KR890001948Y1 - Detailed location control circuit of robot - Google Patents

Abstract

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Description

Robot micro position automatic control circuit

1 is a circuit diagram of the present invention.

* Explanation of symbols for main parts of the drawings

1 to 4: Counter 5, 6: Comparator

7,8: latch circuit 9,10,12,13: buffer

NA₁: NANDGATE OR₁: Oagate

AN₁: ANDGATE PD: Location Information Output

IT₁: Inverter

The present invention relates to a micro position automatic control circuit of a robot. Especially, when an industrial robot or a numerical control device reaches a target point when the industrial robot or a numerical control device is moved, the electronic circuit is configured to execute a position control quickly and accurately. It is about.

In general, industrial robots and numerical control devices that have been developed and used to realize factory automation use the control circuit composed of pulse counter and D / A converter to read data related to the rotational speed and driving direction of the motor. Determine the current position while indenting and calculate the proper moving speed. It was output by the D / A converter, and accordingly, when the robot or the like reached the target position, it was controlled by a system program that stopped the motor and performed the position control.

However, if the execution time of the program becomes longer when the robot or the numerical control device is controlled by the program, the time and speed until the robot or the numerical control device is moved to the target point decrease, and even if the target position is reached once, Because of the program's target position search process, the robot or the numerical controller cannot be stopped immediately and mechanical vibration occurs. Therefore, the robot or the numerical controller must be moved at a slower speed or a shorter time is required to shorten the execution time of the program. There was a problem that an expensive computer with a good performance to execute a program was needed.

In order to solve the above problems, when the robot or the numerical control device is moved to a certain target position, if it is located more than a certain distance from the target position, the system program moves the counter and the counter is close to the target position. Provides a robot's micro-position automatic control circuit that executes the position control of robot or numerical control equipment quickly and accurately by comparing the target position data with the rotation speed data of the motor by a circuit composed of a comparator, a latch, and a D / A converter. It is intended to be.

Hereinafter, the configuration, operation, and effects of the present invention will be described in detail with reference to the accompanying drawings.

According to the present invention, the position information output terminal PD is connected to the output terminals Q _{0 to} Q₃ of the counters 1 to 4, and the input terminals A _{0 to} A ₇ of the comparators 5 and 6 are connected, respectively. Input terminals B _{0 to} B ₇ of the comparators 5 and ₆ are connected to output terminals Q ₀ to Q _{7 of} the latch circuits 7 and 8 for storing target position data, respectively. The input terminal A ₀ of the buffer 9 is connected to the output terminal (A> B) (A = B) of (6) via NAND gate NA ₁ , and the AND gate (AN ₁ ) and the oragate (OR) ₁ ) and an operation signal input terminal SN of the D / A converter 11 are connected via the buffer ₁₀ , and the buffer 9 is input to the input terminals D _{0 to} D ₇ of the D / A converter 11. Output terminals Y _{0 to} Y ₇ are connected to each other, and the chip select terminal of the buffer 9 ) And the buffer 10 has a structure in which a control signal input terminal CS is connected via an inverter IT₁.

In the drawing, reference numeral CP denotes a pulse signal input terminal of the motor, 9 and 10 denotes a buffer, BD denotes a target position data input terminal, and CS denotes a control signal terminal.

1 is a circuit diagram of the present invention having the above-described structure. First, when the robot or the numerical control device maintains the target position or a predetermined distance or more, the rotational speed data of the motor is transmitted through the pulse signal input terminal (CP) of the motor. It is applied to the counters 1 to 4 and counted and then applied to a central processing unit (CPU), not shown, through the position information output stage PD. It detects that the numerical control device and the target position are over a certain distance and outputs a low level pulse to the control signal stage CS, and outputs a high level signal to the speed command output stage SD and the direction command output stage DD, respectively. Done.

The low level signal output from the control signal CS maintains the latch circuits 7 and 8 in an inoperative state, but the buffer 12 to which the high level signal is applied and the direction command data are applied. The buffer 13 is brought into an operating state.

Therefore, the speed command data and direction command data are applied to the D / A converter 11, and the D / A converter 11 converts each input data into a motor driving analog signal and outputs the motor. B Move the numerical controller to a certain distance of the target position.

Then, when approaching a target position such as a robot or a numerical controller, the position information data corresponding to the rotational speed of the motor counted by the counters 1 to 4 is applied to a central computing device (not shown), and the control signal stage CS ) Is applied to the clock terminal CK ₁ (CK ₂ ) of the latch circuit (7) (8) and the chip select terminal () of the buffer 12. ) And will be applied to the buffer 13, the target position data is outputted from the CPU are input to an input terminal (D ₀ ~D ₇₎ of the latch circuit 7 (8). The target position data latched in the latch circuits 7 and 8 is input to the input terminals B _{0 to} B ₇ of the comparators 5 and 6 according to the control signal supplied from the control signal stage CS. In the input terminals A _{0 to} A ₇ of the comparators 5 and 6, the speed data of the motor counted by the pull down counters 1 to 4 is higher in the comparator 5 and the lower bits are in the comparator 6. Since the output of the comparator (5) (6) is determined by the difference between the target position data (denoted B) and the counter output data (denoted A), when A is greater than B In the output terminal A > B of the comparators 5 and 6, a high level signal is output and applied to _one end of the AND gate AN ₁ and the ora gate OR _1, respectively, and at the output terminal A = B. A low level signal is output and applied to _one end of the AND gate AN ₁ and the NAND gate NA ₁ .

Therefore, the output of the OR gate OR ₁ is applied to the buffer 10 at a high level even though the output of the AND gate AN ₁ is at a low level.

Here, since the high level control signal passes through the inverter IT ₁ and the inverted low level signal is supplied to the buffer 10, the buffer 10 is turned on and the oragate OR ₁ applied to the buffer 10 is applied. ), That is, a comparison deviation signal between the target position data and the counter output data, is applied to the operation signal input terminal SN of the D / A converter 11 to determine the rotation direction of the motor.

On the other hand, the output of the NAND gate NA ₁ , which is receiving a low level signal from the output terminal A = B of the comparator 5 and 6, becomes a high level to the input terminal A ₀ of the buffer 9. D / A converters are applied to the input terminals D _{0 to} D ₇ of the D / A converter 11 so that a small amount of data is output from the output terminals Y _{0 to} Y ₇ of the buffer 9 accordingly. (11) reduces the rotational speed of the motor by converting the input small value data into an analog amount.

Subsequently, when the robot or the numerical control device reaches the target position, the deviation between the counter output data A and the target position data B input to the comparator 5 and 6 becomes "0", and accordingly the comparator 5 ) At the output terminal (A = B) of (6), a high level signal is output and supplied to _one end of the AND gate (AN ₁ ) and the NAND gate (NA ₁ ), and at the output terminal (A> B), a low level signal is output. Signal is output to be input to one end of the OR gate OR ₁ . Therefore, since the output of the AND gate AN ₁ is at a low level, the output of the OR gate OR ₁ is also at a low level, and the operation signal input terminal SN of the D / A converter 11 is mediated through the buffer 10. And the output of the NAND gate NA ₁ are brought to the low level and applied to the input terminal A ₀ of the buffer 9, so that the buffer 9 receives an input terminal D ₀ to a D / A converter 11. The signal applied to D ₇ ) becomes low level. Therefore, since there is no output of the D / A converter 11, the motor stops and exactly matches the target position of the robot or numerical control device.

As described above, the present invention compares the rotational speed of the motor counted from the counter with the control signal output from the central computing device and the target position data when the robot or the numerical control device approaches the target position, thereby reducing the rotational speed of the motor. If the target point is met, the robot or numerical control device can be controlled quickly and accurately without mechanical vibration or delay time due to the execution time of the program. Therefore, the reliability of the product can be improved without using expensive computer. There is an effect that can contribute to development.

Claims (1)

The position information output terminal PD is connected to the output terminals Q _{0 to} Q ₃ of the counters 1 to 4, and the input terminals A _{0 to} A ₇ of the comparators 5 and 6 are connected, respectively. 5) an input terminal (B ₀ B ~ ₇₎ and it has an output terminal (Q ₀ ~Q ₇₎ of the latch circuit 7 (8) for storing target position data are connected, respectively, the comparator (5) (6 of 6 The input terminal A ₀ of the buffer 9 is connected to the output terminal (A> B) (A = B) of the NAND through the NAND gate (NA ₁ ), and the AND gate (AN ₁ ) and the oragate (OR ₁ ) And an operation signal input terminal SN of the D / A converter 11 via the buffer 10, and an input terminal D _{0 to} D ₇ of the D / A converter 11 connected to the buffer 9. The output terminals Y _{0 to} Y ₇ are connected, and the chip select terminal of the buffer 9 ) And the buffer 10 is a micro position automatic control circuit of the robot is connected to the control signal input terminal (CS) via the inverter (IT ₁ ).