JPS646226Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention relates to a control device for a master-slave type servo manipulator, in which the operating angle of the master is detected by a position detector, and the slave follows and moves based on the signal from this position detector. It is useful when applied to things that are currently in use.

FIG. 1 is an explanatory diagram conceptually showing a master-slave type servo manipulator. As shown in the figure, when operator 1 operates master 2,
This movement is sent to the control device 3 as a signal from a position detector that detects the position of each joint of the master 2.
A control signal from the control device 3 operates a motor disposed at each joint of the slave 4, so that the slave 4 moves to follow the master 2. At this time, the position servo is normally applied so that the slave 4 moves by the same angle as the operating angle of the master 2, that is, in a 1:1 ratio.
When slave 4 operates beyond the predetermined range, slave 4
In some cases, it may be desired to move the master 2 by a greater angle than the working angle of the master 2. When dexterous work is required, it is necessary for slave 4 to move to a similar shape to master 2 in a 1:1 ratio, but in cases outside of this range, the similarity relationship may be broken, and the master This is because workability will be improved if the working angle of the slave is made larger than the working angle of No. 2.

Therefore, the master-slave type servo manipulator has a range in which the master 2 and slave 4 operate in a 1:1 correspondence and a range in which they do not.

However, in the prior art, switching between the two ranges was performed by the operator 1 operating a separately provided switch, which had the disadvantage of poor operability.

In view of the drawbacks of the prior art described above, the present invention aims to provide a control device for a master-slave type servo manipulator that can automatically switch between the two ranges and control the slaves accordingly. do. The present invention that achieves this purpose is
In a master-slave type servo manipulator in which the master's operating angle is detected by a position detector, and the slave follows and moves based on the signal from this position detector, the master's operating angle exceeds a predetermined value. , a counter that counts a preset number of clock pulses by the operation of the position detecting means, and an adder that superimposes the output signal of this counter on the output signal of the master position detector. This point is the basis of its technical philosophy.

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 2 is a block diagram showing a control system of a master-slave type servo manipulator having a control device according to an embodiment of the present invention. As shown in the figure, a motor 5 is installed at each joint of the slave.
(only one is shown in the figure) is rotated by a predetermined angle by a signal S _c sent from the control device 3 as a command voltage. At this time, the position of each part of the slave is detected by a position detector 6 that detects this, and by comparing the output signal of this position detector 6 with the signal S _c in a comparator circuit 7, control is performed to ensure a predetermined position. Ru. Note that 8 in the figure is a power amplifier (servo amplifier).

FIG. 3 is a block diagram showing a more specific embodiment of the control device 3 in FIG. 2. As shown in the figure, a clock oscillator 9 generates periodic clock pulses, and the clock pulses are transmitted to a gate circuit 12 or 1 by the operation of a limit switch 10 or 11, which is a position detection means.
3 to the up/down counter 14. The up/down counter 14 counts up the clock pulses supplied through the up terminal up, counts down the clock pulses supplied through the down terminal down, and outputs a signal corresponding to the count number through its output terminal out. Send. This signal is sent to D/A converter 1
5, it is converted into a voltage signal and supplied to an adder 16. This adder 16 is also supplied with a voltage signal from a master position detector 17. Therefore, the voltage signal that is the output of the D/A converter 15 is weighted by the voltage signal that is the output of the position detector 17, and the signal S _c is the command voltage that drives the slave motor.
The signal is sent from the output terminal 16a of the adder 16 as a signal. Limit switch 10 operates when the master's operating angle exceeds one limit value, and limit switch 11 operates when the master's operating angle exceeds the other limit value. That is, when the operating angle of the master exceeds a predetermined range, the limit switch 10,
11 is activated, limit switch 1
When 0 is activated, up/down counter 14
The up/down counter 14 counts up the clock pulses, and when the limit switch 11 is activated, the up/down counter 14 counts down the clock pulses. The upper limit value setting circuit 18 presets the upper limit value for the number of clock pulses that the up/down counter 14 counts up, and when the digital signal supplied from the output terminal OUT of the up/down counter 14 reaches the upper limit value. When this is reached, the gate circuit 12 is closed and the supply of clock pulses to the up/down counter 14 is blocked. The lower limit value setting circuit 19 presets the lower limit value for the number of clock pulses to be counted down by the up/down counter 14.
When the digital signal supplied from the output terminal OUT reaches the lower limit value, the gate circuit 13 is closed and the supply of clock pulses to the up/down counter 14 is blocked.

In the master-slave type servo manipulator having the control device 3 of this embodiment, when the operating angle of the master is within a predetermined range, the master and slave operate while maintaining a 1:1 relationship; When the operating angle exceeds a predetermined range, one of the limit switches 10, 11 is activated, and the up/down counter 14 starts counting clock pulses until the upper limit or lower limit is reached. The voltage corresponding to this count value is added to the voltage of the position detector 17 in the adder 16. The slave therefore moves more than the master by the weighted voltage. At this time, when the limit switch 10 is activated, the count is increased and the corresponding voltage is added; when the limit switch 11 is activated, the voltage is counted down and the corresponding voltage is subtracted. Note that the count value at this time is
It is held in the down counter 14.

FIG. 4 is a block diagram showing another embodiment of the present invention in which a master position detecting device 17 is used as a position detecting means for detecting that the operating angle of the master exceeds a predetermined value. In this figure, parts that are the same as those in FIG. 2 are given the same numbers and redundant explanations will be omitted. In the device of this embodiment, a comparator 20 detects when the output voltage of the position detector 17 increases beyond a predetermined value, and a comparator 20 detects when the output voltage of the position detector 17 decreases beyond a predetermined value. The output of each comparator 21 is one of the inputs of gate circuits 22 and 23.
The gate circuit 22 opens when the output voltage of the position detector 17 exceeds the threshold of the comparator 20, allowing the up/down counter 14 to count up the clock pulses. The gate circuit 23 opens when the output voltage of the position detector 17 becomes smaller than the threshold of the comparator 21, allowing the up/down counter 14 to count down the clock pulses. Therefore, the operation of the slave accompanying this is the same as in the embodiment shown in FIG.

In these two embodiments, when the operating angle of the master exceeds a predetermined value, the similarity between the master and the slave breaks down, and even if the operating angle of the master returns to the original predetermined range, a certain deviation remains. However, this deviation can be eliminated by resetting the up/down counter 14. This is because if the reset switch 24a of the reset circuit 24 is operated and cleared, the voltage applied via the D/A converter 15 becomes zero. Also,
In the embodiment shown in FIG.
If the upper limit value preset in the upper limit value and the lower limit value preset in the lower limit value setting circuit 19 are the same, it is sufficient to operate the limit switch 11 or 10 opposite to the limit switch 10 or 11 that was operated first. This is because at this time, the same number of clock pulses that were counted up or down are counted down or counted up, and both are canceled.

As specifically explained above in conjunction with the embodiments, according to the present invention, the follow-up ratio of the slave operation can be changed simply by operating the master without operating a special switch, which improves operability accordingly.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram conceptually showing a master-slave type servo manipulator, FIG. 2 is a block diagram showing a control system of a master-slave type servo manipulator having a control device according to an embodiment of the present invention, and FIG. The figure is a block diagram showing one embodiment of the present invention, and FIG. 4 is a block diagram showing another embodiment of the present invention. In the drawing, 2 is the master, 4 is the slave, 10,
11 is a limit switch, 14 is an up/down counter, 16 is an adder, and 17 is a position detector.

Claims (1)

[Scope of utility model registration request] In a master-slave type servo manipulator in which the master's operating angle is detected by a position detector, and the slave follows and moves based on the signal from this position detector, the master's operating angle exceeds a predetermined value. , a counter that counts a preset number of clock pulses by the operation of the position detecting means, and an adder that superimposes the output signal of this counter on the output signal of the master position detector. A control device characterized by: