JPH0337903Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a manual setting signal generation circuit in a control device for a manipulator that is manually controlled by a push button.

[Conventional technology]

Conventionally, a manipulator control device that controls the joint position of a manipulator using a manual control function using a push button uses a set value signal Es as shown in Fig. 3.
and the detection signal Ef detected by the position detector 4 for the joint position
The output is amplified by the above-mentioned signal, and the output thereof is given to the drive device 3 that drives the joint position of the manipulator to control the deviation signal (Es-Ef) so that it becomes zero.

[Problem that the invention attempts to solve]

By the way, in the conventional manipulator control device, in order to obtain a set value signal in an increasing direction or a set value signal in a decreasing direction in accordance with the selection of the manual mode,
As shown in FIG. 4, reference voltages +es and -es are applied to both ends of the variable resistor 5, and the slider 5a of the variable resistor 5 is directly operated to obtain the desired set value signal Es.
There is a set value signal generation circuit that outputs a set value signal. However, although this set value signal generation circuit is simple, since the set value must be changed by directly operating the slider 5a, contact failure is likely to occur.
It is unsuitable for devices such as manipulators where set values must be constantly changed.

In addition, as an alternative set value signal generation circuit, as shown in FIG. There is one that is constructed of an adder 8 that adds up and an integrator 9 that integrates the output of the adder 8 to obtain a set value signal Es. In the set value signal generation circuit having such a configuration, the input signal to the adder 8 is always zero when the manual mode of the manipulator is not selected, and the input signal to the adder 8 is always zero when the contact 6 or 7 is turned on. A reference voltage +es or -es is inputted to the reference voltage +es or -es, and the added output is integrated by an integrator 9 to obtain the output as a new set value signal. However, although this set value signal generation circuit has a simple configuration, the set value signal corresponding to the manual operation time is held by the integrator 9, so it is susceptible to noise and the circuit tends to become unstable. There is.

The purpose of the present invention is to provide a manual setting signal generation circuit for a manipulator that eliminates the above-mentioned drawbacks, has a simple configuration, enables stable operation, and easily obtains a set value signal corresponding to the manual operation time. shall be.

[Means for solving problems]

Therefore, in the present invention, in order to achieve such an objective, a first contact point that commands a set value in the increasing direction and a second contact point that commands a set value in the decreasing direction in response to the switch for selecting the manual mode of the manipulator are provided. When the manual mode is not selected by the switch, the input and output are short-circuited by a contact that works with the first contact, and when the manual mode is selected, the short circuit is broken and the first contact operates in the increasing direction. When the manual mode is not selected by the switch, the input and output are short-circuited by a contact that operates in conjunction with the second contact, and when the manual mode is selected, the first integrator receives the set value. a second integrator into which the set value in the decreasing direction is input through the second contact after the short circuit is removed; outputs of the first integrator and second integrator; and a detection signal of the joint position of the manipulator. The present invention is characterized in that it includes an adder that adds the values and outputs a set value signal.

[Effect]

Therefore, in the present invention having such a configuration, when the switch for selecting the manual mode of the manipulator is not operated, the setting value between the input and output of the first integrator and the second integrator is in the increasing direction. First command
A short circuit occurs between a contact linked to the contact and a contact linked to a second contact that commands the set value in the decreasing direction, and manual operation of the switch operates the first contact or the second contact to increase the set value in the increasing direction. Or, when the setting value in the decreasing direction is input to the first integrator or the second integrator, the short circuit between the input and output is resolved by the contact linked to the first contact or the contact linked to the second contact. Therefore, when the first integrator or the second integrator starts operating, no noise remains, resulting in stable operation. In addition, the first integrator and the second integrator
Since the output signal of the integrator and the detected signal of the joint position of the manipulator are added by an adder to increase or decrease the set value signal, the set value signal corresponding to the manual operation time can be easily obtained.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an example of a manual setting signal generation circuit for a manipulator according to the present invention. In FIG. 1, 6a and 7a are normally open contacts that respond to a switch (not shown) that selects the manual mode of the manipulator, and one end of the normally open contact 6a is connected to a terminal to which a positive reference voltage +es is applied. The other end is connected to the input end of an integrator 9-1 that integrates the positive reference voltage +es. Further, one end of the other normally open contact 6a is connected to a terminal to which a negative reference voltage -es is applied, and the other end is connected to an input terminal of an integrator 9-2 that integrates the negative reference voltage -es. . 6
b and 7b are normally closed contacts that respond to a switch (not shown) that also selects the manual mode of the manipulator, one of which is normally closed contact 6b is connected between the input and output terminals of integrator 9-1, and the other normally closed contact is connected between the input and output terminals of integrator 9-1. 6b is connected between the input and output terminals of the integrator 9-2. Furthermore, 8 is an adder that adds the output signals of these integrators 9-1 and 9-2 and the joint position detection signal Ef of the manipulator to output a set value signal Es.

In the manual setting signal generation circuit of the manipulator having such a configuration, when the manual operation using the push button switch is operated in the positive direction, that is, in the direction of increasing the set value signal, the normally open contact 6a closes and the normally closed contact 6b closes. It becomes open, and the positive reference voltage +es is applied to the integrator 9.
-1 is input. The integrator 9-1 integrates this reference voltage +es and outputs the integration result to the adder 8. This adder 8 includes the output signals of the integrators 9-1 and 9-2 and the joint position detection signal Ef of the manipulator.
is input, but in this case, since the output signal of the integrator 9-2 is zero, the output signal of the integrator 9-1 and the joint position detection signal Ef are added, and the output signal Es is This becomes the new manual setpoint signal.
Contrary to the above, if the manual operation is performed in the negative direction, that is, in the direction of decreasing the set value signal, the normally open contact 7
Since the contact a is closed and the normally closed contact 7b is opened, the integrator 9-2 integrates the negative reference voltage -es and outputs the integration result to the adder 8. Therefore, the adder 8 adds the output signal of the integrator 9-2 and the joint position detection signal Ef (Ef-es/s), and outputs this as a new set value signal Es.

FIG. 2 shows the detailed configuration of the above-mentioned manual setting signal generation circuit. In Fig. 2, the integrator 9-1 consists of an operational amplifier A ₁ , a resistor R ₁ , and a capacitor.
The integrator _9-2 is composed of an operational amplifier _A2 , a resistor _R2 , a capacitor _{C2 ,} and a Zener diode _D2 , and the adder 8 is composed of an operational amplifier _A4 . Resistance R ₅ ~
Consists of _R8 . In addition, an operational amplifier is provided at the input section for inputting the detection signal of the joint position to the adder 8.
A buffer circuit 10 consisting of A ₃ and resistors R ₃ and R ₄ is provided.

To describe its operation here, the integrator 9-
1 and 9-2 perform integral operation using the reference voltages +es and -es as input signals when the normally open contacts 6a and 7a are closed and the normally closed contacts 6b and 7b are open, and the characteristic equation is -1/CRS. be. However, C ₁ = C ₂ = C, R ₁ = R ₂
=R, S are operators (d/dt).

In addition, the buffer circuit 10 receives joint position detection signals.
Output signal obtained by inputting Ef and inverting its polarity −Ef
is input to the adder 8 as . Adder 8 is integrator 9
-1, 9-2 and the output signal of the buffer circuit 10 are added, and the output signal becomes the manual set value signal Es.

Es= _-R8 / _R5 (output of integrator 9-1) _-R8 / _R6 (output of integrator 9-2) _-R8 / _R7 (output of buffer circuit 10) Here, resistor R ₅ = R ₆ = R ₇ = R ₈ , then Es = - (output of integrator 9-1) - (output of integrator 9-2) - (output of buffer circuit 10). Here, the normally open contact 6a is closed, and the normally closed contact 6a is closed.
b is open, the normally open contact 7a is open, and the normally closed contact 7b is closed, that is, when increasing the manual set value signal Es, Es = - (output of integrator 9-1) - (buffer circuit 10 output) =-(-es/CRS)-(-Ef) =es/CRS+Ef, conversely, when decreasing Es, the normally open contact 7a is open and the normally closed contact 7b is closed, Normally open contact 6a
is closed and normally closed contact 7b is open, so Es = - (output of integrator 9-2) - (output of buffer circuit 10) = - (es/CRS) - (-Ef) = -es/CRS + Ef =Ef-es/CRS, and the manual set value signal Es can be decreased.

Here, the Zener diodes D ₁ and D ₂ limit the output voltage of the operational amplifiers 9-1 and 9-2 to 3 to 5V.

In this embodiment, when the push button switch for selecting the manual mode of the manipulator is not operated, the normally closed contacts 6b and 7b are closed between the input and output terminals of the integrator 9-1 and the integrator 9-2. If the set value is short-circuited and the set value increasing direction or set value decreasing direction is selected by manual operation of the push button switch, the normally open contact 6a or 7a will close and the normally closed contact 6b or 7b will open, so the normal Reference voltage +
es or the negative reference voltage -es is input to the integrator 9-1 or 9-2, and at the same time the short circuit between the input and output terminals of the integrator 9-1 or 9-2 is removed, so the integration The integrator 9-1 or the integrator 9-2 is not affected by noise and performs stable integration operation. Additionally, the adder 8 adds the output signals of the integrators 9-1 and 9-2 and the joint position detection signal of the manipulator to increase or decrease the set value signal, which corresponds to the manual operation time. The set value signal Es=Ef±es/S However, s=d/dt (operator) can be easily obtained.

[Effect of idea]

As described above, the present invention has a manual control function using a push button, and controls the joint position of the manipulator so that the deviation signal between the detection signal of the joint position of the manipulator and the set value signal becomes zero. In a manual setting signal generation circuit for a manipulator in a control device, a first contact commands an increasing set value in response to a switch for selecting manual mode, and a second contact commands a decreasing set value; When the manual mode is not selected by the switch, the input and output are short-circuited by a contact that works with the first contact, and when the manual mode is selected, the short-circuit is broken and the first contact operates in the increasing direction. When the manual mode is not selected by the switch, the input and output are short-circuited by the first integrator into which the set value is input, and by a contact that works with the second contact, and when the manual mode is selected, the short-circuit occurs. a second integrator into which the setting value in the decreasing direction is inputted by the second contact point, outputs of the first integrator and second integrator, and a detection signal of the joint position of the manipulator. Since the configuration is equipped with an adder that adds up and outputs a set value signal, the manipulator has a simple configuration that enables stable operation, and also allows easy acquisition of a set value signal corresponding to the manual operation time. A setting signal generation circuit can be provided.

[Brief explanation of the drawing]

FIG. 1 is a circuit configuration diagram showing an embodiment of a manual setting signal generation circuit for a manipulator according to the present invention, and FIG.
The figure is a detailed diagram of the circuit configuration in Figure 1, Figure 3 is a circuit diagram of a control device that controls the joint position of the manipulator,
FIGS. 4 and 5 are configuration explanatory diagrams showing different conventional manual setting signal generation circuits, respectively. 1...Subtractor, 2...Servo controller, 3
...Drive device, 4...Position detector, 6a, 7a...
... Normally open contact, 6b, 7b ... Normally closed contact, 8 ... Adder, 9-1, 9-2 ... Integrator, 10 ... Buffer circuit, A ₁ to A ₄ ... Operational amplifier, R ₁ ~ _R8 ...
Resistor, C ₁ , C ₂ ... Capacitor, D ₁ , D ₂ ... Zener diode.

Claims (1)

[Scope of utility model registration request] A manual setting signal generation circuit for a manipulator in a control device having a manual control function using a push button and controlling the joint position of the manipulator so that a deviation signal between a detection signal of the joint position of the manipulator and a set value signal becomes zero. a first contact point that commands a set value in an increasing direction in response to a switch that selects the manual mode, and a second contact point that commands a set value in a decreasing direction in response to a switch that selects the manual mode, and when the manual mode is not selected by the switch; is a first integrator whose input and output are short-circuited by a contact interlocking with the first contact, and when the manual mode is selected, the short-circuit is removed and the set value in the increasing direction is inputted by the first contact. When the manual mode is not selected by the switch, the input and output are short-circuited by a contact that works with the second contact, and when the manual mode is selected, the short circuit is broken and the second contact operates to reduce the decrease. a second integrator into which a direction setting value is input;
A manual setting signal generation circuit for a manipulator, comprising an adder that adds the outputs of the first integrator and the second integrator and a detection signal of the joint position of the manipulator to output a set value signal.