GB1431413A - Method of programming a servo system and a servo system designed for such programming - Google Patents

Abstract

1431413 Recording and playback TRALIFA NILS UNDERHAUG AS 11 Feb 1974 [13 Feb 1973] 06088/74 Heading G3N In a hydraulic or pneumatic servosystem, motion of a controlled member VT being associated, for each one of degrees of freedom of member movement, with corresponding servo cylinders AS, MO, during a programming mode in which position detectors{resolvers}R for each cylinder provide data to generate a program whilst member VT is manually moved, each cylinder is shortcircuited for fluid-flow by a branch KO connected to drain AV providing fluid outlet to reservoir RE. Position data from a corresponding resolver R passes to recorder BO to form, for all cylinders, parallel data tracks on magnetic tape, hydraulic switch HV decoupling servovalves SE from the fluid supply, the effect on relief valves PT being to open links KO, and the routes AV to the reservoir. The pistons can thus be freely moved during programming. Playback. The tape data, for each degree of freedom passes to a corresponding comparator K receiving actual position data from the corresponding resolver R, the comparator output, derived on the basis of a phase or numerical comparison of its inputs controlling a corresponding servovalve SE itself controlling a corresponding servo cylinder to reduce the comparator output to zero. For each degree of freedom, the cylinder, servovalve, relief valve, and resolver may be combined into a single replaceable unit CM. The member VT may be a gun for the spraying of paint, metal, varnish, or powder, or material for sand blasting, the programming phase taking place during manual use of the gun by an operative. Cylinders AS generate linear motion, torque cylinder MO providing rotation.