RU1788514C - Item position control system - Google Patents

Abstract

The invention relates to automation and can be used in object control systems having several positions and working zones. The aim of the invention is to expand the functionality by ensuring the operation of the object in several working areas. SUMMARY OF THE INVENTION: the control device comprises a comparison unit, an element NOT, a first element 2I-2I-2OR, a motion sensor, an initial position sensor, a pulse counter, a first decoder, an address input unit, a control unit, an installation zone sensor, a first working area sensor, three matching an amplifier, a mode switch and two drives, the mode switch being connected to the input of the element NOT, to the first output of the device and to the first input of the control unit, the first and second inputs of the first element 2I-2I-2OR are connected respectively associated with the outputs of the NOT element and the first comparison unit, the third input is with a mode switch, and the output is connected to the second clock input of the counter, the third input of the device and the fourth input of the control unit, the first and second inputs of the external control are connected respectively to the fifth and sixth inputs of the control unit . Three registers are introduced into the device, the second and third comparison blocks, the second and third elements 2I-2I-2IL, K-1 of the sensors of the working area, the group K of AND elements, the AND-NOT element, the OR element. a second decoder, encoder and switch, the information inputs of the first and second registers and the encoder are respectively the groups of information inputs of the device from the second to the fourth, the outputs of the address input unit are connected to the inputs of the NAND element, the output of which is connected to the fourth input of the first element 2I- 2I-2OR, the output of which is connected to the reset input of the third register. 2 ill. ate with VJ 00 00 ate Ј

Description

The invention relates to automation and can be used in positional control systems designed to move an object to a predetermined position.

A device for moving an object is known, comprising an initial position sensor, a pulse counter, a descrambler, an AND element, sensors of the working zone and the installation zone, three matching amplifiers, a drive drive, and a control unit.

A disadvantage of the known device is its narrow functionality.

Closest to the technical nature of the proposed device is a device for controlling the position of the object, containing an initial position sensor, a displacement sensor, sensors of the working area and installation area, control unit, element I, element 2I-2I-2OR, counter, decoder, input address block , three matching amplifiers, two drives and a comparison unit.

A disadvantage of the known device, the prototype, is its narrow functionality, since this device only controls objects that have one working area.

The aim of the invention is to expand the functionality of the device by ensuring the operation of the object in several working areas.

This is achieved by the fact that in the device for controlling the position of the object containing the first block of comparison, the element is NOT, the first element 2I-2I-2OR. displacement sensor, initial position sensor, pulse counter, first decoder, address input unit, control unit, installation zone sensor, first working area sensor, three matching amplifiers, mode switch and two drives, the mode switch being connected to the NOT element with the first output device and with the first input of the control unit, the output of the element is NOT connected to the second input of the control unit, the output of the sensor of the installation zone is connected to the third input of the control unit and with the second output of the device, the outputs of the control unit The inputs are connected to the inputs of matching amplifiers, respectively, from the first to the third, the outputs of the first and second matching amplifiers are connected respectively to the first and second inputs of the first drive, the output of the third matching amplifier is connected to the input of the second drive, the outputs of the sensors for the initial position and displacement are connected respectively to the input reset and the first clock input of the pulse counter, the outputs of which are connected to the inputs of the first decoder and to the first group of inputs of the first unit of comparison, the outputs of of the new decoder are connected to the first group of inputs of the address input unit, the second group of inputs of which is the first group of information inputs of the device, the first and second inputs of the first element 2 AND-21 / 1-2 AND LI are connected respectively to the outputs of the element NOT and the first comparison unit, the third input is with a mode switch, and the output is connected to the second clock input of the counter, the third output of the device and the fourth input of the control unit, the first and second inputs of the external control of the device are connected respectively to the fifth and Three control registers, the second and third comparison blocks, the second and third elements 2I-2I-2ILI, K-1 of the sensors of the working area, a group of K elements AND, an AND element, an OR element, a second decoder, an encoder are entered and a switch, wherein the information inputs of the first and second registers and the encoder are respectively the groups of information inputs of the device from the second to the fourth, the clocks of the first and second registers are the first and second control inputs of the device, the outputs of the decoder are connected to the first group the inputs of the third block of comparison with both the first group of information inputs of the switch, the second group of information inputs of which are connected to the outputs of the second register, and the second group of inputs of the second block of comparison, and the output is connected to the information inputs of the third register and second decoder, the outputs of which are connected with the first inputs of the corresponding K elements AND groups, the second inputs of which are connected to the outputs of the corresponding sensors of the working area, and the outputs are connected to the inputs of the OR element, the output of which is connected connected to the seventh input of the control unit, the third input clock input and the fourth output of the device, the outputs of the third register are connected to the first group of inputs of the second comparison unit and the second group of inputs of the third comparison unit, the outputs of the first register are connected to the second group of inputs of the first comparison unit, inputs of the second element 2I -2I-2OR connected respectively to the output of the element NOT, and to the first output of the second comparison unit, with the mode switch and the first output of the third comparison unit, the inputs of the third element 2I- 2I-2OR connected respectively to the output of the element NOT and the second E; EXIT of the second comparison unit, with the mode switch and the second output of the third comparison unit, the mode switch is also connected to the control input of the switch, the outputs of the second and third elements 2I-2I-2OR connected respectively to the eighth and ninth inputs of the control unit and are the fifth and sixth outputs of the device, the outputs of the address input unit are connected to the inputs of the AND-NOT element. the output of which is connected to the fourth input of the first element 2I-2I-2OR, the output of which

connected to the reset input of the third register.

In FIG. 1 is a structural diagram of an apparatus for controlling the position of an object; in FIG. 2 is a block diagram of a control unit.

The device for controlling the position of the object comprises a pulse counter 1, a first decoder 2, an address input unit 3, an I-H E 4 element, a movement sensor 5, an initial position sensor 6, an installation zone sensor 7, working area sensors 8, a control unit 9, the first, the second and third matching amplifiers 10,11 and 12, respectively, the first and second drives 13 and 14, the mode switch 15, the element NOT 16, the first element 2I-2I-2OR 17, the first 18 comparison unit, the first 19 register, the second and third registers 20 and 21, second and third comparison blocks 22 and 23, second and third elements 2I-2 AND-2 OR 24 and 25, encoder 26, switch 27, second decoder 28, group of 29 AND elements, element OR 30, first and second external control inputs 31 and 32, second group of 33 information inputs, first control input

34. third group of information inputs

35. second control input 36, fourth and first groups of information inputs 37 and 38, third, first, second, fifth, sixth and fourth outputs 39-44 of the device, outputs 45-47 of the first to third control unit, output 48 of the element NOT 16.

The control unit (Fig. 2) contains the elements AND 49-55 from the first to the seventh, the sixth element is NOT 56, the elements are NOT 57-61 from the first to the fifth, the elements 62-65 OR from the first to the fourth, pulse shapers 66-71 s first through sixth, triggers 72-74 from first through third, two buttons 75 and 76.

The principle of operation of the device is as follows. There are several (K) work areas. in which the object does some work. Work in each zone is performed in one of several positions of the object. If it is necessary to change the position, the object must move to the installation zone, change the position, and then move to the desired zone, which may not coincide with the previous one. Sometimes it is necessary to simply move an object from one work area to another without changing position. In this case, the object is moved directly from one work area to another.

All operations can be carried out both under the control of local signals (e.g., from a remote control), and through external (remote) control (e.g., from a computer).

The device operates as follows.

In local control mode, the switch 15 is set so that on

the input of the element NOT 16 is a positive potential, the elements 17, 24 and 25 are switched to their outputs, respectively, the signals from the outputs of blocks 4 and 23.

Let it be necessary to change position

0 object and move to another working area (relative to the current). In this case, the inputs 38 and 37 enter the device — into blocks 3 and 26 — respectively, the position codes of the number of the new position of the object and

5 numbers of the new zone. Block 3 can be, for example, a set of elements of the UNIVERSALITY type, the number of which is equal to the number of different positions of the object. Counter 1 is stored

0 current binary code of the position of the object, transformed by the decoder 2 into a position code. When changing the number of the working zone, low potentials appear at some outputs of block 3, which is an initializing factor of the device operation; high potential appears at the output of the AND-NOT 4 element.

Similarly, in register 21, a binary code of the number of the current working area is stored,

0 entering the comparison blocks 22 and 23. In block 23, the codes of the current and new working areas of the object are compared. The outputs of the More and Less block 23 are connected respectively to the inputs of the elements 24 and 25

5 (signals on them are formed respectively in cases when the number of the current working area is greater (less) than the number of the new one). The installation zone is conventionally adjacent to the first working zone and is, as it were, zero. The presence of a positive signal from the output of element 24 or 25 means that it is necessary to change the working area of the object.

Thus, the presence of signals at the output of element 4 and at one of the outputs 42

5 or 43 means that you need to change the position of the object and move it to a new working area.

The corresponding signals 42. 43 and 39 enter the control unit 9, in which

0, the initial state of all triggers 72-84 is zero. By a single value of signal 40, the operation of elements 49-51 and 53 is allowed. By a single signal at input 39 through elements 49, 62 and 66, trigger 72 is set to a single state, the output signals from triggers 72 and 73 through matching amplifiers 10 and 11 are received -yah on the first drive and it moves the object in the direction of zones with lower numbers (and ultimately - in the installation area). Maker

66-71 are made according to standard schemes and produce short pulses of negative polarity upon receipt of a positive signal front at the input.

After the object is moved to the initial installation zone, the sensor 7 of the installation zone is triggered. At the input 41, a positive signal through the open element 52, the elements 63 and 67 returns the trigger 72 to the zero state and the object stops moving. At the same time, the signal 41 through the element 70 sets the trigger 74 to a single state and the drive 14 starts to work, choosing a new position of the object. The drive 14 sequentially moves the object from position to position, with each change of position, a motion sensor is triggered, incrementing the contents of counter 1. This is followed by tracking the position number of the object. When a certain position, conditionally accepted as zero, is reached, the initial position sensor is triggered and the counter 1 is reset to the zero state. Further, the score continues in a similar manner.

Upon reaching the desired position, zero signals are generated at the outputs of elements 4 and 17; O is set at input 49, and a signal is opened at the output of element 61, opening element 50, 51 and 53. At the output of element NOT 56, a signal is generated which, through block 71, returns trigger 74 to the zero state; the change of provisions ceases. When a signal appears at the output of element 17, register 21 (storing the code of the current working area) is reset, therefore, after reaching the desired position, the code of the current working area is always less than the new code. This causes the element 25 to trigger, and then the elements 51, 64 and 68; The trigger 73 is set to a single state and allows the drive 14 to move the object towards the work areas with large numbers. The positional code of the new working area at the inputs 37 is converted by the encoder 26 into a binary code, and by the switch 27 and the decoder 28 again into a positional code, and is fed to the inputs of the And 29 elements of the group. At the output of the corresponding new working area of the And 29 element, a signal is generated only when the sensor of the given working zone is triggered. This signal through the OR 30 element records the number of this zone (becoming current) into the register, and returns the trigger via the input 44 through the elements 55, 65 and 69 73 to the zero state, completing the task execution process.

When it is required to move an object from one working area to another without changing its position, the signals from elements 4 and 17 are zero. In block 23, a single value takes one of the output signals - More or Less. With a single

more signal is triggered by element 24 and at input 42 through elements 50.62 and 66 sets drive 13 to the mode of moving the object towards the zones with lower numbers. Similarly, when reaching the required

of the zone, the corresponding sensor 8 is activated, through the elements 29 and 30 it writes the code value of the new zone to the register 21 and returns the trigger 72 to the zero state, after which the operation is completed.

When the signal value is less than Block 23, element 25 is triggered, elements 51, 64, and 68 are triggered by input 43 and trigger 73 activates drive 13 in the mode of moving the object to the areas with large numbers, and when the desired zone is reached, the trigger 73 is turned off through elements 53, 65 and 69.

In remote control mode, the device operates as follows.

The mode switch is set so that there is zero potential at its output. The unit potential from the output of the element NOT 16 connects the output of the comparator 18 to the output of the element 17 is not equal to, on which the unit potential is formed when the codes of the counter 1 and the register 19 do not match. In the control unit in this mode, the elements 49, 50, 51, 53 are closed and opened elements 54 and 55

for external control signals 31 and 32. In this mode, information about the codes for the new position and the new zone comes (for example, from a computer) in binary code, respectively, at inputs 33 and 35. Record this

The information in the registers 19 and 20, respectively, is carried out by signals supplied to the clock inputs Z4 and 36 of the registers from the computer control bus. In this mode, blocks 24, 25, and 27 are switched as follows. that the outputs are switched respectively from the outputs of blocks 22 and 20.

When a change of position and working area is required, a signal Not equal to

output elements 18. 17 and at the entrance of 39 computers. According to this signal, the computer gives a control signal to the input 31 of the device, through elements 54, 62 and 66 setting the trigger 72 in a single state, after which the object

moves to the initial setup area. The signal from the sensor 7 is supplied to the computer by the output 41, the same signal through the element 70 includes a trigger 74, which implements a change in the position of the object. According to the signal from the sensor 7, the computer disconnects the signal 31.

the output signal of the elements 63, 67 and the trigger 72 is set to zero.

Upon reaching the desired position (the contents of the counter is equal to the contents of the register 19), O appears at the output of block 18, which, through the elements 56, 71, sets the trigger 74 to the zero state. Having received a zero signal at output 39, the computer sets the active (single) value of the signal at output 32 and sets the trigger 73 to a single state through elements 55, 64, and 68; the object moves to the desired working area. When its sensor 8 is triggered through the elements 29 and 30, the area code is written to the register 21 in the same way, and the signal 32 is taken at the input 44 of the computer. At the output of the element 60, a positive edge of the pulse is generated, which, via the elements 65 and 69, resets the trigger 73. The operation is completed.

When moving an object from zone to zone without changing the position in the remote control mode, the mismatch of codes at the outputs of blocks 20 and 21 causes a signal to appear at one of the outputs - 42 or 43. Depending on the situation, the computer signal 31 (32) triggers 72 ( 73) and the drive moves. When the corresponding sensor 8 is triggered, the code of the new zone is recorded in the register 21, and upon the disappearance of the signal (42 or 43), the computer disconnects the signal 31 (32) and the drive 13 stops.

For technological purposes, buttons 75 and 76 are introduced into the control unit 9 to directly move the object between the work areas and the installation area. Pressing the corresponding button (in this case, a positive signal from its output) activates trigger 72 (73), and depressing it through elements NOT (57 or 58) - disabling the trigger,

The invention allows both local and remote control of an object operating in several working areas, moving the object from one working area to another, both with a change in its position or without a change, which expands the functionality of the invention in comparison with prototype.

Claims (1)

The claims An object position control device comprising a first comparison unit, an element NOT, a first 2I-2I-2OR element, a motion sensor, an initial position sensor, a pulse counter, a first decoder, an address input unit, a control unit, a setup zone sensor, a first working area sensor , three matching amplifiers, a mode switch and two drives, and the mode switch is connected to the input of the first element NOT, to the first output of the device and to the first input of the control unit, the output of the element is NOT connected to the second input of the control unit and, the sensor output of the installation zone is connected to the third input of the control unit and to the second output of the device, the outputs of the control unit are connected to the inputs of the matching amplifiers, respectively, from the first to the third, the outputs of the first and second matching amplifiers are connected respectively to the first and second inputs of the first drive, the output of the third matching amplifier is connected to the input of the second drive, the outputs of the initial position and displacement sensors are connected respectively to the reset input and the first clock input of the impu x, the outputs of which are connected to the inputs of the first decoder, and to the first group of inputs of the first comparison unit, the outputs of the first decoder are connected to the first group of inputs of the address input unit, the second group of inputs of which is the first group of device inputs, the first and second inputs of the first element 2I- 2I-2OR are connected respectively to the outputs of the element NOT and the first comparison unit, the third input is connected to the mode switch, and the output is connected to the second clock input of the counter, the third output of the device and the fourth input of the unit As for the control, the first and second inputs of the external control of the device are connected respectively to the fifth and sixth inputs of the control unit, characterized in that. that, in order to expand the functionality by ensuring the operation of the object in several working areas, three registers, the second and third comparison blocks, the second and third elements 2I-2I-2ILI, K-1 of the sensors of the working area, a group of I elements are introduced into it, an NAND element, an OR element, a second decoder, an encoder and a switch, the information inputs of the first and second registers and the encoder are groups of information inputs of the second to fourth devices, respectively, the sync inputs of the first and second registers are the first with the second and control inputs of the device, the encoder outputs are connected to the first group of inputs of the third comparison unit and to the first group of information inputs of the switch, the second group of information inputs of which are connected to the outputs of the second register and the second group of inputs of the second comparison unit, and the outputs are connected to information inputs of the third register and the second decoder, the outputs of which are connected to the first inputs of the corresponding K elements AND groups, the second inputs of which are connected to the outputs of the corresponding sensors of the working area, and the outputs are connected to the inputs of the OR element, the output of which is connected to the seventh input of the control unit, with a sync input the third register and the fourth output of the device, the outputs of the third register are connected to the first group of inputs of the second comparison unit, and the second group of inputs of the third comparison unit, the outputs of the first register are connected to the second group of inputs of the first comparison unit, the inputs of the second element 2I-2I-2IL And are connected respectively to the output of the element NOT and the first output of the second the comparison unit, with the mode switch and the first output of the third comparison unit, the inputs of the third element 2I-2I-2IL And are connected respectively to the output element NOT and with the second output of the second comparison unit, the mode switch and with the second output of the third comparison unit, the mode switch is also connected to a control input of the switch, the outputs of the second and third elements 2I-2I-2OR are connected respectively to the eighth and ninth inputs of the control unit and are the fifth and sixth outputs of the device, the outputs of the address input unit are connected with the inputs of the AND-NOT element, the output of which is connected to the fourth input of the first 2I-2I-2OR element, the output of which is connected to the reset input of the third register.