".

The SB counting pneumatic unit is equipped with two four-command binary countable pneumatic blocks - one DB1 - counting the odd and even half-cycles of returning the twisted communications of the working body to the non-twisted state and the second DB2 - counting the double strokes of the directional pneumatic valve 5/2 VK7 in the hard-drive pneumatic block X5 during operation in a closed loop - in both cases with the issuance of a color and / or sound signal for calling a working operator to repeat the next identical technological transition roizvodstvennoy operation.

A pneumatic toggle 5/2 T7 of the adjustment tap for a pair of probe blocks and pneumatic sensors, with which access to the service of the technological tool is covered, for example, in the form of welding tongs and returning the same pair of probe blocks and pneumatic sensors to the working position, is taken out from the control panel of the PU; the normally open air outlet line for the T7 pneumatic tumbler through the first OR4 of the three “OR” pneumatic valves - to the large end of the differential air distributor 5/2 DPR3 for controlling the pneumatic cylinder-retainer (ПЦ5) 40 the working position of one or another pair of probe blocks and pneumatic sensors, and the normally open output of the T7 air tumbler, in the "automatic" position, connected to the compressed air supply line, is connected to the large ends of the two differential differential blockers 3/2 DP1 and DP2, in the "automatic" mode playing the role of the logical element “NOT” in connecting to the large ends of the air distributors ДПР1 and ДПР2 of both pairs of pneumatic cylinders (ПЦ3) 38 and (ПЦ4) 39 of supplying and discharging pairs of probe blocks and pneumatic sensors Shch1 and Shch2 of the output lines of a pair of traveling air sensors 3/2 VK14 and VK15, simultaneously switched by the discharge of the pneumatic cylinder-clamp (ПЦ5) 40 and fed alternately with compressed air from the pneumatic trigger 5/2 П1, controlled by the pneumatic commands XOY-XOZ (165'-166 ') from the pneumatic unit B5, while the outputs of the pair VK14 and VK15 directional air sensors are bifurcated - one line directly through one 3/2 blocking air distributor, and the other - to the small end face of the other same blocking air distributor, and the inputs of the second supply OR5 pneumatic valve are connected to the outputs of 3/2 VK16 and VK29 way pneumatic sensors, supervisor the end of the supply of probe blocks and pneumatic sensors in working position to the technological tool, and the inputs of the third pneumatic valve OR 3 “tap” of pneumatic cylinders 38 and 39 are connected to the outputs of the travel pneumatic sensors 3/2 VK17-VK28, which control the end of the tap blocks and probe pneumatic sensors from the technological tool, and in parallel - to the small ends of the air distributors DPR1 and DPR2 to control the pneumatic cylinders of the outlet-supply of pairs of probe blocks and pneumatic sensors Shch1 and Shch2, and the output of the second pneumatic valve OR 5 "supply" is connected to a little at the end of the air distributor 5/2 DPR3 and in parallel to the normally closed line of the first pneumatic valve ДА1, the normally open line of which is connected to the large end of the differential differential blocking pneumatic valve ДП3 of the automatic exhaust pneumatic cylinder-retainer (ПЦ5) 40 by switching through the first pneumatic valve OR4 to the right of the air end of work in the vertical frontal plane XOZ from the pneumatic trigger VK26P or pneumatic command 169 '- in the horizontal frontal plane XOY from the pneumatic of the VK27P trigger of air unit B5, and the output of the third pneumatic valve OR3 is connected to the normally closed input of the second air valve DA2, the output line of which is normally open to the atmosphere is connected to the control line of the first pneumatic valve DA1, the control line DA2 to the output of the directional air valve HE3, which controls the pair of pneumatic sensors Shch1 or Shch2 pneumatic cylinder-clamp (PTs5) 40.

A technological tool of a working body, containing a working feed drive and an additional removal of the technological tool from the product, for example, in the form of rod welding tongs (CC) with a C-shaped bracket, containing a coaxial block of two pneumatic cylinders for electrode compression - power and pre-compression, which, like power In addition to the working piston rigidly connected to the bracket with a hollow plunger, it is equipped with a second service piston for additional removal of the bracket electrode from the wrong side of the flange welded joint due to the stroke of the second service piston from the shoulder of the central sleeve, rigidly connected, in contrast to the central sleeve of the power pneumatic cylinder, with the front cover of the block of two coaxial pneumatic cylinders, with the additional removal of the bracket electrode from the wrong side of the flange connection of the product provided by switching the second pneumatic valve NOT controlled as " the first "pneumatic valve is NOT, from the pneumatic unit B3, as well as for additional removal of the rod electrode from the front side of the same flange connection, and the working line the stroke of the pre-compression cylinder is connected to the output of a separate additional pneumatic distributor 3/2 Kps (E1) through the channel in the piston rod of the power pneumatic cylinder.

The control system does not require the engineering services typical of software-controlled robots. It is enough for her to have a technician in charge of the technological equipment and in the service of a mechanic - a locksmith who is familiar with pneumatic and hydraulic automation. The proposed control system allows to reduce the requirements for the accuracy of indexing products on the positions of production lines. In a special period, bombing missiles, incapacitating electronics, do no harm to pneumatics. The technical result also consists in the fact that the system is capable of performing the following functions:

- alternate control of the robot in two frontal planes of the Cartesian space,

- start-stop and storage function carried out by hydraulic locks and pneumatic valves 4/3 with a closed center,

- tracking on a flat and globular contour,

- automatic regulation of the ratio of magnitudes and gradients (directions) of the velocity vectors of linear hydraulic drives in a rectangular and parallelepiped vector system and stabilization of the total velocity vector of the working body for any spatial bending of the tracking trajectory,

- minimization of the mismatch of the parallelism of the main gyroscopic axis of the normal of the technological tool with wave globular bends of the tracking loop,

- automatic search for the continuation of the tracking trajectory when moving to a different coordinate of the Cartesian space (search moves "back and forth" with the rotation of the main gyroscopic axis in the direction of the bend of the tracking trajectory),

- two-speed movement of the working body: with fast (marching) idle speed and “slow” feeds with technological speed,

- control in two half-cycles - odd and even - for the return of twisted communications to their original untwisted state,

- automatic change of probes (differing in functional device) upon transition to work, either in the vertical or in the horizontal frontal planes of the Cartesian space,

- automatic change of technological modes during the transition to work in another frontal plane,

- development of deterministic (designer) and probabilistic (random) geometric disturbances in the behavior of the tracking trajectory with the “borrowing” of the circuit anti-shock castling of the magnitudes and speed gradients of linear hydraulic drives in a different frontality,

- emergency power off by the “stop” command,

- in case of accidental start-up, return to the starting position when there is no product in the robot’s space,

- adjustment functions: automatic readjustment of the initial phase states of the gyroscope axes and linear positions of the working body for automatic transition to tracking in another frontal plane and manual readjustment of the robot when changing the product model, as well as when servicing a technological tool,

- sound and color signaling of the completion of cyclic transitions of production operations (15 functions in total).

With all the full functionality, the pneumohydraulic control system is cheaper than non-adaptive electronic program control systems.

When considering the essence of the pneumohydraulic control system of an adaptive pneumohydraulic robot, it should be borne in mind that:

a working body is a unit built into a gyroscope that contains a technological tool fed by a built-in or separate energy source and having a working feed drive and an additional outlet from the tool product when it encounters a bulge or a depression in the tracking path.

The frontal plane is the plane of Cartesian space onto which the largest part of the tracking path is projected.

A tracking path is a contour drawn through the centers (points) of elementary treatments sequentially located in a flat or globular space of a robot. With respect to stamped flanges of the flange connection, which is the basis for tracking during spot welding, the contour curvature of the flanging rib and the globular wave curvature of the ribbon of its bending are distinguished. The contour of the tracking trajectory can be closed and open and have a front and back side.

The initial position is the phase state of the gyroscope, in which all its axes are parallel or perpendicular to the planes of the Cartesian space.

The initial position is the working position of the robot drives in readiness for its inclusion.

The preliminary working position is the angular phase state of the axes of the gyroscope and the position of the linear drives, in which the technological tool has taken up a position of readiness for installation working transverse feed (to the edge of the flanging tape).

A simple flat contour is called tracking along a path parallel to one of the planes of Cartesian space.

Spatial flat contour is called tracking along a flat path with one or two constant slopes in three-dimensional Cartesian space.

Tracking by variable biases into three-dimensional Cartesian space is called globular. In this case, there are two polar globular tracking systems: for the vertical frontal plane, the “sphere” scheme, in which, in addition to the “edge” bends, there are wave bends of the flanging tape in the latitudinal and / or meridional direction; for the horizontal frontal plane, the “boat” scheme, in which the bow of the boat with the meridionally curved longitudinal ribs - stringers, and the transverse ribs - frames with pseudo-latitudinal bending are taken as a globular pole (see Fig. 2 and 3 and the tables to them 1 and 2).

The normal of a technological tool is the line of its working feed, with contour tracking parallel to the main gyroscopic axis of “pure rotation” and perpendicular to the path of simple contour tracking or, with global tracking, to the tangent of its bend in the latitudinal (pseudo-latitudinal) or / and meridional direction.

The stroke of the technological tool is called its feed for performing repeated elementary production operations, for example, welded points of contact welding.

The list of graphic materials (see below) includes:

figure 1 (BS) is a block diagram of a pneumohydraulic control system of an adaptive pneumohydraulic robot, figure 2 (Cf) is a globular tracking scheme "sphere" for the vertical frontal plane XOZ, figure 3 (Ld1) is a globular tracking scheme " boat "for the horizontal frontal plane XOY, in Fig. 4 (hydraulic fracturing) - Novinkov's gyroscope, in Fig. 5 (M) - angular pneumatic couplings of the sign (±) of the hydraulic actuator stroke, in Fig. 6 (Grz) - hydraulic resolver (device), Fig. 7 (RO) - kinematic diagram of the working body - welding tongs with a pneumatic cylinder CK, drive-out drives the ode of the probes Shch and the spool blocks Bz1 and Bz2, in Fig. 8 (Tsk) - the principal pneumatic diagram of the control of the block of compression pneumatic cylinders and an additional outlet of the welding tongs, in Fig. 9 (Tssh) - the principal pneumatic diagram of the automatic change of the probe blocks and service tap and return one pair of probe blocks, in Fig. 10 (Shch1) - a probe block and pneumatic sensors for tracking flanges of variable width: a) kinematic scan of two probe blocks, b) tactile probes, c) 3/2 YES pneumatic sensor; 11 (Shch2) - a block of probes and tracking sensors for flanging of constant width: a) kinematic scan of two blocks of probes, b) main and auxiliary probes, c) pneumatic sensor 3/2 YES; Fig. 12 (B 1.1) is a logical pneumatic block of castles transverse to longitudinal feeds and contour turns of the main gyroscopic axis of "pure rotation", Fig. 13 (B 1.2) is an addition to B1.1: a) E1 and E2 are automatic blocks changeovers of the phase of the main axis ± γ, b) E3 - block of automatic changeovers to another welding mode; in Fig.14 (B2.1) - logical pneumatic control unit for linear hydraulic actuators, in Fig.15 (B2.2) addition to B2.1 - adjustment blocks E4, E5, E6 and E7, in Fig.16 (B3) - block quick response to deterministic (designer) and random geometric disturbances, in Fig.17 (B4) - a block of flat "sliding" of the main gyroscopic axis of "pure rotation" nutations and precessions after the normal of the technological tool, in Fig.18 (B5 ') - three-coordinate trolley and working body of the console-mounted robot with probes Щ2, tongs 10, cylinder Tsk and welding m transformer (St. Tr.), stop control system, in Fig. 19 (B5.1) - a basic pneumatic diagram of the track hard-drive control of a console-mounted robot (without gyro elements) with logical elements "no product", in Fig. 20 (B5 .2) - the kinematic scheme of the hard-programmed robot control of the portal version with stops and rotary cams on the gyro axes in two frontal planes: XOZ and XOY, in Fig. 21 (B5.3) - the first addition to B5.2: transitional states of control of the stops to and after the point of preliminary work position (TPRP) PO 22 (B5.4) - second addition B5.2: automatic delay control circuit changeover switching system to another frontal plane; in Fig. 23 (G1) is a logical pneumatic hydraulic control unit for linear hydroblocks: B6 is a pneumatic hydraulic control unit for the (±) stroke sign of linear hydraulic cylinders and B7 is a pneumatic hydraulic control unit for the magnitude and gradients of the velocity vectors with a “borrowing” of a different frontality of shockproof repulsion of a technological tool from a collision with a product , in Fig. 24 (G2) - pneumatic hydraulic control unit for rotary hydraulic actuators, in Fig. 25 (ID) - a push-pull pulsed pneumatic-hydraulic pump with start and stop elements, in Fig. 26 (SB) - counting mon vmoblok consisting of two binary Pneumo-DB, Figure 27 (DB) - a) a schematic pneumatic scheme DB, b) a sequence chart of operation unit elements B5.2 and DB; in Fig. 28 (PU) - the adjustment pneumatic control panel, in Fig. 29 (Tr) - examples of tracking trajectories: a) to Fig. 2 "sphere", b) to Fig. 3 "boat"; on Fig (TC) is an example of a technological scheme for welding the sides of a small bus: a) even and odd tracking feeds in the plane of XOZ - transverse joints (figa - lower trajectory), b) even and odd "revolutions" around the perimeters of window openings (fig.29b); in Fig.31 (Ld2) - phase zones of operation of the angular pneumatic couplings along sections of the trajectory of globular tracking in the XOY plane.

Figure 1 shows a block diagram of a BS system of pneumatic control. The four main blocks are circled by rounded bold closed loops: the first part is a servo and stabilizing system of pneumatic and hydraulic sensors in a gyroscope with a technological tool of the working body of the RO, a logical pneumatic automation unit, a pneumohydraulic logic unit, an energy unit. Bold lines are hydraulic connections between BS units, thin lines are pneumatic connections, dotted lines are telecommunication lines.

Figure 2 shows the globular "sphere" scheme - tracking the robot in the vertical XOZ plane, in which the nutation of the technological tool occurs in the meridional direction of the "sphere", and the precession in the latitudinal direction. The globular axis of the sphere is the Z-Z of Cartesian space. The declination angles of the working body from the initial position are: α — meridional nutations, β — latitudinal precessions, γ — meridional-latitudinal (and vice versa - latitudinal-meridional) rotations (“pure rotation”) along the contour bend of the trajectory.

Figure 3 shows the globular diagram of the "boat" - tracking the robot in the horizontal frontal plane XOY. For the horizontal frontal plane, both directions of the “sphere” scheme are meridional, therefore the control system half (hemisphere) of the sphere is laid “sideways”, i.e. the globular axis ZZ coincides with the axis YY of the “sphere”. In this case, the lower hemisphere of the sphere is called a “boat”, in which the longitudinal ribs — stringers — meridionally converge (like a pole) to the bow of the “boat,” and its transverse ribs — frames — have a pseudo-latitudinal direction. Consequently, meridional nutations are similar to pitching, and pseudo-precessions along frames are similar to rolling. The waterline of the boat in calm water is a simple flat tracking contour with rotations at an angle γ, and the pitching of the water line is a spatial flat contour with slopes: α is meridional (along y-y) and β is pseudo-latitudinal (along x-x) .

Figure 4 shows the Novinkov gyroscope (patent RU No. 2221689 C2) hanging from a three-coordinate trolley 1 on the portal 150. The gyroscope contains four axes: 9 - manipulating the NN normal of the technological tool 10 (welding tongs), 11 - "clean rotation" (main gyroscopic axis), 12 - precessions, 13 - nutations. On the axes - rotary hydraulic motors ГД (14, 15, 16, 17, 59), hydraulic resolvers Grz (33, 34, 35) with paired phase sine-cosine hydraulic sensors (25-26, 28-29 and 31-32) and angular pneumatic couplings M (19, 20, 21, 22 and 23) - see Fig. 1 BS. In addition, on the axes of the gyroscope 11 and 12 there are travel cams: 171 with directional pneumatic valves VK20 and VK21 and 172 with VK22 and VK23, as well as on the crankshaft axis 58 (α ') - changing the gyro frontality - cam 156 with VK18 and VK19.

In Fig. 5 (M), angle pneumatic couplings (Мω _к ) 18 on axis 9 are shown in large detail; (Mx) 19, [Mz (y)] 20 and (Mz) 21 - on the axis 11; [Mαy (z)] 22 on axis 13 and [Mβy (z)] 23 on axis 12 (parentheses in square brackets mean a change of purpose in another frontality - see Table 3).

The device hydraulic grinder Grz (patent RU No. 2216441 C2) is shown in Fig.6. The rotating spool 55 has two parallel rectangular holes 57, and the housing 54 has two mutually perpendicular identical round holes 56 (ie, a block of two mutually perpendicular Russian "samovar taps" with a common spool). In the initial position, the spool axis 55 of each of the two hydraulic resolvers is perpendicular to the two mutually perpendicular directions of linear hydraulic drives as the third axis of the Cartesian space, and the sum of the hydraulic cross sections of two round mutually perpendicular holes 56 of their bodies 54 is always constant and equal to the arbitrary unit (sin ² + cos ² = 1) as the hypotenuse squared (square of diameter of round holes) equal to the sum of the squares of the legs (sin and cos ^{2 2)} in a right triangle whose vertex lies (and rotate) on the circumference of the round of openings 56 housing 54 and aligned congruently in the projection intercepts one straight edges parallel rectangular holes 57 of the spool core 55 of the chord legs of a right triangle. As far as the arrow of the chord-cathet differentially takes away part of the diameter of one round hole, the part of the diameter of the other round hole is differentially added, making their sum equal to unity (whole diameter), and, therefore, the sum of the hydraulic cross sections is always integrally constant. That is, the magnitude of the total velocity vector of the working body is invariant to perturbations (variable sine and cosine of differentially varying lengths of chord-legs). Such a simple device as a hydraulic resolver provides a differential-integral function of the stabilization system of the speed of the follow-up stroke of the working body.

Figure 7 shows the kinematic diagram of the working body of the RO with a technological tool built into the gyroscope: 10 - C-shaped welding pliers having tactile probe and pneumatic sensor blocks on both sides - Щ1 - tracking flanges of variable width (patent RU No. 2218253 C2) and Shch2 - tracking flanges of constant width (ac SU No. 1109287 A), which automatically change each other with pneumatic cylinders (PTs3) 38 and (PTs4) 39 with fixing each pair of probe blocks in the working position with pneumatic cylinder (PTs5) 40. The pliers are electrically connected to secondary terminals to tkov compact welding transformer (Sv.tr.) whose primary winding is connected to the pulsed power unit thyristor contactor - circuit block BS (3-phase 380 V). The connection and discharge of cooling water is shown. The outputs of the pneumatic sensors 1 ... X are connected to the inputs of the pneumatic blocks Bz1 (3/2 × 6) (contour pneumatic collector - block of spools) and Bz2 (3/2 × 4) (globular pneumatic collector - block of spools). Bz1 outputs 101 × 106 connected to the pneumatic unit B 1.1 (Fig), and Bz2 outputs 107 × 110 - to B3 (Fig.16).

On Fig (CC) shows the principal pneumocircuit of two coaxial pneumatic cylinders precompression, compression and additional tap electrodes of the welding tongs from the product. In contrast to RU patent No. 2221681 C2, in the pre-compression cylinder, the central sleeve with a shoulder, functionally similar to the same sleeve in the power cylinder, is rigidly attached to the front cover of the cylinder block. An additional outlet of the bracket electrode 36 is made by the pneumatic command 82 from the OR 87 pneumatic valve in the pneumatic unit B3 of the second pneumatic valve HE2 (Fig. 8) with the compressed air pressure turned off under the second - auxiliary - piston of the pre-compression service cylinder. Moreover, the idle line connected to the middle cover of the pneumatic cylinder block is made with a branch to the normally closed inlet of the air distributor Rpit 1 - supply of the angular pneumatic clutch M (Fig. 5) and pneumatic sensors of probes Щ1 and Щ2 (Fig. 9 and 10) with compressed air during tracking. Rpit 1 is switched off by the pneumatic command 184 or 194 via the OR 76 pneumatic valve. The piston stroke line of the pre-compression pneumatic cylinder is connected to the output of a separate (additional) 3 / 2Kps (E1) pneumatic distributor through the channel in the piston rod of the power pneumatic cylinder and the hole in the hollow plunger under the pre-load piston.

In Fig. 9 (Tssh) a pneumatic diagram of an automatic change of probe blocks by pairs of pneumatic cylinders (PTs3-PTs3 ') 38 and (PTs4-PTs4') 39 (see FIG. 7 RO) and one pneumatic cylinder-retainer (PTs5) 40 by switching pneumatic trigger 5 is presented / 2 П1 pneumatic commands 165 '(XOZ) or 166' (XOY) from the pneumatic unit B5.2 at the end of all transitions of half the operation in one of the frontal planes with pneumatic commands 169 'or 170'. And the removal of a pair of probe blocks and pneumatic sensors that close the welding tongs from the installer for their service is performed by switching the remote (from the PU panel - Fig. 28) pneumatic toggle switch T7 of the commissioning control panel. The pneumatic unit Tssch is equipped with OR pneumatic valves (3, “outlet”, 4 and 5 “inlet”), three differential air distributors 5/2 DPR (1,2 and 3), blocking differential air distributors 3/2 DP (1,2 and 3), directional switches VK16 - VK17, connected in series according to the “I” circuit, a pair of directional pneumatic valves VK14 and VK15 for monitoring the removal of the retaining cylinder (PTs5) 40 and one pneumatic valve 3/2 NOT controlling the end of its forward travel, as well as two interlocking pneumatic valves 3/2 YES (1 and 2) and air distributor 3/2 Rpit2, automatically switching they are powered by compressed air in the "automatic" mode, then in the "setup" mode from the remote control (Fig. 28) along lines 88 and 91.

Figure 10 (Щ1) and 11 (Щ2) presents blocks of tactile probes and pneumatic sensors. In Fig. 10, the test leads (Щ1) on both sides of the welded flanges of variable width of the transverse seam of the cladding, for example, the sidewalls of a small-tonnage bus are the same - in the form of rollers - and when tracking are supported by rounded generators on its wrong side, and their hemispheres cover two flanging sections of the sidewalls. In the role of safety levers in the form of cranked rollers act, which bend the “knees” when they meet with the bulge during the move “uphill”.

In Fig. 11, the main probes are hemispherical probes Щ2 70 and 70 'on the front side of the flanging of the side window window opening flange, and conical probes 71 and 71', in contact with the wrong side of the flanging of the window opening, are named auxiliary ones, the antennae probes 73 -74 on levers 72 and 75, which respond to the convexity of the flanging rib (positive amplitude) of the tracking trajectory during the “uphill” course.

Explanations for the rest of the figures in the list of graphic materials are made in the order of describing the composition of the blocks of the control system.

The first pneumatic unit of the second control level B1 in the pneumatic unit A1 (BS - Fig. 1) consists of two subunits - B 1.1 (Fig. 12) and B 1.2 (Fig. 13). Block B 1.1 is equipped with five pneumatic valves I: I1 - forming pneumatic commands 77 “longitudinally” with joint pneumatic signals 101 and 102, I2 - forming pneumatic commands 76 “forward” with joint pneumatic signals 103 and 104 from initially pressed pneumatic valves III and IV (Щ1 and Щ2 Fig. 10 and 11), I3 and I4 - the formation of the pneumatic signal of the contour rotation of the main gyroscopic axis 11 of the "clean rotation" ± γ in the direction that failed "from the hill" in front of the probe: in the even half-cycle ± γ (pneumatic signal +99), in the odd half minus γ ( pneumatic signal minus 100). I5 pneumatic valve - forming the bisector pneumatic signal is provided for the case of simultaneous operation of the safety probes-antennae 73 and 74 (Fig. 11). The second sub-block B 1.2 (Fig. 13) is equipped with readjustment pneumatic blocks of the fourth control level: E1 - readjustments of the phase of the angle γ of axis 11 of the gyroscope when changing the frontal plane XOZ to XOY, and E2 - when changing back from XOY to XOZ. In E1, two pairs of pneumatic valves I7-HE9 and I6-HE10 are provided for this function, and in E2 - one pair of I8-HE8. In addition, the pneumatic unit E3 - for automatic switching of the welding mode contains a pneumatic trigger P6 - frontal changes and two pneumatic sensors PED1 and PED2, which connect either an electric time relay PB1 or PB2 in the power unit BS (Fig. 1). The pneumatic unit B 1.1 is also equipped with a system of pneumatic valves (P15, DP6, OR 24, etc.) for switching on and off the power supply to the working body with compressed air and hydraulic pressure for linear and rotary hydraulic drives according to the rigid program from the pneumatic unit B5.

The second pneumatic block of the second control level B2 in the same pneumatic block A1 of the first control level also consists of two subunits B2.1 (Fig. 14) and B2.2 (Fig. 15). Sub-block B2.1 is equipped with three pneumatic blocks of the third control level B1, B2 and B3. The first - B1 - cyclic castling of complicity and the sign (±) of the direction of the follower of linear hydraulic drives is equipped with two double-digit distribution tandems of spools (- 4/2 + 4/2) PT1 and PT2, two pneumatic blocks of spools Bz3 (4/2 × 2) and Bz4 (4/2 × 3), as well as a pneumatic trigger 4/2 K7 and a pneumatic valve 4/2 K8, two pneumatic valves IL24 and IL31 - and a pneumatic valve I11 of the conjunction of the pneumatic signal 77 "longitudinally" from B1.1 and the pneumatic signal 203 "even" to the right end Bz4. At the same time, the line 201 '“odd” of the output from the pneumatic valve OR24, the inputs of which are connected to the line 78 “back” from B 1.1 and to the line 201 “odd” from the SB, is connected to the left end of this block of spools. The remaining internal communications are shown in B1 of FIG. 14. External inputs B 1: from B 1.1 - 76 “forward”, 77 “longitudinally” and 78 “backward”, lines 42-43 from (Mx) 19, 44-45 from [Mz (y)] 20, as well as 85- 86 to the inputs of the pneumatic valve K8 from the pneumatic unit B4. The exits from B1 are internal from three pairs of Bz4 spool outlet lines: a separate pair (± “X”) directly from the exits of the right spool to OR29 and OR30 of the B3 air unit and two pairs from the exits of the left and middle spool to the two-digit distributor tandem of the spools (- 4 / 2 + 4/2) PT1-2, controlled from the pneumatic unit B5.2 (Fig.20) by pneumatic commands 165 '("XOZ") on the left and 166' ("XOY") on the right. The pneumatic block B3 "OR" is connected by three pairs of lines with the second sub-block B2.2 (Fig. 15) of the pneumatic block B2 and consists of three pairs of pneumatic valves: OR25 ... 30. Sub-block B2.2 consists of three pneumatic blocks of the fourth control level E4 (Y), E5 (Z), E6 and E7 (X). Pneumoblock - B2 of the third level of control - for supplying the working body to the point of the preliminary working position of the TPRP and from the TPRP point to the initial position, as well as for automatic and manual readjustment of the state of linear hydraulic drives. B2 has three pairs of outputs to B3: +144 and (-) 145 (y); (-) 146 and +147 (z);

(-) 148 and +149 (x) through its pneumatic valves OR (25-26; 27-28 and 29-30).

Pneumoblock A2 - globular tracking of the first control level contains two pneumatic blocks of the second control level: B3 (Fig. 16) and B4 (Fig. 17). The pneumatic unit B3 - the globular manipulation of the norm of a technological tool and a quick response to geometric disturbances - is equipped with two pneumatic units of the third control level: B4 and B5. B4 — instantaneous circuit “borrowing” during installation transverse supply of a cosine value (instead of a sine one - given frontality) with a circuit identity of vector gradients - the same for the phase state of a hydraulic resolver of the same vector rectangle with a dangerous approach of the technological tool to the product - equipped with two pneumatic valves I: I12 - conjunctions of simultaneous pneumatic signals 107 and 108 from the front side of the flange connection and I13 - conjunctions of simultaneous pneumatic signals 109 and 110 with the wrong side Orons of flange connection. The outputs I12 and I13 are bifurcated: minus pneumatic signals - one branch to the right end of the pneumatic trigger 4/2 P9 and to the right single input of the two-digit distribution tandem of spools (- 3/2 + 3/2) RT3-1 of the reverse connection, and plus - respectively - to the left end of P9 and the left entrance of the same tandem RT3-1. The outputs P9 of the instantaneous circuit “borrowing” (issuing a pneumatic signal 165 ″ instead of the pneumatic signal 166 ″ of the circuit “borrowing” for the frontal plane XOZ of the dominant velocity vector in the XOY circuit) and, conversely, the pneumatic signal 166 ″ instead of 165 ″ for the frontal plane XOY “ borrowing "in the XOZ scheme to the hydraulic unit G1 (B7 Fig.23). RT3-1 outputs - extreme - directly in the line (+) 136 and (-) 139, - and middle ones - crosswise in the line (-) 137 and (+) 138. Pneumatic signals 136 and 137 to the pneumatic unit E4 (Y), and pneumatic signals 138 and 139 to E5 (Z) in the circuit of FIG. 15; B5 — pneumatic block holding the normal of the technological tool to the tangent wave curvature of the tracking trajectory and rapidly increasing the gap between the product and the technological tool when meeting a bulge or cavity during longitudinal feeding — is equipped with pneumatic valves OR for responding to the simultaneous swinging of probes from the front or back side of the tracking circuit (70 -71 Щ2 Fig. 11) by increasing the gap between the electrodes of the welding tongs - separately by the pneumatic signal 82 from the output OR 86 of the outlet of the rod electrode 37 of the pneumatic command 107 or 108 of the convexity of the front side flange connection or pnevmosignalu 83 - Skobov drain electrode 36 pnevmokomandoy 109 or 110 from the inner side troughs flange connection (or when encountering lodgment tooling assembly on the trolley). Simultaneously with the removal of the clamp electrode 36, the circuit provides for rotation (manipulation) of the plane of the welding tongs around axis 9 (- ωk) - towards lowering the auxiliary probe of the conical 71 in the odd half-cycle and symmetrically in the even half-cycle. The second pneumatic block B4 (Fig. 17) of the second control level in the pneumatic block A2 of the first control level — generation of pneumatic signals of the sign (±) of the catching-up translational “slip” of the main gyroscopic axis 11 of “pure rotation” to minimize the mismatch of its parallel to the normal of the technological tool by the precessions in latitudinal (pseudo-latitudinal) ) and nutations in the meridional direction is equipped with two pneumatic blocks of the third control level B6 and B7: the first - B6 - castling dominance of the longitudinal and transverse latitudinal and the rotational inclination of the working body (Tables 1 and 2), containing a two-digit distribution tandem of spools (- 3/2 + 3/2) PT2 with a "then ... then" function of direct connection, controlled via pneumatic trigger 4/2 P10 with pneumatic signals from the outputs 46 and 47 of a six-line angular pneumatic clutch (Ms) 21 on the main gyroscopic axis 11 (figure 4) of "pure rotation". The outputs 50 and 51 of the angle pneumatic coupling [Mβу (z)] 23 on the axis 12 of the precession are connected to the left inputs of the spools PT2, and the outputs 48 and 49 of the angle pneumatic coupling [Mαу (z)] 22 on the axis 13 of the nut gyroscope are connected. The outputs 50 and 51 of the pneumatic coupling 23 are connected to the inputs of the pneumatic valve OR32, and the outputs 48 and 49 of the angular pneumatic coupling 22 are connected to the inputs of the pneumatic valve OR33, the outputs of which (OR32 and OR33) are connected to the end switching lines of the pneumatic valves I9 and I10, to the normally closed lines of which the outputs are connected 152 and 153 from the outputs of the pneumatic trigger 4/2 P10, controlled on the left by the pneumatic command 76/78 "transversely", and on the right by the pneumatic command 77 "longitudinally" from the pneumatic unit B1.1 (Fig. 12) through the pneumatic unit B2.1 (Fig. 14). The outputs 154 and 155 of the pneumatic valves I9 and I 10 and lines 152-153 from P10 are fed to the pneumohydro block B7 of the pneumohydro block G1. The single outputs 85 and 86 of the PT2 tandem are removed from B4 to the pneumatic unit B2.1 to connect either an additional hydraulic actuator Y to one of the dominant hydraulic actuators XZ (Table 1), or a hydraulic actuator Z to the dominant hydraulic actuator from a pair of XY (Table 2). The second pneumatic unit B7 of the third control level — the pneumatic unit B4 — is catching up with a “glide” of the main gyroscopic axis 11 of the “clean rotation”, performed by nutations and precessions to minimize its non-parallelness to the inclination of the normal of the technological tool perpendicular to the track curve bending tangentially to the tracking trajectory equipped with a two-valued distribution tandem -3 (-3 2 + 3/2) RT3-2 - reverse connection, the single inputs of which are connected to the outputs 52 and 53 of the angle pneumatic coupling (Мω _к ) 18 (Fig. 5), and the end control lines are connected to the outputs 46 and 47 of the angular pneumatic coupling (Ms) 21. To the normally open outputs of the RT3-2 tandem through the pneumatic valves OR50 and IL51, lines 133 (-) α and 133 + α of the nutation rotary hydraulic drive (ГДα) 16 (Fig. 4) and G2 (Fig. 24) are connected, and to the normally closed (tandem spools - to the left) - through pneumatic valves OR 5 and OR 53 are connected to lines +134 and (-) 135 of the rotary hydraulic drive of precessions (ГДβ) 17, but this connection is also made through OR54 and OR55 of the readjustment unit E8 - the fourth control level containing pneumatic valves besides them HE13 and HE14, readjustment normally open lines 169 and 170 which lines 157 and 158 on connected to the pneumatic unit B5.2 (Fig.20).

The hard-drive pneumatic block A3 of the first control level (BS of Fig. 1) consists of three logical pneumatic blocks of the second control level: B5, SB, and Pu. Block B5 is represented by five circuits: B5 '(Fig. 18), B5.1 (Fig. 19), B5.2 (Fig. 20), B5.3 (Fig. 21) and B5.4 (Fig. 22). The kinematic diagram B5 '(Fig. 18) of the console-mounted robot is shown with a system of pneumatic sensors for directional control of linear hydraulic cylinders. The connection of VK pneumatic sensors with pneumatic units B 1.1, with peripheral transport of the production line, with a counting pneumatic unit SB (Fig. 26), pneumatic unit Ck (Fig. 8) and ID (Fig. 25) is represented by the principal pneumocircuit B5.1 (Fig. 19). The peculiarity of the B5.1 pneumatic circuit is the presence of VK8-DP4 pneumatic sensors and VK10-DP5 symmetrical to them - “there is no product”, accidentally returning a robot called to the preliminary working position from its initial position when the supply of products on the conveyor is stopped. It is equipped with a VK1 travel pneumatic sensor - the beginning of automatic operation, issuing a pneumatic command when the product is fed into the robot space and a 5/2 VK2P travel pneumatic sensor that controls the return of the three-coordinate trolley to its original position and supplies a pneumatic signal from the right output to the peripheral conveyor call sensor 3 with the next product. The scheme provides for work with a shortened production cycle, for example, with an open path contour (semi-perimeter) with control from a 5/2 VK7 pneumatic sensor connected to a counting SB pneumatic unit (Fig. 26). Pneumosheme B5.1 does not reflect the participation of pneumatic sensors transition to work in another frontal plane. This is its simplification, which is indicated by the name of the patent RU No. 2208513 C2. But this does not exclude the possibility of the console operating gyroscope in two frontal planes XOZ (shown in Fig. 19) and XOY.

In Fig.20 shows the principal pneumatic circuit B5.2 for the adaptive portal portal robot according to patent RU No. 2224637. For this scheme, the three-coordinate trolley 1 is placed on the guides of the portal 150 (Fig. 4 and Fig. 20) with the gyro down. The numbers of the traveling pneumatic sensors inherent in the B5.1 pneumatic circuit are saved. The participation of the assembly trolley 151, designed for shuttle operation, starts automatically only after manually rolling it under the portal and manually switching either the PP1 or the PP2 air distributor (in scheme B5.1, the manual start from the RP panel is activated). The cam system for switching the traveling pneumatic sensors of the output of the working body to the point of the preliminary working position (TPRP) for the case of work in the frontal tracking plane XOZ is reflected on the pneumatic circuit B5.3 (Fig.21). The move "G" down until the cam 185 switches the VK6 pneumatic switch, the pneumatic signal 183 of which is the beginning of the transverse working feed, switched on from the RPP1 to the CC (Fig. 8), which supplies the pneumatic couplings and probe air pressure sensors with compressed air for castling in B1.1, B2 .1, etc., and the pneumatic signal 184 from the cam 186 - switching off the tracking automation by switching VK8. The TPRP point for the XOY frontal plane is significantly lower than for XOZ. Supply of compressed air to the VK10P pneumatic valve is connected only from line 166 ', and it is in a state of waiting for the transition to work in the XOY plane. On the assembly trolley 151, its stop cam-stops: 174 (end of work in the XOZ plane running right to VK26P in Fig. 20 from the bottom left, and 175 (in Fig. 20 above the right edge of the assembly trolley 151) - end of work in XOY plane. Their pneumatic signals serve to control the tilting of the main gyroscopic axis 11 of the "pure rotation" together with the working body - welding tongs at 90 °. The cam 156 on the axis 58 (shown in large detail in FIG. 4 and finely in FIG. 20) alternately switches BK18 and BK19, which switch the pneumatic distributor 5/2 Rpit4. The commands 165 'and 166' from Rpit4 of Fig. 20 are connected to the pneumatic units at seven addresses (B1.2, B2.1, B3, Ck, Tssh, RO and G1) plus in Fig. 20 the power supply is: VK4 '' and 24, VK5 'and 25, VK6 and VK8, as well as VK11, 12 and 13, PP1 and PP2 and to turn off the VK26P and VK27P. In order to prevent premature rotation of the axis 58 (by an angle α ′ = 90 °) before the completion of the mentioned change-over pneumatic commands 165 'and 166', a delay block B5.4 (Fig. 22) with two pneumatic blocks E9 and E11 of the fourth control level is provided. Each pneumatic unit E9 and E11 is equipped with three "I" pneumatic valves: in E9-I16, I17 and I20, and in E11 - I18, I19 and I21. A line 200 'is connected to the switching lines I17 and I19 from the output of the pneumatic trigger 3/2 P11, which is turned on on the left by line 200 from the directional pneumatic valve HE3, which controls the fixation of the change of probes (Fig. 9), and on the right it is turned off in the initial position from the output of the pneumatic valve OR95, inputs which are connected to lines 205 and 206. In parallel, line 200 is connected to the switching line of the pneumatic valve HE 17, in which a normally open compressed air supply line is connected to the normally closed input of the pneumatic trigger P11. To the normally closed lines I17 and I19, a line 179 is connected in parallel from the directional pneumatic valve 5/2 VK7 (Figs. 19 and 20). In E9, the following lines are connected to the I16 inputs: 158 (+) β from BK21 to B5.2 (Fig. 20) and 159 (minus γ from BK23). And in the pneumatic unit E11, on the contrary: the I18 inputs are connected: line 157 (minus γ from VK20) and 160 (+ γ from VK22). The control of the agreed delay of rotation of the axis 58 in E9 - the transition from XOZ to XOY is assigned to I20 - the conjunction of the pneumatic signals from I16 and I17, and in E11 - the return from XOY to XOZ - to I21 - the conjunction of the pneumatic signals from the outputs I18 and I19. At the same time, the pneumatic signal 205 goes to the axis 58 (its crankshaft + α ') counterclockwise from the output of I20 through OR75 and the pneumatic command 206 returns to the I21 through the ORI7 and returns to the axis 58 minus α' by 90 ° with a hydraulic actuator (GDα ' ) 59 in the hydraulic unit G2 (Fig.24). The pneumatic unit of the fourth control level E10 directly in FIG. 20 (above PP2 and the right position of the cam 175 of the trolley 151) serves the same purpose — the changeover of frontality. It is equipped with two “YES” pneumatic valves, which in series, according to the OR scheme (71), connects with the atmosphere the VK7 pneumatic valve power supply line, which has two purposes: a) automatic frontal change-over from XOZ to XOY at the end of the first half of the technological operation, b) cyclic operation with SB pneumatic unit (Fig. 26) for each window opening until the end of the second half of the technological operation (and again, for changeover from XOY to XOZ).

In Fig.23 presents the pneumatic unit G1 of the first control level, consisting of blocks of the second control level B6 and B7. In pneumatic hydraulic unit B6 there are three 4/3 directional valves with a closed center, pneumatically controlled from B2.1 pneumatic unit: Gr1 (± Y), Gr2 (± Z), Gr3 (± X). The outputs Gr1 ... Gr3 are connected to the hydraulic locks Gz with the function of holding the “stop” position in the memory. The input of each hydraulic distributor 4/3 is connected to line D - high hydraulic pressure from logical pneumohydraulic switches and hydraulic resolvers, and the output to line B ("tank", but the hydraulic system is closed, and the "tank" is only for compensating for leaks - not shown).

Logical hydraulic unit B7 determines the magnitude of the velocity vectors of two mutually perpendicular hydraulic cylinders - dominant and additional - in a rectangular vector system, and the declination of a rectangular vector system in the direction of the third stroke - the hydraulic corrector - creates a parallelepiped vector system of the total velocity vector of the working body with the applicating vector (table. 1 and 2) and has the function of stabilizing its speed, which is invariant (independent) to any bends of the tracking trajectory. The hodograph of the total velocity vector is a sphere, i.e. in any direction of Cartesian space, the value of the total vector is constant.

The two-speed function is provided by the pneumatic trigger unit (3/2 × 3) GBz1, controlled by the pneumatic command 182 "slowly" on the right, and by the pneumatic command 78 "fast" on the left from the logical pneumatic unit B1. The function of the globular declination of the working body stroke (the phase of the wave bending along the flanging belt) was performed by two pneumatic hydraulic units NOT: a pneumatic hydraulic block of spools (3/2 × 2) GBz2 and a separate pneumatic hydraulic valve 3/2 Gr4, which switch from B4: the first - by pneumatic command 155 (α) " meridional ”, the second - by the pneumatic command 154 (β)“ latitudinally ”(“ pseudo-latitudinally ”). The frontal castling function is provided by the pneumatic-hydraulic trigger-trigger (4/2 × 2) GBz3 controlled by the XOZ pneumatic command on the right and the “XOY” pneumatic command from the B5.2 pneumatic block on the left. The function of castling frontality includes the “borrowing” of the cosine vector in another frontality (commands in brackets (XOZ) instead of XOY and, vice versa, from B3) for anti-shock removal of the technological tool in case of dangerous proximity to the product during transverse feed of the working body. To work with a simple flat contour of the dominance castling function in a flat vector system X-Z or X-Y, a separate 4/2 Gr5 pneumatic trigger is provided, controlled by the pneumatic command 153 “longitudinally” to the right and the pneumatic command 152 “transversely” to the left from the pneumatic unit B4. Gr5 is also used to create a parallelepiped vector system by connecting a hydrosensor (sinγx) 25 in a hydroresolver (Grzγ) 33 on the main gyroscopic axis of “pure rotation” by the sinus declination of a flat vector system (see tables 1 and 2) by servo feeds with the participation of a hydraulic corrector along the edge globular tracking circuit. There is no need to connect the hydraulic sensor [cosγz (y)] 26 in the hydraulic resolver (Grzγ) 33, because every 45 ° of its rotation, the sine turns into cosine, which provides a spherical hodograph of the total vector.

On Fig shows the principal pneumohydrocircuit G2 control rotary hydraulic actuators. As in the G1 scheme, the hydraulic motor inputs from the outputs of the 4/3 pneumatic control valves with a closed center (Gr14, 15, 16, 17 and 18) are supplied with pressure from line D through hydraulic locks Gz, which provide the function of memorizing the phase of the angular shift of the shafts of rotary hydraulic motors, after the command "Hydrostop".

On Fig shows the principal pneumohydrochemical push-pull pulsed pneumohydraulic pump (patent RU No. 2252336 C1) with elements of pneumatic start-up and shutdown. The start-up elements are made in the form of the pneumatic valve OR82 and the pneumatic valve Rpit3 "hydro" according to the pneumatic signal 176 (or 162) from the pneumatic unit B1.1 (P15) in Fig. 12 until the compressed air M and SC are turned on by the pneumatic command 170 (169 in the XOY plane) from OR67 to B5.2 (Fig.20) during the course to the point of TPRP. In this case, the compressed air supply of the pneumatic valve Rpit3 is supplied to its normally closed input through the pneumatic valve NOT 15 in the control room (Fig. 28) from line 88 in the "automatic" mode, and in the "setup" mode - from line 91.

On Fig presents a block diagram of SB - counting pneumoblock, consisting of two binary counting pneumoblocks DB1 and DB2. The first - DB1 - with the function "even" - "odd", the second - DB2 - with the function "closed perimeter". Turning it off halves (or more ...) the time of the welding cycle by replacing a closed perimeter with an open perimeter due to the cessation of the stroke of the working body during the first switching of the VK7 track-type pneumatic sensor (Figs. 19 and 20).

On figa shows a basic pneumatic diagram of a binary counting pneumatic unit DB on the example of participation in its work directional pneumatic valves VK4 (24) and VK5 (25) in the principal pneumatic circuits (Fig.19 and 20), robots cantilever and portal execution, and Fig.27b the sequence diagram of the operation of two pneumatic valves 5/2 XI and XII, which make up the DB circuit depending on the pneumatic signals 176 "readout" and 177 "return". Moreover, the even and odd outputs (102 and 204) are connected with a color signal (inflating a colored membrane in a dead-end transparent flask ...) or / and with a siren of calling a worker-operator for the next movement of the assembly trolley one step between repeated welded technological transitions the same part of the operation.

On Fig shows the principal pneumatic diagram of the commissioning pneumatic control unit PU containing 8 pairs of push-button pneumatic valves "DA" 3/2 (Kn3 ... 18) of the adjustment control of hydraulic actuators: Kn3 ... Kn8 - linear, Kn9 ... Kn16 - rotary, and Kn17 and Kn18 - rotary hydraulic actuator frontal changes. PU is equipped with seven pneumatic tumblers:

T1 “automatic” - “setup”, T2 “welding-without welding”, T3 “fast-slow” (shown dotted with lines 210-211, as optional), T4 “perimeter-closed-open”, T5 power off the probes and pneumatic coupling, T6 "one or two" fronts (for example, the sidewall of the van has no windows - work only in the XOZ plane of Fig. 30.a) and is taken out to the working body - T7 - of the service outlet of the probe blocks (see Tssh - Fig. 9) . In addition, it is equipped with a separate subunit for emergency power off by compressed air via the stop pneumatic command with the pneumatic button Kn2 (type HE 3/2 with a large red button). The power supply with compressed air is provided by the pneumatic button Kn1 YES 3/2 through the feedback pneumatic valve from the main output of the PR air distributor-trigger and through the pneumatic button “KN” KN2 (NOT 16).

In Fig.29 shows examples of tracking trajectories: a) to Fig.2 "sphere" - the upper globular contour of the type of the wind aperture of the body, the bottom is a simple flat contour; b) to figure 3 "boat" - options for window openings: flat rectangular PRST, inclined P'P'C'T '' and cylindrical (with points C '' 'and T' '').

On figa shows the technological scheme of readiness for welding transverse flange joints in the vertical plane XOZ sections of the lining of the sidewalls of a small bus (see trajectory ABOVG on figa). The even and odd half-cycles are shown by bold arrows * 1, 150 - the portal of the robot, 151 - the assembly trolley to the left of the portal. On figb the same assembly trolley on the right with rectangular closed arrows of even and odd "circular" flange seams * 2 in the horizontal plane XOY of the Cartesian space in the even and odd half-cycles.

On Fig shows the connection zone of compressed air to the output channels of the angular pneumatic couplings on the main axis 11 of the "clean rotation" of the gyroscope according to table 4 for the globular contour in the XOY plane.

Pneumohydraulic control system of an adaptive pneumohydraulic robot operates as follows.

Continuity of minimizing the non-parallelism of the main gyroscopic axis of the normal of the technological tool during globular tracking

With simple and spatial planar contour tracking, the main axis 11 of the “pure rotation” gyroscope is perpendicular to the plane of the tracking contour. The main axis and the technological tool are, as it were, a pointed hard weather vane, whose flag is the plane of the welding tongs with the point of contact of the electrodes in the pointed toe. When circumventing the flat contour of the toe of the weather vane, it follows the bending of the rib rib of the flange of the flange connection, and the plane of the flag is perpendicular to the rib of the flanging (or tangent to its bend). As soon as the globular tracking trajectory begins to bend the flanging flange wave, the vane - ticks 10 (Fig. 4) reveals its own axis 9 (ωk) of rotation of the plane of the ticks, which runs parallel to the flights of the electrodes through their closing point. The normal NN of the technological tool rotates after the tangent of the wave bend of the tracking trajectory. In this case, the NN normal escapes from the plane of the flagpole (axis 11) and the axis of the weather vane 9, violating the parallelism of the axis 11 of the NN normal. The control system minimizes this mismatch so that when changing the coordinate axis of the tracking contour in Cartesian space, do not lose the sensitivity of the probes during search moves of ticks back and forth and find a continuation of the tracking trajectory. This happens due to a catch-up “slip” (like a rotor behind the rotation of the magnetic field in an induction motor) of the main gyroscopic axis 11, either by precessions (by turns (GDβ) 17) in the XOY plane, or by nutations (turns (GDβ) 16 - Figs. 4, 17 and 24) in the XOZ plane along the pneumatic commands from the angular pneumatic coupling (Мω _к ) 18 on the axis 9 of the turns of the welding tongs 10 when manipulating the normal NN.

Parts of cycles

The control system is single for the console and portal versions of the adaptive robot for manipulating parts of the working body in pauses between repeating elementary production operations, for example (hereinafter), between spot contact electric welding of flanges of flanged joints, as well as for transverse working feeds depending on the phase state axes of the gyroscope. The difference in the operation of their control systems relates to the hard-software part (pneumatic units A3 in the BS of Fig. 1, as well as B5 ', B5.1 and B5.2 ... 3 and 4 of Fig. 18 ... 22) when the working body is withdrawn from the initial to the preliminary working point position (TPRP) by transverse idling of the working body, independent of the phase state of the axes of the gyroscope.

Each work cycle is divided into two half-cycles - odd and even, to return flexible communications from swirling to non-swirling initial state.

Each control half-cycle consists of five time parts:

Part 1 - regardless of the phase state of the gyroscope axes, the fast (marching) idle stroke of the working body is “forward” from the initial position to the point of the preliminary working position (TPRP).

Part 2 - depending on the phase state of the gyroscope axes, the “slow” working installation transverse feed of welding tongs “forward from (.) TPRP to the edge of the welded flange along the gradient (direction) of the total velocity vector of the working body with the working out of preventing the probability of a collision of a technological tool ( rod or staple electrode of welding tongs) with the edge of the rib of the flange being welded due to the “swimming” of the end-start point of welding of the subsequent product relative to the previous one in line production . Execution of the first welding point (see table 5).

Part 3 - technological “slow” longitudinal feed, depending on the phase state of the gyroscope axes in the pauses between weldings and tracking manipulations - search moves, “back-and-forth”, gyroscope axes turns when meeting with bulges and troughs of the monitored flanging strip of the welded flange and additional opening of the gap between the electrodes, as well as when changing the coordinate axis of the Cartesian space. In the search moves “backward” and is the fast (marching) idle stroke of the working body in compliance with the phase gradient of the total velocity vector (see Table 6).

Part 4 - at the end of tracking, the fast working (marching) transverse feed of the working body “backward” from the flanging edge of the welded flange to the (.) TPRP according to the gradient of the marching total velocity vector depending on the phase state of the gyroscope axes (see table 5 and 6).

The 5th part - regardless of the phase state of the gyroscope axes, the fast (marching) idle stroke of the working body “backward” from the (-) TPRP to the initial position.

The operation of the control system during the execution of half-cycles with the B5 rigid-program pneumatic block (BS of Figures 1, 18 and 19).

The first temporary part of the half-cycle of the work of the console execution robot

With the appearance of the product in the robot’s space (which is caused, as shown in FIG. 19, by the 5 / 2VK2P travel pneumatic trigger through the PED3 pneumatic-electric sensor (see BS of FIGS. 1 and 18), the 3/2 BK1 travel pneumatic sensor is activated from its output through the P6 and IL63 pneumatic trigger the pneumatic command 176 “starts.” At the same time, the air distributors P1-P2 of the pneumatic unit P1 ... P4 switch over (for reasons of industrial safety, it can stop PC1 in a certain average position if the operator decides to take his hand off the control panel dangerously). Compressed air from line 88 passes through . The arrow from left to right up diffuser P1 (NO) into the left cavity (PTS1) 5 His right cavity is connected with the atmosphere by P2 (arrow - down left to right).

PC1 makes a move to the left. In this case, the pneumotrigger 5 / 2VK2P remains in the right initial (P-memory) position. At the end of the stroke (ПЦ1) 5, trolley 1 switches to the left VK3 (dashed arrow). The pneumatic signal from its output switches to the right the differential distributor DPR4 and to the left the pneumatic trigger P6. P6 blocked the pneumatic signal from the VK1 output and connected line “start” 176 to the atmosphere through OR63. P1 and P2 return to their original position. (PC1) 5 is locked in traffic jams in P1 and P4. Both hands can be safely removed from the working console of the RP. At this point, the team from VK3 switched the differential valve DPR4 to the right. The pneumatic cylinder-clamp (PTs2) 7 makes a move forward, releases the initially pressed VK4, which connects line 177 via OR62 to the atmosphere. At the end of the course, PC2 switches VK5. Command 183 from its output disables the VK2P memory, and it makes a move to the left, connecting the PED3 control line and the left end face of P6 with the atmosphere. At the same time, the pneumatic command 183 passes into the pneumatic unit of the Central Committee (Fig. 8) to turn on Rp1. Three-coordinate trolley 1 took the position of TPRP in readiness for installation working transverse feed (2nd temporary part of the half-cycle).

Fifth Half Time Half Cycle

At the end of the fourth time part — welding the flange joint with the SB counting unit (FIG. 26) —the latter issues a pneumatic command 204 '', which, through the OR61, pneumatic command 143 switches to the initial position of DPR4, despite the compressed air from the small end from the pressed VK3. The pneumatic cylinder (PC2) 7 retracts the latch back. VK5 returns by spring to its original position, removing compressed air from the right end of VK2P. At the end of the backward stroke (PC2) 7, VK4 switches again, from which the pneumatic command 177 “half-cycle end” passes through the pressed VK4 and OR62 to switch P3-P4 of the four-valve air distributor P1 ... P4. Compressed air through P4 in the right-to-left arrow passes through P2 (NOT) into the right cavity of the pneumatic cylinder (PC1) 5. A platform with a three-coordinate trolley 1 goes to the right of the TPRP to its original position and at the end of the stroke (PC1) 5 switches to the right VK2P (to its original position). From the right exit VK2P to PED3 passes the pneumatic command to call the next product on the peripheral conveyor. Earlier, the pneumatic command 143 "hydrostop" from the output of OR61 passed to the pneumatic unit B1.1 (Fig. 12) to turn off the IN pump (Fig. 25). The half-cycle is over.

Differences in the performance of the first and fifth temporary parts of the half-cycle by the hard-program pneumatic block of the adaptive robot of portal execution

As an example of the operation of the pneumohydraulic control system, the operation of spot contact electric welding of the sectioned sidewall of a small bus is considered. The operation is performed alternately in two frontal planes: in the XOZ plane (first half of the production operation) and in the XOY plane (second half of the operation). In the first half, there are five transitions (Fig. 30a): odd and even open flanged simple ABOVG flat seams connecting the transverse purl flanges of variable width of the panels of the sidewall sections (Fig. 29a), and in the second half of the operation (Fig. 30b) four closed flange connections with flanges of constant width of window openings with side frame (conventionally along the path P'R'C''T '' 'in Fig. 29b and Fig. 31).

The three-coordinate cart 1 has guides along the axis Х-Х of Cartesian space, as in the console-mounted robot (Figs. 4 and 18), but the guides Х-Х - not on the platform, but on the portal 150 - and have a hydraulic drive (GDC) 2 s a doubler of the stroke (patent RU No. 2230243 C2) of its piston L = 2X (X is the piston stroke, see Fig. 20, a L is the stroke of the trolley 1), which ensures welding of the weld with a length of about 2 m.

Unlike the adaptive console-type robot, the portal-type robot is equipped with an assembly trolley 151 with shuttle-type strokes along the y-axis (Fig. 30). Trolley 151 is rolled under the portal manually (if necessary, with a separate drive) from left to right after assembly on it and grasping the transverse seams of the section panels with two or three points of a universal hanging welding machine, and ... they are returned from right to left after inserting the sidewall frame into the welded lining (after a similar one tack to the frame in 2 - 4 points).

The first temporary part of the half-cycle in the XOZ plane, performed by the portal execution robot

The working operator switches the manual air distributor PP1 (Fig.20). The pneumatic cylinder clamp PTs6 makes a move forward. BK4 'is switched by a spring to the forward position. Line 177 through OR66 connects to the atmosphere, preparing to switch the pneumatic trigger P9 to the left. PC6 fixes the assembly trolley 151 on the XOZ socket for operation in the XOZ frontal plane and switches the VK5 'directional pneumatic sensor. From it through OR65 and a blocking (change-over) pneumatic valve 2/2 BC, the pneumatic command 176 “start” passes, as for the console-type robot, to the counting pneumatic block SB (Fig. 26) and in parallel to the pneumatic block B1.1 (Fig. 12).

In B1.1, the pneumatic signal 176 through HE5, OR23 bifurcates through P15 to turn on the IN (Fig. 25) and in parallel: through the IL91 in the form of a pneumatic signal 78 to the pneumatic unit G1 and to the pneumatic unit B2.2 (to E5 in B2 of Fig. 15).

In B2.2, the pneumatic signal 78 passes through OR38, OR40 and NOT 12 to the airspace B2.1 pneumatic unit (Fig. 14).

In B2.1, the pneumatic signal 78 through OR28 passes to line 147 (+ z) to B6 in G1 (Fig. 23).

In G1, pneumatic unit B6, receiving a +147 pneumatic signal from B2.2 and B2.1, switches the Gr2 pneumatic distributor to the left. The hydraulic cylinder (GDZ) 3 (FIGS. 20 and 23) goes down (+ Z in a single control system, the coordinate system is turned upside down) with a high marching idle speed, because team 78 from B1.1 previously switched the GBz1 trigger in the pneumatic hydraulic unit B7 (3/2 × 3 spool unit) to the right, connecting to the middle spool inlet through the hydraulic resistance Rm the hydraulic pressure D from the hydraulic sensor (cosγz) 26 hydroresolver (Grzγ) 33 through the 4/2 trigger Gr5 (switched initially to the right to the cross position) and directly through the right spool of the valve body of the spools GBz2 (3/2 × 2) NOT.

In this case, the hydraulic pressure is connected earlier to the line D from the IN pump (Fig. 25) with the pneumatic valve Rpit3 turned on by the "hydro" pneumatic command 176 (Fig. 25) through P15 to B1.1 and OR 82 to the IN (Figs. 12 and 25).

In subunit B5.3 (Fig. 21), the hydraulic cylinder ГДZ (not shown), having passed the distance "Ж" to the point of TPRP (preliminary working position), cam 185 switches VK6. As in the console-mounted robot, the pneumatic command 183 for switching on the pneumatic supply of the servo system is switched to the Central Control Unit (Fig. 8) by switching to the right the air distributor Rpit1 through OR6. From the line of H.H. (idle) 88 through the control unit (Fig. 28, the T5 toggle switch is switched to the operating position), the compressed air supply of the angular pneumatic couplings M (Fig. 5) and the pneumatic sensors of the probe blocks Shch1 (Fig. 10) was connected to line 89.

The first time part of the odd XOZ half-cycle ended. At the same time, the pneumatic command 183 switched the pneumatic valve HE 12 in the pneumatic block B2.2 (B2) to stop the hydraulic cylinder GDZ by interrupting the pneumatic signal +147.

In the pneumatic hydraulic unit B6 (G1 of Fig. 23), the Gr2 directional control valve is in the neutral position, and the DZZ itself is locked by the hydraulic lock Гз at the point of TPRP (Fig. 21).

The first temporary part of the half-cycle, in the XOY plane, performed by the portal execution robot, is distinguished by the start of the control system. After the assembly trolley 151 is returned under the portal 150 from right to left, the operator switches the manual air distributor PP2, and the pneumatic cylinder-clamp PTs7 makes a move forward. VK24 is switched by the spring to the front position, and line 177 is connected to the atmosphere through the same pneumatic valve OR66. PC7 (Fig. 20) fixes the assembly trolley 151 along the XOY socket, as the changeover tilting by the crankshaft 58 of the axis 11 by 90 ° (in Fig. 21) brings the welding tongs 10 to a position far from the position for working in the XOZ plane along the y-axis. At the same time, the VK25 track pneumatic sensor is switched, from which through the same OR65 and the blocking valve BK it passes to the pneumatic command control system 176 “start”, as when working in the XOZ frontal plane. Further, the control system works the same way, but the GDZ hydraulic cylinder, bypassing the VK6 and VK8 pneumatic sensors disconnected from the power supply (Fig. 21), cam 189 switches the VK10P directional pneumatic trigger, which is located significantly below the VK8 pneumatic valve. From VK10P, the pneumatic signal 141 passes into the pneumatic unit B2.2 already to E4 (X) (Fig. 15).

In the pneumatic unit B2.2, the pneumatic signal 141 passes through OR41, OR42, through NOT 13 to the pneumatic unit B3 (Fig. 14) and through OR26 to G1 (B6 of Fig.23) to line 145 (minus y). In parallel, the pneumatic command 141 through the OR34 switches NOT 12, interrupting the pneumatic command +147 (+ z). (DZZ) 3 stops because Gr2 (Fig.23) rises to neutral, and GDZ - to the hydraulic lock Gz. At the same time, the pneumatic command 145 switches Gr1 to the left. The hydraulic cylinder (GDY) 4 goes to the right (minus y in Fig.20 and 21).

In B5.2 (FIG. 20), the cam 191 switches ROK to the right to switch VK11 to the right, which will give the pneumatic command 193 “stop” for (GDU) 4, switching HE13 in the pneumatic unit B2 (FIG. 15). In B6 (G1 of Fig. 23), Gr1 rises to neutral, and (GDU) 4 - to the hydraulic lock Gz. The situation of TPRP is reached. The control system is ready for the second time part of the half-cycle in the XOY frontal plane.

The fifth time part of the half-cycle is performed by the B5.2 pneumoblock in the XOZ plane

At the end of the 4th part of the half-cycle (Table 5, Scheme 8), the hydraulic cylinder (GDZ) 3 (Fig. 21) moves with a marching fast dominant move, depending on the phase state of the gyro axes, cam 185, and VK6 returns to the right with a spring. The compressed air supply disappears from the large end face Rp1 (through OR6 of Fig. 8). Then, on the way up (minus z), the cam 186 switches to the right VK8 (shown in FIG. 21). The pneumatic signal 184 through OR76 (Fig.8) switches Rp1 to the left. Achieved (·) TPRP, the compressed air supply of the angular pneumatic couplings M (Fig. 5) and pneumatic sensors Shch1 (Fig. 10) is turned off. Next (regardless of the phase state of the gyroscope axes), the hydraulic actuator (GDZ) 3 ends the fast march idle and switches VK9. Through P9 (previously it was switched to the left by the pneumatic command 207 in Fig. 8 from the output of OR7) the pneumatic command 143 “hydrostop” passes, automatically switching the manual air distributor PP1 to the right. The pneumatic cylinder PC6 retracts the latch from the socket "XOZ" (bottom) of the assembly trolley 151 (Fig.20) and returns to its original position VK5 '. At the end of the move, PC6 switches VK4 '(shown), and the pneumatic signal 177 (“return” 177.1 in FIG. 27b), being converted into the SB in signal 202 “end of the odd half-cycle”, gives a color and sound signal for calling the operator to move to the right under with the gyroscope of the trolley 151, one step between the transverse seams (or, at the end of the first half of the operation, to the right to assemble the welded sidewall lining with its frame by pneumatic command 162 via OR64, the inputs of which are connected to the outputs 126 and 127 of the directional pneumatic valves VK2 and VK3 controlling the extreme positions t of the coordinate coordinate carriage 1 (tracking ends in the 3rd time part of the half-cycle). Earlier, the same pneumatic signal 143 simultaneously switched to the right the P15 pneumatic trigger (Fig. 12 above). In Fig. 25, the pneumatic valve Rpit3 “hydro” turned off the IN hydraulic pneumatic pump.

Execution of the fifth time part of the half-cycle with the hard-program pneumatic block B5.2 in the XOY plane

At the end of the 4th part of the half-cycle of welding window openings in the XOY plane (Table 6, Scheme 7), the hydraulic cylinder (GDH) fast marching long stroke, depending on the phase state of the gyroscope axes, moves cam 191 (Fig. 30) to the left (+ y ) BK11 is returned by the spring to its original position (shown in FIG. 20), removing the compressed air backwater from the large end face Rp1 (FIG. 8). On the way (+ y), the hydraulic cylinder (GDY) 4 switches cam 192 VK12 (shown in Fig.20). The pneumatic signal 194 from the output of VK12 switches Rpit1 to the left, turning off the compressed air supply of the angular pneumatic couplings M (Fig. 5) and pneumatic sensors Shch2 (Fig. 11). The position of the TPRP was reached, and the pneumatic command 162 “end of tracking” (from SB, DB2 pneumatic command 204 'end of the closed perimeter ”via OR64 - Figs. 26 and 20) switched the VK10P pneumatic trigger to the left. At the same time, the pneumatic signal 194 from the VK12 output in the pneumatic unit E4 (Y) of the pneumatic unit B2 (Fig. 15 B2.2) through OR 43 and OR 44 to the pneumatic unit B3 (Fig. 14) to OR 26, issuing the pneumatic command 144 (+ y) to G1 for a quick march (ГДY) 4 from (·) ТПРП to the initial position of the welding tongs in the welded window opening of the sidewall. Having reached the starting position, (ГДY) 4, the back of the cam 191 switched VK13. From the VK13 output, the pneumatic command 184 'passes to B2.2 (Fig. 15 E5 (Z)) and through OR78, OR37 and OR39 enters B3 (Fig. 14), where through OR27, converting to the pneumatic signal 146 (minus Z), it goes in B6 (G1, Fig. 23) for a quick marching pull up (coordinate system minus Z up) from the window opening of the gyroscope with a hydraulic cylinder (GDZ) 3. Further, as when performing the fifth time part of the half-cycle when working in the XOZ frontal plane, but with automatic shut-off by the pneumatic command 143 of the PP2 air distributor to the right to its original position.

The second, third and fourth time parts of cycles

The execution of the 2nd (by pneumatic signal 76), 3rd (by pneumatic signal 77) and 4th (by pneumatic signal 78 from pneumatic unit B1.1 Fig. 12) temporary parts of half-cycles are shown in tabular form: Table 5 on a simple flat contour in the XOZ plane and Table 6 along the globular contour in the XOY plane. In the latter case, the angular (phase) switching zones of the pneumatic clutch M are shown in Fig. 31. It is more convenient to trace the switching of pneumatic and hydraulic elements of the control system circuit diagrams by showing the pneumatic and hydraulic flows in the form of the same arrows as in the conventional standard symbols for pneumatic and hydraulic units, but for simplicity, dropping (deleting) the spool rectangles and preserving the mechanical connections in their blocks in the form of equal signs, and pneumatic control signals - in the form of horizontal arrows.

Each tabular diagram of vector gradients (in column 2) has the following conditions: phase of the main axis 11 “clean gyroscope rotations (angle γ), to the right of the pneumatic clutch M is the number of the line into which the compressed air enters according to table 4, above the designation of the moves (lines are vertical cross and inclined) spools of valves and distributors the direction of their switching is indicated - to the right (right), to the left (left). Table 6 is more complicated than table 5, because it shows the complicity of the controls of two and three linear hydraulic drives. Therefore, the source of the initial pneumatic signal is highlighted in bold.

Transients involving rotary hydraulic drives when changing the coordinates of the Cartesian space, as well as search moves “back and forth”, are not reflected in tables 5 and 6. They are described below.

Control system response to start-up when there is no product in the robot space

The hard-drive pneumatic unit B5.1 contains blocking pneumatic valves ДП4 and ДП5 with the “no product” function (Fig. 19), not shown due to the lack of space in Fig. 20 in the pneumatic unit B5.2, but they are provided by a single pneumohydraulic control system, as for the robot console execution.

In case of accidental start-up (or commissioning), differential pneumatic valves ДП4 and ДП5 operate as in the first time part of a normal half-cycle, if during idling to (·) ТПРП the installation transverse flow, without meeting the flanging of the product’s flange connection, continues until the piston of the dominant hydraulic cylinder stops against the stop . It is at this moment that the pneumatic command passes from VK8 (or VK10) to switch DP4 (or DP5) to the right. From him, the pneumatic signal passes through OR58 (OR56) and through OR57 to line 162 to the pneumatic unit B1.1 (Fig. 12), where the pneumatic signal 162 means "fast backward" as the "end of tracking".

Further, as in the fifth time part of the “half-cycle”, logical operations automatically take place to return the three-coordinate cart and its hydraulic drives to their original position.

Automatic changeover of the control system for alternate operation in two frontal planes

In the considered example of welding the sidewalls of a small-tonnage bus, two halves of one technological operation are performed alternately in the XOZ frontal plane and then in XOY. Automatic readjustment of the control system to another frontal plane occurs as follows.

At the end of the welding of the transverse seams of the sidewalls in the XOZ plane, the assembly trolley 151 (FIGS. 20 and 30) is rolled out to the right. At the same time, cam 174 switches the VK26P pneumatic trigger, which outputs the pneumatic signal 163, which is converted by the P10 pneumatic trigger into the 170 pneumatic signal. It passes for supplying compressed air VK20 ... VK23 to the IN (to turn on Rpit3 “hydro” to provide hydraulic pressure for commissioning operations), to B1.2 (E1 of Fig. 13) and to Css (Fig. 9).

Automatic change of probe blocks Щ1 in the XOZ plane to Щ2 in the XOY plane

In Tsch (Fig. 9), the pneumatic signal 170 '(169 when returning from XOY to XOZ) switches to the right from the small end of DP3 (the large end is connected to the atmosphere via YES1). Compressed air (88) through OR4 differential switch DPR3 switches to the right. The pneumatic cylinder (PC5) 40 brings the latch out of the socket Щ1 (PO Fig.7). The pneumatic valve HE3 is spring switched forward. The pneumatic signal from HE3 switches DA2 to the left, connecting the end of DA1 with the output OR3 “tap”. At the end of the stroke (PC5) 40 switches both way pneumatic valves VK14 and VK15. The feed 88 with compressed air is made through a pneumatic trigger 5/2 P2, previously switched by the pneumatic command 165 'to the right (from Rpit4 to B5.2 of FIG. 20). Compressed air (88) through VK15 passes to the right end of DPR1 (Щ1) and switches it to the left, despite the backwater from VK28, from the small end. (PTs3) 38 begins to move back from the welding pliers, releasing VK16 and VK16 '. The pneumatic signal from them passes to the right end of OR5 “supply”, and through it from the small end of DPR3 the compressed air is removed from VK16 and VK16 '(connected according to the “I” scheme). At the end of the stroke (PC3) 38 switches VK17 and VK17 '. Compressed air (88) passes through VK15 to the right end of DPR2 (Shch2). The left large end face is pressed through the VK14 and through P2 is connected to the atmosphere. At the same time, the pneumatic signal from BK17 and BK17 'passes through OR3 (from below) to the DA2 pneumatic valve switched to the left by the HE3 valve and switches DA1 to the left through it, connecting the DP3 large end to the OR input5. DPR2 switches to the left. Starts turn (ПЦ4) 39. The backwater is removed from VK28 and VK28 'from the upper input of OR3 "tap" and from the small end of DPR1. From P2 through pressed VK15 and DP1 passes the pneumatic command to switch it to the left. At the end of the stroke (PTs4) 39 switches VK29 and VK29 ', from which the pneumatic signal through the left input OR5 “supply” passes to the small end of DPR3 and in parallel to the large end of DP3, switches it, despite the support from the small end of the pneumatic command 170'. The large butt of DPR3 through IL4 and DPS3 is connected to the atmosphere. DPR3 switches to its original position. (PC5) 40 fixes the position of Щ2 in ticks and switches HE3. From HE3 in parallel, a line 200 is drawn to B5.4 (Fig. 22). The end face of the DA2 control is connected to the atmosphere, and the spring returns the DA2 to the right. The BK17 backup is disabled through OR3. The spring returns to its initial position DA1, connecting the large end face of DP3 with the atmosphere for a new automatic readjustment. By this time, the backup pneumatic trigger VK26P which has been switched to its original position turns out to be removed 170 '.

Automatic withdrawal of the working body to the preliminary position (to VK7) for work in the XOY plane upon completion of work in the XOZ plane

In B5.2 (Fig. 20), the pneumatic signal 170 switched OR71 in E10 to adjust the supply of compressed air of the VK2 and VK3 travel pneumatic sensors via OR73 and directly to the VK7 pneumatic sensor (see dotted adjustment connections in Fig. 20). There are two cases of the return of the working body to the changeover pneumatic valve 5/2 VK7: a) a long drive of the working body to the side + X from VK2, b) a short stroke from VK3 to the side minus X.

The case of a long drive of the working body to VK7

The pneumatic signal 126 from VK2 (Fig. 20) through OR68 and OR64 in the form of a pneumatic command 162 to B1.1 (Fig. 12) passes to B2.2 (Fig. 15). In B2.2, the pneumatic signal 126 switches to the right the pneumatic trigger 5/2 P8. Compressed air passes through P8 in the middle arrow from left to right through HE 15, OR 36, OR 79, NOT 16 in B3 (B2.1 of FIG. 14) and to G1 (+ X) (pneumatic signal +149 of FIG. 23).

In G1 (B6), the pneumatic signal +149 switches to the left Gr3. (GDH) goes to the right (Fig.20 and 23). The idle speed is determined by the pneumatic command 78 at the end of tracking (162 in B5.2 - Fig. 20 and B1.1 - Fig. 12), which switched GBz1 to the right (B7 in G1 of Fig.23). The input D Gr3 (X) is connected through the right spool Gbz1 from Rm (fast marching speed), and is also connected to a large cosine hydraulic flow from [cosγz (y)] 26 (with Z-castling to X according to Table 2) through Gr5, switched from P10 in B4 (FIG. 17) by the pneumatic command 153 “longitudinally” to the left, and Gr4, which means the maximum possible fast adjustment speed of idling.

Cam 190, having met with the roller VK7, switches it. At this point, the pneumatic command 170 switched the lower pneumatic valve of the IL71 pneumatic unit from the lower valve in the E10 pneumatic unit, and the VK7 received 88 compressed air supply. From the VK7 output, a retransmission pneumatic command passes to line 179 to B2.2 pneumatic unit, disabling HE 15 and NOT 16 to interrupt the pneumatic signal + 149 · (x). In G1 (B6), Gr3 rises to neutral, and (GDH) 2 - to the hydraulic lock Gz (Fig. 23).

Case of a short stroke of the working body to VK7

The pneumatic signal 127 from VK3 switches to B2.2 P8 to the left (shown in Fig. 15). Compressed air passes through P8, HE14, OR35 to line 148 (minus X) to BK3 (Fig. 14) and through OR30 to G1 (B6 of Fig.23).

In G1, the pneumatic command 148 (minus X) switches Gr3 to the right; the hydraulic cylinder (GDC) 3 makes a move to the left to VK7. Cam 190 again switches VK7. The pneumatic signal 179, as in the previous case, stops the hydraulic cylinder (GDC) 3.

Reconfiguration of automatic turning of the main gyroscopic axis 11 "clean rotation" and axis 12 of the precession in the preliminary working position of the normal N-N technological tool for working in the frontal plane XOY

The VK7 position (Figs. 20 and 21) is chosen so that a + β turn is not required, but design options are possible when such an identity of the angle β for both XOZ and XOY is not. For this case, a cam 171 is provided on the precession axis 12 (FIG. 4). In one direction he switches VK21, and in the opposite - VK20 (Fig.20). In the first case, VK21 issues a pneumatic command 158 (+ β), and in the second case –157 minus β (see B5.4 of FIG. 22). The same changeover pneumatic command 170 from VK26P (Fig. 20) enters the pneumatic unit E8 of the pneumatic unit B4 by turning + β with a hydraulic actuator (ГДβ) 17 into the pneumatic hydraulic unit G2 (Fig. 24) for changeover from XOZ to XOY, and in the opposite direction by the pneumatic command 169 from VK27P on the turn minus β. The rotation stop of the HDβ is performed by the pneumatic command 157 or 158 by switching VK20 and VK21 with cam 171.

The main gyroscopic axis 11 must be returned to a new initial position for changeover from the frontal plane XOZ to XOY after the three-coordinate cart 1 stops on the left (for VK2) or on the right (for VK3), because in the first case, the “weather vane” of the welding tongs appears in the negative phase (-γ), and in the second, in the positive phase (+ γ - see fig.29a - ABOVG curve). In the pneumatic unit E1 (B1.2 of Fig. 13), both cases are worked out: in the first, a dovor + γ is needed, and in the second (-γ).

The same pneumatic command 170 from VK26P (Fig. 20) switches both pneumatic valves I6 and I7 to B1.2 (Fig. 13). The pneumatic signal + γ from I7 arrives when VK2 is pressed (command 126), through HE9 in B1.1 to OR16 and through OR15 to the pneumatic unit G2 (Fig.24) +99. In the hydraulic unit G2, the pneumatic command +99 Gr15 is switched to the right. (DGγ) 15 rotates counterclockwise + γ. And the minus γ rotation is performed when, in addition to the pneumatic signal 170, which switched both the pneumatic valves I6 and I7, the pneumatic signal 127 from VK3 appears at the input to I6 (Fig. 20). The pneumatic signal from the output of I6 immediately passes through OR 14 to B1.1 (Fig. 12) in the form of a pneumatic signal (-100) to G2, forcing (ГДγ) 15 to turn clockwise (minus γ). The turn of the gyroscopic unit γ is stopped by switching VK23. According to pneumatic command 159 from VK23, switched by cam 172), both pneumatic turn signals are interrupted by operation of HE9 and HE10. The “weather vane” has taken the required phase position for operation in the XOY frontal plane (see FIG. 22 B5.4).

Coordination system for the crankshaft rotation delay 58 to 90 ° to wait for the completion of the adjustment operations at seven addresses of the control system

The timing of the end of the readjustment procedures described above requires a coordinated delay in the rotation of the crankshaft 58 (Figs. 4 and 20) by 90 ° with a hydraulic drive (GDα ') 59. This goal is the pneumatic unit B5.4 (Fig.22). It consists of two subunits E9 of crankshaft rotation 58 from vertical to horizontal position and E11 - on the contrary - return from horizontal to vertical position. When the pneumatic command 205 from E9 appears from I20 (Fig. 22), it passes to the G2 pneumohydroblock (Fig. 24), where it switches the 4/3 Gr18 pneumatic distributor to the right. From its entrance D, in the upward right arrow, the hydraulic flow from IN passes and turns (ГДα ') 59 in the direction + α' - counterclockwise. Cam 156 leaves under the VK18 air sensor, and the spring pushes it forward. The left end of the pneumotrigger Rpit4 is connected to the atmosphere (Fig.20).

At the end of the rotation by 90 °, the cam 156 switches VK19, from the output of which the pneumatic command 166 passes, switching the pneumatic trigger 5/2 Rpit4 to the left. From its left exit, compressed air flows into 7 addresses to start work in the XOY frontal plane. At the same time, the pneumatic command 166 'switched to the upper position pneumatic trigger VK26P (Fig.20). Permission to rotate the crankshaft 58 through 90 ° was obtained due to its agreed delay.

This is the expectation of switching VK23 by turning ± γ (see E1 in B1.2 of FIG. 13) of the cam 172 on the axis 11 of the gyroscope (FIG. 4) and issuing the pneumatic signal 159 to the normally closed line And 16, and the agreed waiting of switching VK21 by turning + β (see E8 in B4 of FIG. 17) of the cam 171 on the axis 12 of the gyroscope and the output of the pneumatic signal 158 to the switching line of the same I 16. The same agreed expectation is made by the pneumatic valve And 17: and the pneumatic signal 179 of its switching ± X from the cam 190 on the three-coordinate VK7 pneumatic valve cart (Fig. 20), and connection to the switching line AND 17 from line 200 ', initially dynamically connected through the pneumatic trigger 3/2 P11 (which remembers the command to the right from the output OR95 from the previous turn ± α '). During the probe change cycle (Fig. 9), the pneumatic cylinder-retainer (PC5) 40 is diverted from the directional pneumatic valve HE3, and compressed air along line 200 simultaneously switches to the right P11 and HE 17 (Fig.22), but the command cannot be sent to line 200 ' pass, because she immediately connected with the atmosphere through NOT 17. At the end of the probe change cycle, the cylinder-retainer (ПЦ5) 40 switches HE3 again, removing the compressed air back-up to line 200. The spring returns HE 17 to the left, and the compressed air through line 200 'triggers П17 to the right through trigger P11 shifted И17.

The outputs of I16 and I17 are connected to the inputs of I20, from the output of which through OR75 a pneumatic command 205 is issued, allowing a rotation of + α 'by 90 °. At the same time, through the OR95 pneumatic valve, this command passes to the right end of P11, returning it to its original position.

The delay in returning to the XOZ frontal plane is due to the need to wait for the manipulations to turn (-) β of axis 12 in conjunction with rotation + γ of axis 11 (pneumatic signals 157 from VK20 on axis 12 and 160 from VK22 on axes 11 and 160 to inputs And 18 in the pneumatic unit E11 of the same block B5.4 in Fig.22), as well as waiting for the closure of the "circle" bypassing the working body of the last window opening. The repetition of pneumatic signals 179 from VK7 in the half-cycles of welding window openings to a normally closed input And 19 does not affect the state of its output, but with the appearance of a pneumatic signal 200 'through P11 (see above), the pneumatic signal passes through the output And 19 to the normally closed input of the I21 pneumatic valve, waiting readiness air signal from And 18 to the switch end I21. The permission to turn the return of the crankshaft 58 to the XOZ plane is issued from the output of I21 through OR7 in the form of a pneumatic command 206 to the pneumatic hydraulic unit G2 (Fig.24), which switches Gr18 to the left. The hydraulic actuator (GDα ') 59 makes a reverse rotation of the crankshaft 58 clockwise (-α'). The end of the rotation coincides with the switching of the cam 156. on the axis 58 of the VK18 crankshaft. The pneumatic signal 165 passes from VK18, returning the pneumotrigger Rpit4 to the right (shown in Fig. 20). The pneumatic signal 165 'disables the VK27P memory and the upper pneumatic valve of the E10 subunit in OR71 is spring-loaded to the left, connecting output 179 to VK7 to the atmosphere (along the dashed supply line) in the lower pneumatic valve OR71 in E10. Therefore, in the hydraulic unit G2 (Fig.24), Gr18 rises to neutral, and (ГДα ') 59 - to the hydraulic lock Gz.

Automatic changeover of the welding mode

Upon completion of the rotation + α 'and switching to the right Rpit4 (Fig.20), the pneumatic signal 166' in the pneumatic unit Ck (Fig.8) switches P1 to the right (work in the XOY plane). The PC3 receiver connected to its output is tuned by the KR2 pressure reducing valve to increase the force from the power pneumatic piston, because the thickness of the sidewall frame sheet is significantly greater than the flanging of the window openings of the partitioned sidewall panels. The same pneumatic signal 166 'in the pneumatic unit B1.2 (Fig.13) switches to the right the pneumatic trigger 4/2 P6 (sub-block E3 Fig.13b). From the left output P6, the pneumatic signal switches on the PED2 pneumaticelectronic sensor through the on-delay time in the PRS2 pneumatic regulator, from which, like the welder’s button of the universal pendant welding installation, an electric signal for switching on РВ2, a conventional electronic welding time switch, passes installation in the block of timers of the energy block BS (figure 1), which is configured to weld a thicker package of sheets of the frame and the flange of the window opening than PB1. Reverse switching P6 pneumatic command 165 'from Rpit4 (Fig.20) automatically switches the control system to work in the frontal plane XOZ (shown in Fig.12 and 13).

Manual (semi-automatic) conversion and maintenance of RO

Before starting work with a new series of products, the adjuster using the pneumatic buttons on the PU commissioning panel slowly (see the position of the T3 pneumatic tumbler of Fig. 28) brings the working body to the start of welding, turns the normal NN of the welding tongs (Fig. 4) perpendicular to the tangent of the globular wave bending of the flanging tape and, making sure that the technological tool is in the correct position, he quickly moves the working body to its original position. Thanks to the presence of probes, the robot itself precisely sets the N-N normal perpendicular to the tangent wave bending of the flanging tape in the “automatic” mode (T1 pneumatic tumbler).

When the welding of this series of products is completed, the installer again semi-automatically repeats the adjustment operations, including Changes the settings of PB1 and PB2 to a new series of products. The latter is optional if, instead of two RVs, the control system in the SB power unit is equipped with an extreme self-adjusting welding mode device (which is necessary when welding alloy steel sheets).

To carry out welding tests on samples and manually select welding modes (as well as manual sharpening and correction of electrode outgrowth), it is necessary to remove the probe blocks from the “weather vane” -mite. This tap is performed by simply switching the T7 pneumatic tumbler (Figs. 9 and 28), taken out to the working body from the pneumatic control panel PU. In the “adjustment” position (T1 toggle switch), compressed air is disconnected from line 88, and compressed air is supplied from Rpit2 via line 91 from the control unit. Through the pneumatic valve OR4 (Fig.9) switches to the right DPR3. The pneumatic cylinder (PTs5) 40 retracts the latch. The pneumatic valve HE3 “retraction” gives a pneumatic signal 200 (to B5.4 of FIG. 22) and in parallel to switching DA2, which does not make changes to the logic of the readjustment. At the end of the stroke (PC5) 40 switches the pair of directional pneumatic valves VK14 and VK15. The position of the pneumatic trigger P2 depends on the frontal work of the robot, in which the welding tongs are covered by one pair of probe blocks: either Щ1, or Щ2. Therefore, from BK14 or BK15, the pneumatic command discharges only one of the probe blocks to either DPR1 or DPR2. When the service maintenance of the welding tongs is completed, the installer switches the pneumatic toggle switch T1 and T7 to the “automatic” position, and the pair of probe blocks that covered the access to the welding tongs returns to their previous working position.

Testing of deterministic (design) and probabilistic (random) geometric disturbances

Geometric disturbances that affect the work of an adaptive robot include deterministic - design - constant deviations of the tracking trajectory from straight lines along the slope and without it into the Cartesian space, of which the adaptive control system does not know anything in advance, and random (probabilistic) deviations of the technological property these are errors in the manufacture and basing of the product according to technological redistributions and posts of the production line, as well as probabilistic sine-cosine rotations of the spools of a hydroresolver in the tracking system.

Testing of Determined Geometric Disturbances

The development of deterministic disturbances is associated with the operation of levers and rods of tactile probes of blocks Shch1 and Shch2 (Figs. 10 and 11) acting on 3/2 pneumatic sensors (five pieces in each of a pair of probe blocks). Near the “weather vane” mite, the pneumatic system Tsch is mounted on both sides to automatically remove one of the two pairs of probe blocks: either Щ1, or Щ2.

The reactions to disturbances in all cases of design turns and inclinations of the tape tracked surface and the flanging flanges of the flange connection are reduced to two possible alternatives: during the working body with the rise "uphill" or during the descent "downhill".

Climb uphill

The meeting with the rise of the trajectory (“slide” in space with latitudinal and meridional feeds from the front and back sides of the flange connection is conditional — as the positive or negative amplitude of the bend of the trajectory regardless of the spatial design position of the “slide”) is worked out as follows.

In the block of probes and pneumatic valves Щ1 (Fig. 10), when meeting with the lifting “uphill”, the spring-loaded levers of stops with cranked rollers bend the “knees” with mushroom-shaped probe rollers (Fig. 10 a and b), and the cams of the cranked rollers press the rods air sensors V (in the odd half-cycle) or VI (in the even half-cycle). At the same time, the pneumatic signal 105 (or 106) in the pneumatic unit B1.1 (Fig. 12) with simultaneous rotation of the main gyroscopic axis 11 by an angle of minus 100 (clockwise), because the signal 105 passed through HE6, OR 10 (Fig. 12) in parallel, from right to left through P4, through OR 11 and OR 14) to G2 (Fig. 24) in the form of a pneumatic command minus 100 to rotate axis 11 clockwise. This “fast backward” move with simultaneous rotation of (-) γ lasts fractions of a second until the rods of air sensors III and IV are initially pressed. From them in B1.1 pass the pneumatic signals 103 and 104 to the pneumatic valve I2, issuing the pneumatic command 76 "laterally forward slowly." If during this stroke pneumatic signals 101 and 102 pass from the probes 1 and II, then I1 gives the pneumocommand to weld the next point (via HE4, OR13 and P3). If not, then the mismatch of the probes 1 and II again forces one more turn to the side of the “failed” probe (as in the course “from the hill” - see below) and there is another search “back and forth”.

In contrast to the probe block Shch1 in the Shch2 block (Fig. 11), safety probes — 73 in the odd and 74 in the even half-cycle — are triggered during the “uphill” stroke. In this case, the lever 72 (or 75) switches the pneumatic valve V (or VI - in an even half-cycle), and then everything happens the same way as in the case with block Щ1.

Exits from the bisector angle of the search turns of the main gyroscopic axis

In the contour bends of the monitored flanging “on the edge”, the operation of the safety probes in the Щ2 blocks during the “uphill” working body depends on the meeting of the forward and “antennae” safety probes (73 or 74 in Fig. 11) with the bending of the flange rib rib . It can happen by chance that both the front 73 and the rear probe — “antennae” 74 (during the “forward” stroke after the “backward” retraction) will simultaneously give pneumatic signals 105 and 106 to the fifth pneumatic valve I5 of the pneumatic unit B1.1 (Fig. 12), forming the “bisector” pneumatic signal connected to the input of the pneumatic trigger 5/2 P5, like P4, controlled from the ends by pneumatic commands 201 “odd” and 203 “even”. The outputs of the P5 pneumatic valve are connected to the control lines HE6 and HE7, normally open lines of which the pneumatic signals 105 and 106 “up the hill” are sent through the IL9 and OR10 lines +99 or (-) 100 to the turn ± Δγ in the direction of their tracking half-cycle. In parallel with the outputs HE6 and HE7, the pneumatic signals 105 and 106 through OR17 ... OR22 form the pneumatic signal "fast back".

Meeting from the wrong side of the flange or panel of the product with basing equipment

The case of meeting with the base snap-in from the wrong side of the product is perceived in the pneumatic unit B3 (Fig. 16) as the "cavity of the product", for bypassing which from the wrong stylus IX (or X) with line 109 or 110 (Fig. 11) through OR87 to the pneumatic unit Tsk (Fig. 8), the pneumatic signal 82 (or 83) passes and simultaneously through OR89 or OR90 to the hydraulic unit G2 (to Gr14 of Fig. 24), the pneumatic command 98 or 97 passes to rotate the welding tongs 10 around axis 9, as if waiting for the depression of the design “fracture” A panel emphasizing the car's forward drive. In the pneumatic block CC (Fig. 8), the pneumatic signal 82 switches the HE2 pneumatic distributor (3/2), which connects the left cavity of the service pre-compression pneumatic cylinder to the atmosphere, and the bracket 10 with the electrode 36 together with the second (lower) piston will go "down" under the snap. The rotation of the axis 9 (ωk) upon return of the clamp electrode 36 is compensated by the mismatch system of the probes 71 and 71 '(Fig. 11).

Descent "from the hill"

During the following descent “from the hill”, the front probe (FIGS. 10 and 11) “fails” with the pneumatic sensor 1 turned off in an odd half-cycle, and the pneumatic sensor II, which goes behind the plane of the “weathervane” -mite, remains switched on. There is a diagonal mismatch: the bracket of the probe, "failed" forward, and switches the air sensor III. The I4 pneumatic valve (Fig. 12) performs the conjunction of the pneumatic signals 102 and 103 and issues, through OR 18, 19, 21 and 22, the pneumatic command 78 “fast back”. At the same time, the pneumatic command 78 passes in parallel through OR 10 in the direction from right to left in P4 through OR 11 and OR 14 in line minus 100 (Fig. 12) to the pneumatic hydraulic unit G2. The pneumatic command minus 100 in G2 (Fig.24) switches Gr15 to the left. The hydraulic motor (GDγ) 15 rotates the axis of the gyroscope 11 clockwise minus Δγ in the direction of the "failed" probe. This happens during a fast idle "back" in a split second. The working body quickly moves back along the pneumatic command 78, as shown in table 4 of Table 5: welding tongs are dominated upward by the hydraulic cylinder ГДZ (Figs. 4 and 23) along the pneumatic command (-) 146 with the participation of the additional hydraulic cylinder ГДХ (minus X). At the same time, in the pneumatic hydraulic unit G1 (Fig. 23), the pneumatic command (-) 146 switched the Gr2 directional valve to B6 to the right, and at the same time the pneumatic command (-) 148 switched Gr3 to the right. The total velocity vector of the working body is added to the rectangular vector sum formed by the sine-cosine relation (cosγz) 26 of the dominant speed and (sinγx) 25 of the additional speed in the hydraulic resolver (Grzγ) 33 (Fig. 23). The hydraulic flows from the hydraulic sensors 25 and 26 pass through the Gr5 hydraulic trigger crosswise (switched to the right by the pneumatic command 152 “transversely” from the pneumatic unit B4 (Fig. 17) directly through the hydraulic distributors NOT (the right spool in GBz2 (3/2 × 2)) and Gr4 (globular pneumatic commands α or β in a simple tracking loop is not present (Table 1), and the GBz1 (3/2 × 3) hydraulic trigger with the first appearance of the pneumatic command 78 is switched to the right and, therefore, through a small hydraulic resistance Rm, the fastest idling (marching) stroke “back” of the worker is ensured Organ: Move back while turning the main gyroscopic axis 11 at an angle -Δγ in the direction of the “failed” probe 1 (Щ1 of figure 10) lasts a split second until the initial switching of the pneumatic sensor IV, which together with the previously turned on pneumatic sensor III together switches the pneumatic valve I2 (Fig. 12). Directly to the control system the pneumatic command 76 arrives “transversely forward” (slowly). The search begins for a coordinated switching of two pneumatic sensors 1 and II. Several back-and-forth strokes allow the NN normal “weather vane” of the welding tongs to self-establish along the edge of the contour of the flange joint I take the position to start welding the first point and subsequent tracking of the working steps of longitudinal feed of pnevmokomande 77.

Similar processes occur in the control system with an even half-cycle in the XOZ plane (see, for example, schemes No. 5 and 8 of table 5).

Development of random (probabilistic geometric disturbances)

When “swimming”, the end point of a technological operation on a previous product with respect to the same spatial point of the beginning of the same technological operation on a subsequent product of a production flow and the accumulated geometric errors of both the product itself and its basing along the production line posts create a probability with transverse installation flow dangerous proximity of the technological tool with the product. This can lead to either damage to the product or tool (see reactions to command 76 of schemes 1 and 8 of table 6 in the XOY plane). To avoid this danger allows the principle of Jacques Poncelet - regulation of the velocity vectors of the working body at the entrance to the control system. Each instantaneous phase state of the control system in two frontal planes corresponds to the identity of the gradients of mutually perpendicular vectors of the same rectangular vector system (created in the same phase by the same hydraulic resolver). In this case, the same velocity gradients correspond to the inverse proportionality of their values. The logical valve body G1 (in block B7) is characterized by indifference to the sign (±) of the gradient of the vector, because one and the same hydraulic resolver only differentiates the hydroresistances of its sine-cosine sensors at the same phase for different frontal planes. From paragraph 2 of the notes to tables 1 and 2, it follows that the normal NN of the technological tool is parallel to the main gyroscopic axis, but for the XOZ plane it coincides with the direction of the vector Y (additional hydraulic drive), and for the XOY plane it coincides with the vector Z. The dominant installation transverse vector the feed for the XOZ plane is + Z, and the working feed perpendicular to it along the NN normal, coinciding with the direction (gradient) of the additional vector Y, forms a dihedral right angle. The additional vector is either equal to zero or too small for quick withdrawal of the technological tool in case of dangerous proximity to the product in this frontal plane, but by simply switching the B7 pneumohydroblock elements in G1 (Fig. 23) to the instantaneous circuit “borrowing” in another frontal plane identical of the vector system allows replacing the small sine value of the additional velocity vector in the dihedral angle with another frontality perpendicular to it in the same rectangular vector system Shui cosine speed value with the opposite sign of anti-shock withdrawal process tool.

For example, with a dominant installation feed in the + Z direction (“down” - chart 1 of table 5), it is possible to avoid dangerous proximity of the technological tool with the product if both front probes VII and VIII Щ1 (figure 10) swing simultaneously “down” in positive amplitude indignation. In the pneumatic unit B3 (Fig. 16), pneumatic valve I12 is triggered from the simultaneous pneumatic signals 107 and 108, from which the pneumatic command "+ both front probes" bifurcates - down to the left end of the pneumatic trigger P9 (shown) and directly up through the left input of the left spool PT3-1 - the tandem (- 3/2 + 3/2) of the reverse connection - to the line +136 to the pneumatic unit E4 of block B2 (B2.2 of Fig. 15), where it passes through OR43, OR44 to the pneumatic unit B3 (Fig. 14) to OR25 and in line +144 (y) of the pneumatic unit B2.1 to the pneumatic unit B6 of the logical hydraulic unit G1 (Fig. 23), i.e. "Up" in the direction of NN is opposite to the stroke of the rod electrode 37 of the pincers PO (Fig.7).

At the same time, when “borrowing” for the XOZ plane a cosine vector from the XOY frontality conditions in scheme No. 1 of table 6 of the XOY frontal plane for shockproof withdrawal of the rod electrode 37 (FIGS. 7 and 8), the pneumatic command 78 from the pneumatic unit B1.1 arrives at the XOZ pneumatic unit B7 G1 (Fig. 12), which switches GBz1 (3/2 × 3) to fast marching speed (Fig. 23), and GBz3 (4/2 × 2) switches to the right with the pneumatic command (XOY ^{* 2} ) of "borrowing" another front (instead of XOZ) from the pneumatic unit B3 (bottom line 165 '' in Fig. 16) - XOZ changes to XOY with the pneumatic command 166 ''. And also, according to the conditions of scheme No. 1 of table 6, the meridional signal 155 (α) forces GBz2 (3/2 × 2) to switch NOT to the right (Fig. 23). Hydraulic flows pass from the outputs of the hydraulic sensors: from (cosαy) 29 through GBz3 crosswise, through GBz2 (along the left spool - the oblique arrow), through Rm and through GBz1 (3/2 × 3) along the oblique arrow to the input D Gr1 (in B6). Thus, there is not only a “borrowing” of a large dominant velocity from cosαy in (Grzα) 34, but also at the same time as GBz1 is switched to the right, the maximum anti-shock speed of pulling away the technological tool is created. Despite a sharp increase in the magnitude of the dominant cosine vector + y and a proportional increase in the sine additional vector + Z, the gradient of the jaw pull-off vector remains unchanged for both scheme No. 1 of Table 5 and scheme No. 1 of Table 6. During the shockproof withdrawal, the inclination of the probe rods disappears, and the pneumatic signals 107 and 108 disappear immediately. The state of circuit B7 in G1 returns to its original position for the XOZ plane, i.e. repayment of the borrowed "debt" took place. This is the reaction to the positive amplitude of the geometric disturbance. The control system works similarly for the negative perturbation amplitude (from the inside of the flange) with the difference that the pneumatic command "minus both wrong probes" from I 13 (Fig. 16) switches P9 to the left to the cross circuit, and from its input the pneumatic front command XOZ 165 'by up arrow to the right switches PT3-1 to the left, forcing the pneumatic command (-) 137 through the pneumatic valves OR41 and OR42 in the pneumatic unit E4 (Y) of the pneumatic unit B2 in B2.2 (Fig. 15) to pass to the B3 of the pneumatic unit B1.1 (Fig. 14) to OR26 and give the pneumocommand 145 (s).

When the Щ2 probes work in the XOY plane, these processes occur even more clearly. The main hemispherical probes with flanges 70 (Fig. 11) during installation transverse feed, running into a positive amplitude of the deviation of the point of start of welding of the product in the space of the robot, simultaneously raised from the nominal. Now, instead of scheme No. 1 of Table 6, the scheme No. 1 from Table 5 is "borrowed" for the XOY plane. The same switching occurs, but shockproof dominantly occurs in the direction (-Z) along the pneumatic command in the pneumatic unit E5 (Z) of the pneumatic unit B2 in B2.2 (Fig. 15), and the reaction to the negative (wrong) amplitude + Z (remember the sign is inverted coordinates ZZ) is performed by pneumatic command +138. In the first case, the technological tool is pulled away from the front side of the flange, and in the second - from the simultaneous swinging of the rods of the wrong conical probes - “down” from the wrong side of the flange (+ Z).

The property to “borrow” the vector diagram of the PO speeds in a different frontality allows to increase the productivity of welding tongs up to 300 dots per minute instead of 60 dots per minute for program-controlled robots, because it becomes possible to keep the opening gap of the electrodes of the order of 10 mm and have a minimum time for their compression (see the certified performance of the spot welding machine MT1613 of the St. Petersburg Electric Plant).

Disturbances in the form of unforeseen technological deviations in the geometry of the tracking trajectory during the longitudinal working feed in the form of bulges or depressions may turn out to be random. The meeting with the bulge causes only the front probe VII or VIII (FIGS. 10 and 11) to rise from the front of the flange. The pneumatic signal 107 passes through OR86 in the Central Committee (Fig.6) in the form of a pneumatic signal 83 and switches the pneumatic valve HE1. The working cavity of the power cylinder of the pneumatic cylinder block is connected to the atmosphere. The auxiliary piston goes to the back cover of the working pneumatic cylinder and behind it the working power piston, retracting the rod electrode 37 from the bulge. Similarly, when meeting the cavity, the pneumatic signal 109 (or 110) in FIG. 16 passes through OR87 to the CC (FIG. 8) in the form of a pneumatic signal 82 and switches the pneumatic signal HE2, which forces, as in the first case, to withdraw the clamp electrode 36 from the cavity.

FIG. No. Designation Content one BS Block diagram of a pneumohydraulic control system for an adaptive pneumohydraulic robot. 2 Sf Globular tracking scheme "sphere" for the vertical frontal plane XOZ (see Table 1). 3 Ld1 The “boat” global tracking scheme for the horizontal frontal plane XOY (see Table 2). four Hydraulic fracturing Gyroscope. Kinematic scheme (in relation to the portal adaptive robot) (see Table 3). 5 M Pneumatic couplings - sensors of the sign (+/-) of the hydraulic actuator stroke. 6 Grez Hydroresolver. Device. 7 RO The kinematic diagram of the working body - welding tongs with a cylinder Tsk, drives for the retraction-supply of the probes Tssh and blocks of spools Bz1 and Bz2. 8 CC Fundamental pneumocircuit for controlling the cylinder block of pre-compression, compression and additional opening of tick electrodes. 9 Csh Fundamental pneumocircuit of automatic change of probe blocks and service tap and return to the ticks of one pair of probe blocks. 10 Shch1 A block of tracking probes for flanges of variable width: a) the kinematic scan of a pair of blocks, b) tactile probes, c) 3/2 "Yes" pneumatic sensor. eleven Щ2 A block of tracking probes for flanges of constant width: a) the kinematic scan of a pair of blocks, b) the probes are the main and auxiliary, c) 3/2 sensor "Yes". 12 B1.1 Logical pneumatic block of castles transverse to longitudinal feeds and contour turns of the main gyroscopic axis of “Pure rotation”. 13 B1.2 Supplement to B1.1: a) E1-E2 - block of automatic changeover of the phase of the main axis ± γ, b) E3 block of automatic changeover to another welding mode. fourteen B2.1 Logical pneumatic control unit for linear hydraulic actuators in the hydraulic unit G1. fifteen B2.2 Addition to B2.1, adjustment pneumatic blocks E4, E5, E6 and E7. 16 A2 B3 Logical pneumatic block working out deterministic and random geometric disturbances. 17 B4 The block of globular castling of the dominance of linear hydraulic drives and the “sliding” of the main gyroscopic axis behind the declines of the tool normal. eighteen B5 ' Three-coordinate trolley and working body with probes Щ2, pincers 10, cylinder Tsk and a welding machine. Stop management system. 19 B5.1 Fundamental pneumocircuit of track hard-drive control by console adaptive robot with logical elements “no products” (without gyro elements). twenty B5.2 Kinematic scheme of track hard-drive control of a portal adaptive robot with stops and rotary cams in two frontal planes: XOZ and XOY. 21 B5.3 I supplement: transitional states of control of the stops before and after the point of the preliminary working position (TPRP) RO. (XOY plane) 22 B5.4 II addition: automatic readjustment of switching to another frontal plane. (Block "delay"). 23 G1 Logical hydraulic control unit for linear hydraulic actuators: B6 - control unit of the sign (+/-) of the stroke and B7 - control of the magnitude and gradients of the velocity vectors with the “borrowing” of the tool’s anti-shock in the other frontality. 24 G2 Control unit for rotary hydraulic actuators of a gyroscope. 25 IN Two-stroke pulsed pneumohydraulic pump with start and stop elements. 26 Sat Counting unit (DB1 and DB2); DB is a binary counter unit. 27 Db a) the principal pneumatic circuit DB, b) the sequence diagram of the elements B5.2 and DB. 28 PU The control panel is adjustment. 29th Tr Tracking trajectories: a) to figure 2 "sphere", b) to figure 3 "boat". thirty TC Technological scheme of welding the sides of a small bus: a) transverse joints of the lining, b) window openings. 31 Ld2 Phase zones of operation of pneumatic couplings - sensors M with "clean rotation" of the main gyroscopic axis in the XOY plane.

Tables T1 On 1 sheet The complicity of three mutually perpendicular linear hydraulic actuators in the frontal plane XOZ (to figure 2 "sphere"). T2 On 1 sheet The complicity of three mutually perpendicular linear hydraulic actuators in the frontal plane XOY (to figure 3 "boat"). T3 On 1 sheet Change of purpose (designation) of the angular and phase sensors of the state of the axes of the gyroscope when changing frontality. T4 On 1 sheet The signs of the outputs of the angular and phase sensors depending on the phase state of the gyroscope axes. T5 On 1 sheet The operation of pneumatic elements of blocks B1.1, B2.1, B4 and B6 with B7 in G1 when tracking along a simple flat contour in the XOZ plane. T6 On 3 sheets The same is true for tracking along a globular contour in the XOY plane.

Table 1 The complicity of three mutually perpendicular linear hydraulic drives in the following ¹⁾ feeds of the working body with a simple contour and globular control system of the dominant, additional and drive-corrector in the frontal plane XOZ (see figure 2) The phase interval of rotation of the axis of the gyroscope at an angle Involvement of linear hydraulic drives The declination of the stroke of the working body along the vector sinγx ³⁾ Two: dominant and complementary in a rectangular system Third drive corrector ³⁾ dominant additional X Z Y ²⁾ Simple flat outline without slopes from the planes of Cartesian space γ ± 360 ° X or / and Z - - Contour "on the edge" flanging angle γ Flat spatial and globular contour "sphere" (figure 2) And on the ribbon “ribs” flanging: α ± 45 ° - Z Y X bending angle α meridionally β '± 45 ° X - Y Z bending angle β latitudinally Note: 1) In the transverse installation and return feeds, omit the word “followers”. Dominance is casting perpendicular to the table tracking data. 2) The normal of the technological tool (N-N in Fig. 4) coincides in the initial position with the direction of the auxiliary drive Y and is parallel to the main gyroscopic axis. 3) The third drive-corrector draws a rectangular vector system (Z-Y or X-Y) into a parallelepipedal declination of the working body along the sinγx vector (applicate).

table 2 The complicity of three mutually perpendicular linear hydraulic drives in the following ¹⁾ feeds of the working body with a simple contour and globular control system of dominant, additional and drive-corrector in the frontal plane XOY (see figure 3) The phase interval of rotation of the axis of the gyroscope at an angle Involvement of linear hydraulic drives The declination of the stroke of the working body along the vector sinγx Two: dominant and complementary in a rectangular vector system Third drive corrector ³⁾ dominant additional X Y Z ²⁾ Simple flat outline without slopes from the planes of Cartesian space γ ± 360 ° X or / and Y - - contour "on the edge" flanging angle γ Flat spatial and globular contour "boat" (figure 3) And on the ribbon “ribs” flanging: α ± 45 ° - Y Z X meridionally, tracking ¹⁾ along the stringer (pitching) β '± 45 ° X - Z Y Pseudo-latitude, tracking ¹⁾ on the frame (side rolling) Notes: 1) In the transverse installation and return feeds, the words “followers” and “tracking” should be omitted. Dominance is casting perpendicular to the table tracking data. 2) The normal of the technological tool (N-N in Fig.21) coincides in the initial position with the direction of the auxiliary drive Z and is parallel to the main gyroscopic axis. 3) The third drive-corrector reverses the rectangular vector system of the organ along the sinγx vector (applicate).

Table 3 Changing the assignment of angular pneumatic couplings and phase hydrodynamic sensors of the state of the gyroscope axes when tracking in the XOZ frontal plane or in the XOY. Gyro Axis Designations Frontal planes of Cartesian space Vertical xoz Horizontal xoy Sensor Designations Sensor Designations Pneumatic couplings No. Water sensors No. Pneumatic couplings No. Water sensors No. Mx 19 sinγx 25 Mx 19 sinγx 25 γ (11) Mz (y) twenty cosγz (y) 26 My (z) twenty cosγy (z) 26 Mz 21 - - Mz 21 - α (13) Mαy (z) 22 sinαy (z) 28 Mαz (y) 22 Sinαz (y) 28 - - cosαz (y) 29th - - cosαy (z) 29th β (12) Mβy (z) 23 sinβy (z) 31 Mβz (y) 23 sinβz (y) 31 - - cosβx 32 - - cosβx 32 Note to table 3: Designations containing the Cartesian axis X are not changed.
The Mz axis does not change its designation, as does the (Mωk) 18 axis, which does not appear in Table 3.

Claims (14)

1. Pneumo-hydraulic control system for an adaptive pneumo-hydraulic robot, including a servo and stabilizing system for the speed of the technological tool of the working body, logical logic unit, pneumohydraulic logic unit and power unit, while the servo and stabilizing system of the speed of the technological tool of the working body is made in the form of a system of angular pneumatic couplings and phase sine-cosine hydroresolvers on the four drive axes of the gyroscope, including the main gear theoscopic axis of “pure rotation”, the axis of nutations, the axis of precessions and the axis of manipulating the normal of the technological tool to the tangent wave bend of the tracking path, as well as in the form of two blocks of main and auxiliary probes and pneumatic sensors on both sides along the track of the technological tool equipped with a feed drive and an additional outlet from the product, the logical pneumatic automation unit is made in the form of three pneumatic units of the first control level, including the first pneumatic unit of contour tracking (A1), WTO a swarm of globular tracking (A2) and a third hard-program pneumatic control (A3), a pneumohydraulic logic unit is made in the form of three pneumohydroblocks of the first control level, including a logical pneumohydroblock for controlling linear hydraulic actuators (G1), a pneumohydroblock for controlling rotary hydraulic actuators of a gyro hydraulic hydraulic pump (G2 and hydraulic in a closed system of high pressure (IN), and the energy block includes a three-phase power supply unit A unit, a thyristor contactor unit, a timer unit, a preparation unit with filtration and dehumidification of compressed air, gases, and a cooling component supply, while the logical pneumatic automation unit is connected to the pneumohydraulic logic unit and the energy unit, which is connected to the technological tool. 2. The system according to claim 1, characterized in that the tracking and stabilizing system of the speed of the technological tool of the working body contains four-linear and six-linear angular pneumatic couplings made in the form of a spool with an annular groove separated by two partitions, and one semicircular groove is connected to the compressed power line air drilled along the axis of the spool, and the second is vented into the atmosphere, while the third and fourth lines of the four-line pneumatic coupling are formed by the inlet and outlet of the through hole in the in the six-line pneumatic coupling, the annular spool groove is divided by two baffles at right angles to the center of the annular groove, the short part of which is connected to the compressed air supply line, and the long part to the atmosphere drawn line, two mutually perpendicular through holes are made in its body, which are paired with the inputs of two OR pneumatic valves, while on the main gyroscopic axis of “pure rotation” two four-line pneumatic couplings (Mx) 19 and [Mz (y)] 20 are installed, the partitions of the spool grooves in which they are mutually perpendicular, and the openings of the spool housings are parallel, and on the other gyroscopic axes, one (М1818), (Мα22) and (Мβ) 23, with spool grooves oriented in the initial position along the axes of the Cartesian space, and its vertical plane perpendicular to the frontal plane, the short spool groove of the six-linear pneumatic coupling (Mz) 21, defining the meridional or latitudinal tracking directions, is symmetrically divided. 3. The system according to claim 1 or 2, characterized in that in the pneumatic logic control unit one pneumatic block A1 of the first control level is equipped with two pneumatic blocks of the second control level - the pneumatic block (B1) of contour castling of transverse feeds to the longitudinal servo, forming the sign (±) of contour pneumatic signals of rotations of the main axis of the “pure rotation” of the gyroscope and communication with the energy block by the inclusion of timers and the pneumatic block (B2) of the formation of pneumatic signals of the contour control with the sign (±) of the stroke of linear hydraulic drives, pneumatic block A2 is the first the control level is also equipped with two pneumatic blocks of the second control level - a pneumatic block (B3) for globally manipulating the norm of a technological tool and a quick response to geometric disturbances and a pneumatic block (B4) for generating pneumatic signals of the sign (±) catching up translational "slip" of the main gyroscopic axis (11) of "pure rotation »To minimize the mismatch of its parallel to the normal of the technological tool by the precessions in the latitudinal and nutations in the meridional direction and connect to the dominance of one of the two mutually perpendicular linear hydraulic actuators of the third - the hydraulic actuator-corrector of the spatial declination of the working body, and the third pneumatic unit A3 of the first control level is equipped with three pneumatic units of the second control level - the pneumatic unit (B5) of the directional pneumatic control valves of linear and rotary hydraulic actuators (counted pneumatic actuators SB) and pneumatic control panel (PU) for manual adjustment and automatic control of robot drives, including when servicing a technological tool ment, and the working console RP control the pneumatic cylinder of the lateral feed of the robot of the cantilever design to the preliminary working position. 4. The system according to claim 3, characterized in that in the block of pneumohydraulic logic, the logical pneumohydro block (G1) of the first control level is equipped with two pneumohydro blocks of the second control level - a start-stop pneumohydro block (B6) of a sign change (±) of the direction of travel of the linear hydraulic actuators and a two-speed, two-front pneumohydro (B7) automatic regulation of the ratio of the values and gradients of the dominant, additional and corrective vectors in a rectangular and parallelepipedal vector system of speeds of three asymmetrically perpendicular linear hydraulic drives, switching them two times to technological “slow” or to marching “fast” idle speed, including with instantaneous circuit “borrowing” of identical gradients in different frontality of shockproof castling for connecting the high cosine velocity vector to the technological withdrawal tool in case of dangerous proximity to the product. 5. The system according to claim 3, characterized in that in the pneumatic unit A1, the pneumatic unit (B1) of the contour castling of transverse feeds to the longitudinal follower, the formation of the sign (±) of the pneumatic signals of the contour rotation of the main axis of the "pure rotation" of the gyroscope and the connection with the power unit is equipped with five valves “I”, the inputs of which are connected to six outputs of pneumatic sensors containing probe blocks that respond to geometric changes in the tracking path “from the hill” and “to the hill” along the technological tool - one (I2), which generates a pneumatic feed signal “across forward, the second (I1), forming the pneumatic feed signal “longitudinally”, and both, through the pneumatic valves OR, forming the correction “slowly”, communication with the hydraulic unit G1 (B7) and pneumatic unit B2, the third (I3) and fourth (I4) pneumatic valves forming an “fast back” pneumatic signal in an odd and even half-cycle during diagonal mismatch of a pair of probe pneumatic sensors connected when the tracking path is hollowed and the pneumatic signal rotates along the main gyroscopic axis toward the probe that has “fallen” from the hill ahead of the probe, and fifth, a blocking pneumatic valve (I5), which forms when the technological tool hits the corner along the bisector line during the “uphill” pneumatic signal “quickly backward” and turns the same main gyroscopic axis to the side determined by the tracking direction due to the change in the position of the pneumatic trigger 5 / 2, switched by pneumatic commands "odd" or "even", the system of pneumatic valves OR, to which the pneumatic blocks of the fourth control level are connected: the pneumatic block (E1) of switching the control system with a vertical frontal plane XOZ to horizontal XOY and (E2) - from XOY to XOZ, the inputs of which are connected to the outputs of the B5 hard-program pneumatic unit for automatic frontal readjustment and to the outputs of the control panel of the PU, as well as the pneumatic unit (E3) to automatically switch timers from the first time relay configured to one operating mode of the working body, to the second time electric relay, tuned to a different technological mode through a pneumatic trigger (P3) and pneumatic sensors PED1 and PED2, switched from B5 by pneumatic commands to change the frontality of the system board, and is equipped with pneumatic valves for turning on / off a two-stroke pulsed pneumohydraulic pump (ID) in the “automatic” or “commissioning” mode from the control panel (PU) and turning on the compressed air power of the probe blocks and angular pneumatic couplings. 6. The system according to claim 3, characterized in that the pneumatic block of the second control level B2 is equipped with three pneumatic blocks of the third control level - the first (B1) cyclic locks of complicity and the sign (±) of the direction of the contour stroke of linear hydraulic drives depending on the phase position of the angular pneumatic couplings (MX ) 19 and [Mz (y)] 20 on the main axis of the “pure rotation” of the gyroscope, the second (B2) - automatic and manual semi-automatic readjustment of the working position of the linear hydraulic actuators, and the third (B3), consisting of three pairs of pneumatic valves OR - output from outputs from per output of two pneumatic units B1 and B2 pairs of pneumatic signals to the logical pneumatic unit G1. 7. The system according to claim 3 or 6, characterized in that in the pneumatic block of the second control level B2, the pneumatic block of the third control level B1 of cyclic complications of complicity and the sign (±) of the direction of the contour stroke of the linear hydraulic actuators, depending on the phase position of the angle pneumatic couplings, contains a K7 pneumatic trigger and a pneumatic valve K8, as well as two distribution double-digit tandem spools (-4 / 2 + 4/2) PT1 and PT2, controlled by one pneumatic command “transversely-longitudinally”, and the other by pneumatic commands of changing frontality, and equipped with spool blocks - one (4/2 2) Bz3 and second - (4/2 × 3) Bz4; to the right ends of the tandem of the spools (-4 / 2 + 4/2) PT1 and the spool block (4/2 × 3) Bz3 parallel connected line 77 is “longitudinal” from the pneumatic unit B1 and from it the same line 76 is “forward” parallel to the left ends block of spools (4/2 × 2) Bz3 and pneumatic trigger K7, to the right end of which a line 78 is connected “back” from the same air unit B1, and both lines “forward” and “back” are fed to the inputs of the first pneumatic valve OR (OR 31) , the output of which is “transversely” connected to the pneumatic unit B4 and to the left end of the tandem spools (-4 / 2 + 4/2) PT1, while the outputs of the angled pneumatic couplings are connected They are connected to the left inputs of both spools of the tandem PT1 from [Mz (y)] 20, and to the right inputs of both spools of the tandem PT1 from (Mx) 19, while the output line 44 of the pneumatic coupling 44 is connected to the control line of the pneumatic valve 4/2 K8 [Mz ( y)] 20, and a pair of lines from the pneumatic unit B4 connecting the globular auxiliary drive Y to the dominant drive in the frontal plane XOZ, and in the frontal plane XOY - connecting the additional drive Z are connected to the inputs of the pneumatic valve K8; the inputs of the I11 pneumatic valve are connected to the “even” line from the counting SB pneumatic unit and to the line 77 “longitudinally” from the B1 pneumatic unit, the I11 output is “even” (203 ') connected to the right end of the spool block (4/2 × 3) Bz4, to the left the end of which is connected to the output of the pneumatic valve OR24, one input of which (201) is “odd” connected to the same counting pneumatic unit SB, and the second input - with line 78 “back” from the pneumatic unit B1. 8. The system according to claim 3, characterized in that in the pneumatic block A2, the pneumatic block of the second control level B3 is equipped with two pneumatic blocks of the third control level (B4) and (B5), the first pneumatic block B4 - forming the sign (±) "borrowing" in another front the gradient of the anti-impact cosine vector of the jerking speed of the technological tool in the direction opposite to its working feed, when the tool is dangerously close to the product during installation transverse feed of the working tool, containing two pneumatic valves “I” - one (I12) - onjunctions of pneumatic signals from pneumatic sensors of simultaneous swinging of two main probes from the front side of the tracking circuit, and the other - (I13) - simultaneous swinging of two auxiliary probes from the wrong side of the tracking circuit, the outputs of pneumatic valves I12 and I13 are connected to the single inputs of the two-digit distributor tandem of spools with the function " ... then "reverse connection (-3 / 2 + 3/2) of PT3-1 controlled from the outputs of the pneumatic trigger 4/2 (P9), the paired left outputs of two tandem spools - plus and minus - are connected to the pair of inputs" Y ", and paired equal - crosswise - to the pair of inputs ± “Z” of two pneumatic units (E4 and E5) of the fourth level of control of linear hydraulic actuators Y and Z in pneumatic unit B2, while from the outputs of pneumatic trigger 4/2 P9 parallel lines of frontality switching to pneumatic unit G1 are parallelly drawn, and second pneumatic unit (B5) - holding the normal of the technological tool to the tangent wave curvature of the tracking trajectory and quickly increasing the gap between the product and the technological tool when meeting a bulge or cavity during longitudinal feed, with it holds the “OR” pneumatic valves for responding to the simultaneous rocking of the probes from the front or the wrong side of the tracking circuit, while from one group of pneumatic valves OR a pair of outputs is connected to the pneumatic hydraulic unit G2 of the rotary hydraulic actuators, namely, the gyro motor for manipulating the normal of the gyroscope technological tool, and from the second group of pneumatic - to the working body, containing the drive of the working feed and the additional removal of the technological tool when it meets a bulge or depression of the tracking path . 9. The system according to claim 3, characterized in that the pneumatic unit B4 is equipped with two pneumatic units of the third control level (B6) and (B7), the first pneumatic unit B6 - castling dominance of the longitudinal and transverse feeds of the latitudinal and meridional declination of the working body, containing a double-digit distribution tandem of spools (-3 / 2 + 3/2) PT2 with direct-connected “this ..., then” function, controlled via pneumatic trigger 4/2 (P10) by pneumatic signals from the outputs of a six-line angular pneumatic coupling (Mz) 21, which sets latitudinal or meridional tracking directions on g main gyroscopic axis (11) of “pure rotation”, the outputs of the angular pneumatic coupling on the axis of the precession [Mβy (z)] 23 are connected to the left inputs of its spools, and the outputs of the angular pneumatic coupling [Mαy (z)] 22 on the nutation axis of the gyroscope are connected, at the same time, the same pairs of outputs of the angular pneumatic couplings on the axis of precessions and nutations are fed through two "OR" valves to the end switching lines of the two "I" pneumatic valves (I9 and I10), to the normally closed lines of which the pneumatic trigger outputs 4/2 (P10) are connected controlled by the “lateral” pneumatic signal on the left (76/78), and on the right by the pneumatic signal 77 "longitudinally" from the pneumatic unit B1 through the pneumatic unit B2, the outputs of the pneumatic valves I (I9 and I10) - 154-155 and the line 152-153 of castling dominance feeds "longitudinally" - "transversely" from the outputs of the pneumatic trigger 4/2 (P10) are fed to the pneumatic hydraulic unit B7 of the hydraulic hydraulic unit G1, and the single outputs of the two-digit tandem PT2 are connected to control the dominant mutually perpendicular hydraulic actuators, either XZ, in the vertical frontal plane XOZ, then XY in the XOY plane, as additional drives are respectively X or Z in the pneumatic unit B2; the second pneumatic unit - B7 - is catching up with the "glide" of the main gyroscopic axis 11 of the "clean rotation", performed by nutations and precessions to minimize its non-parallelism to the inclination of the normal of the technological tool perpendicular to the tangent to the wave bend of the tracking path, containing a two-digit distributive tandem of spools with the function "then ..., then "(-3 / 2 + 3/2) RT3-2 reverse connection, controlled by parallel lines from the outputs of a six-line angular pneumatic coupling (Мз) 21, defining the meridional and latitudinal declination of the stroke p On the other hand, the outputs of the angular pneumatic coupling (Мωк) 18 are connected to the single inputs of the distribution tandem RT3-2 on the axis of manipulating the normal of the technological tool, and the pair two-digit outputs through two pairs of pneumatic valves OR are connected to the pneumatic valve G2 - rotary hydraulic actuators, and from the left - the outputs of the tandem 3/2 + 3/2) RT3-2 to the hydraulic drive of precessions (GDβ) 17, and from the right to the hydraulic drive of nutations (GDα) 16 of the gyroscope, and through the same pairs of pneumatic valves OR from the corresponding outputs of the control panel PU for commissioning sions and nutation; at the same time, the B7 pneumatic unit is equipped with the E8 pneumatic unit of the fourth control unit for automatically changing the phase of the preliminary operating position of the axis 12 of the precessions through a pair of pneumatic valves "NOT 12" and "NOT 14" switched by the pneumatic commands of the VK20 and VK21 directional pneumatic valves by turning the cam 171 on the same axis 12 of the precessions in the pneumatic block B5 through the right inputs of additional pneumatic valves "OR" 54 and 55. 10. The system according to claim 3, characterized in that in the pneumatic unit A3, the pneumatic unit B5 is equipped with a single system of track-type pneumatic sensors for monitoring the strokes of linear and rotary drives for both the console and portal versions of the adaptive robot, and in the latter embodiment, the three-coordinate trolley is turned upside down by a gyroscope, what is the reason for the plus sign of the Z coordinate below the zero coordinate point, while in the console-mounted robot it is equipped with a pneumatic cylinder for supplying the three-coordinate cart to the product on the conveyor, and for the robot The first version provides for the product to be supplied under the working body of the gyroscope on an assembly trolley with shuttle-type strokes controlled by traveling pneumatic sensors, and for a console-mounted robot it is equipped with a pneumatic start-up RP, and for a portal-type robot - two 5/2 manual pneumatic distributors, while also equipped with adjustable stop cams for switching pneumatic pneumatic valves 3/2 to control the achievement of the point of the preliminary working position (TPRP) at the beginning of the tracking trajectory; equipped with a directional pneumatic valve 5/2 (VK7) associated with a counting SB pneumatic unit when operating on an open and closed tracking path and three pneumatic units E9, E10 and E11 of the fourth level of control of automatic robot readjustment for single-front and two-front operations. 11. The system according to claim 4, characterized in that the second level pneumatic control unit B7 in the pneumatic control unit G1 is equipped with pneumatic control valves - a control valve body (3/2 × 3) GBz1 with a two-speed "slow-fast" function, controlled by the pneumatic command 182 "slowly ”, And on the left - by pneumatic command 78“ quickly ”from logical pneumatic block B1, by two pneumatic hydraulic units of globular declination of the working body - separate 3/2 Gr4 NOT, switched by pneumatic command 154“ latitudinally ”,“ pseudo-latitudinally ”, and pneumatic hydraulic block of spools (3/2 × 2 ) GB 2 NOT, switched by the pneumatic command 155 “meridionally” - both from the logical pneumatic unit B4, while it is equipped with a pneumohydro-trigger trigger spools (4/2 × 2) GBz3 with frontal castling function, controlled without anti-shock “borrowing” of another frontality by the pneumatic command “XOZ” and to the left - the “XOY” pneumatic command from the B3 pneumatic unit, and a separate 4/2 Gr5 pneumohydrotrigger with the function of contour switching of the feed dominance in the flat vector system XZ or XY, controlled by the “longitudinal” pneumatic command 153 on the right, and the pneumatic command to the left oh 152 "transversely" from the pneumatic unit B4, and the vector gradients and values of the velocities of the dominant, additional and correcting feeds of linear hydraulic actuators are provided by connecting the left inputs of "D" of their hydraulic distributors 4/3 of the hydraulic hydraulic unit B6 with the outputs of the sine-cosine hydraulic sensors of the hydroresolvers from the axes of the gyroscope - (Grzγ) 33 on the main gyroscopic axis of “pure rotation” - to the inputs of Gr5 - to the left of the output of the hydraulic sensor (sinγx) 25 and crosswise to the normally open input of Gr4, and to the right - from the output of the hydraulic sensor [cos γz (y)] 26 and through Gr5 crosswise - to the right entrance of the right spool GBz3 through Gr5, from the hydroresolver (Grzα) 34 on the nutation axis - to the inputs of the left spool GBz3 - to its left entrance from the output of the hydraulic sensor [sinαy (z)] 28 , and to the right entrance of the same left GBz3 spool from the output of the hydraulic sensor [cosαy (z)] 29 and from the hydraulic resolver (Grzβ) 35 on the axis of the precession, to the left entrance of the right spool GBz3 from the output of the hydraulic sensor [sinβy (z)] 31, and from the output of the hydraulic sensor (cosβx) 32 to the normally closed input Gr4, while the left outputs of the two GBz3 spools are connected to the pair of inputs of the left GBz2, and right - to the pair of inputs of the right spool of the same GBz2, to each pair of inputs of the spools (3/2 × 3) GBz1 are connected adjustable hydraulic resistance - on the left Rm - marching high speed, and on the right Rш - step "slow" hydraulic drive, moreover, the left and right hydraulic resistances are set to the same or fast or slow speed for all three linear hydraulic actuators, each pair of hydraulic resistors is connected in parallel by one line, the first and second with the output of spools NOT (GBz2), and the third with the output NOT (Gr4 ), fine Access the GBz2 NOT inputs connected to the outputs of the right spool GBz3, normalnozakrytye - "D" to the outputs of the left spool same GBz3 and inputs gidrodatchikov 25-26, 28-29 and 31-32 are attached to the backbone. 12. The system according to claim 3, characterized in that the SB counting pneumatic block is equipped with two four-command binary counting pneumatic blocks - one DB1 - counting the odd and even half-cycles of returning the twisted communications of the working body to the non-twisted state and the second DB2 - counting the double strokes of the directional pneumatic valve 5/2 VK7 in the B5 hard-program pneumatic unit when working in the frontal XOY plane in closed loop tracking - in both cases with the generation of a color and / or sound signal to call the operator to repeat the next ID identical technological transition of a production operation. 13. The system according to claim 3, characterized in that the pneumatic toggle 5/2 T7 of the adjustment tap of a pair of probe blocks and pneumatic sensors is removed from the control panel to the working body, which covers access to the service of the technological tool, for example, in the form of welding tongs and return the same pair of probe blocks and pneumatic sensors to the working position, and the T7 air tumbler exit line normally open to the atmosphere through the first OR4 of the three “OR” pneumatic valves - to the large end face of the 5/2 DPR3 differential air distributor controls a pneumatic cylinder-clamp (ПЦ5) 40 of the working position of one or another pair of probe blocks and pneumatic sensors, and the normally open output of the T7 pneumatic tumbler, in the “automatic” position, connected to the compressed air supply line, is connected to the large ends of two 3/2 DP1 differential differential air distributors and DP2, in the "automatic" mode, performing the role of the logical element "NOT" in connecting to the large ends of the air distributors ДПР1 and ДПР2 of both pairs of pneumatic cylinders (ПЦ3) 38 and (ПЦ4) 39 of supplying and withdrawing pairs of blocks of probes and pneumatic sensors Shch1 and Shch2 of the output lines of a pair of traveling pneumatic sensors 3/2 VK14 and VK15, simultaneously switched by the retraction of the pneumatic cylinder-retainer (ПЦ5) 40 and fed alternately with compressed air from the pneumatic trigger 5/2 П1, controlled by pneumatic commands XOY-XOZ (165'-166 ') from air unit B5, while the outputs of the pair of VK14 and VK15 travel air sensors are bifurcated - one line directly through one blocking air distributor 3/2, and the other - to the small end face of the other same blocking air distributor, and the inputs of the second air supply valve OR5 “connected” are connected to the outputs of the way 3/2 VK16 and VK29 pneumatic sensors, controlling the end of the supply of probe blocks and pneumatic sensors in working position to the technological tool, and the inputs of the third pneumatic valve OR 3 “retraction” of pneumatic cylinders 38 and 39 are connected to the outputs of the 3/2 VK17-VK28 traveling pneumatic sensors controlling the end of the outlet blocks of probes and pneumatic sensors from the technological tool, and in parallel to the small ends of the air distributors DPR1 and DPR2 to control the pneumatic cylinders of the outlet-supply of pairs of probe blocks and pneumatic sensors Shch1 and Shch2, and the output of the second pneumatic Lapan OR5 “inlet” is connected to the small end of the air distributor 5/2 ДПР3 and in parallel to the normally closed line of the first pneumatic valve ДА1, the normally open line of which is connected to the large end of the blocking differential pneumatic valve ДП3 of the automatic removal of the clamp-cylinder (ПЦ5) 40 by switching through the first pneumatic OR4 to the right of the DPR3 air distributor by the pneumatic command 170 'of the end of work in the vertical frontal plane XOZ from the pneumatic trigger VK26P or by the pneumatic command 169' - to the horizontal of the XOY frontal plane from the VK27P pneumatic trigger B5, and the output of the third pneumatic valve OR3 is connected to the normally closed input of the second pneumatic valve DA2, the output line of which is normally open to the atmosphere and connected to the control line of the first pneumatic valve DA1, and the control line DA2 to the output of the directional NO3 pneumatic valve fixing a pair of probe blocks and pneumatic sensors Щ1 or Щ2 with a pneumocylinder-retainer (ПЦ5) 40. 14. The system according to claim 1, characterized in that the technological tool of the working body, containing the drive of the working feed and the additional removal of the technological tool from the product, for example, in the form of rod welding tongs (CC) with a C-shaped bracket, containing a coaxial block of two pneumatic cylinders electrode compression - power and pre-compression, which, like the power one, in addition to the working piston, rigidly connected to the bracket with a hollow plunger, is equipped with a second - service piston of the additional removal of the bracket electrode from the wrong side of the flanges welded connection due to the stroke of this second service piston from the shoulder of the central sleeve, rigidly connected, in contrast to the central sleeve of the power pneumatic cylinder, with the front cover of the block of two coaxial pneumatic cylinders, while the additional removal of the clamp electrode from the wrong side of the flange connection of the product is provided by switching the second pneumatic valve NOT controlled as the “first” pneumatic valve is NOT, from the pneumatic unit B3, as well as for additional removal of the rod electrode from the front side of the same flange th compound wherein predszhatiya line stroke of the cylinder is connected to the output of the separate additional pneumatic distributor 3/2 kpc (A1) via the passageway in the power piston rod of the pneumatic cylinder.

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