MODELING OF AN INDUSTRIAL ROBOT OF A CYCLIC TYPE

Abstract

The paper presents the results of information modeling of a manipulation robot of a cyclic type (MP9-S), which is used in mass operations of cargo flow redistribution, in particular in mechanical production. The information model makes it possible to reproduce the robot's reaction to certain control signals of the CNC without taking into account the dynamic properties of its mechanical system. Robots of this type are intended to replace human labor in harmful, dangerous and monotonous production under conditions of its mass nature. Compressed air under pressure up to 0.5 MPa is used as a working medium. The robot has a relatively small load capacity (0.2 kg) and is intended for use in logistics operations of automated production, such as loading/unloading of machines, sorting cargo flows, servicing warehouse operations, etc. Robots of a similar type have certain limitations related to the time of readjustment of the stop system when switching to the production of new products, which requires certain time and material resources and therefore increases the cost of production, which makes it impossible to use such robots in multi-item small-batch production. However, in general, robots of this type are used in many areas of the national economy due to their simplicity, reliability, and the presence of a simple communication interface with the control system, which can be a conventional programmable logic controller (PLC). The standard complete control device for the MP9-S robot is the cyclic control system ECPU 6030, which provides for setting a work program in the form of 30 frames (maximum number) using 10-position command assignment switches and working according to this program in one of four modes: debugging, step-by-step execution, cyclic and automatic. The control system involves programming the delay of the robot's actions for a certain programmable time and blocking its operation while waiting for the operation of the equipment that works with the robot in one technological cycle. The use of manipulation robots requires the development and meticulous testing of group control software by such means. As a result of the work, an information hardware model of a manipulation robot of a cyclic type was developed, which was created by the MAXPLUS+II CAD tools of the ALTERA company, which reproduces the actions of the equipment when executing the control program specified by the complete control device or its microprocessor analogue. The use of the information model of the robot simplifies both the direct development of the control system and its programming. The proposed information model can be used in the distance learning process when developing, modeling and testing control systems for cyclic robotic equipment. The model can be reproduced by both hardware and software means, which allows it to be informationally combined with the control system within the same CAD.