RU1812100C - Cyclic system for programmed control of manipulator - Google Patents

Abstract

Usage: in mechanical engineering, for example, in the automation of machining equipment. SUMMARY OF THE INVENTION: a cyclic software control system for a manipulator contains an And element, the output of which is connected to the first information input of the switch, a memory unit connected in series with the readout unit, actuators, and position sensors. The control system is equipped with a switch and a series-connected clock generator, a first counter and a decoder, and individual groups of positioning sensors are equipped with second elements AND, second counters and groups of third elements I. Moreover, the outputs of each group of positioning sensors are connected through the corresponding second element And to the first element And and the input of the corresponding second counter, the outputs of which are through the second information inputs of the switch and the first input of the corresponding Rupp third AND gates are connected to the memory unit, wherein the second inputs of each group of third AND gates are connected to one of the decoder outputs and a switch coupled to a control input of the decoder and an address input of the switch. 1 ill.

Description

The invention relates to robotics, in particular to robot control devices, and can find wide application in the automation of various technological operations.

The purpose of the invention is to expand the functionality of the cyclic control system of the manipulator by providing independent control of individual groups of drives.

The drawing shows a functional diagram of the proposed cyclic program control system.

It contains a first element, a switch 2, a memory unit 3, a read unit 4,

drives 5, positioning sensors 6, second AND elements 7, clock generator 8, first counter 9, decoder 10, third AND elements 11, switch 12, second counters 13.

The first element And 1 is connected in series through the first information input of the switch 2 with the first inputs of the third elements And 11, the memory unit 3, the reading unit 4, actuators 5, position sensors 6, the second elements And 7, the outputs of which are connected to the inputs of the first element 1 / 1 1 and through the second counters 13 with the second information inputs of the switch 2, the address input of which is connected to the output of the switch00

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l 12 and to the control input of the decoder 10, the clock generator 8 is connected in series with the first counter 9 and the decoder 10.,

Switch 2. may be, for example, a K155IE7 series binary counter chip, c. In this case, the first information input of the switch will be the counting input of the counter, the second information inputs of the switch will be the inputs for parallel writing the number to the counter, and the address input of the com; mutator will be; vhbd riyr yoshi. enter information through these inputs. ;.-.-:.:, /. v

The memory unit 3 can be implemented, for example, on a K155REZ chip or MQ-can be a collection of any other memory chips with various ways of recording and storing information.

Reader 4 can; from microcircuits that functionally perform the role of triggers, for example, microcircuits of the series, K1B5TM2, in which the inputs B. and S are connected to the memory unit, and the outputs U and Q to the executing Elements,

Actuator 5 can be, for example, a wide class of hydraulic and pneumatic distributors, which can, with the same success, be able to use: For control: mobility tape and pool : p.,.: t ak-y- For the management of e-science;: T of technical equipment. When supplying an elec- the position and rod of the cylinder moves and the other is in.; Guzionization sensors 6, for example, can be either contact, mechanical, or BgckoHTaktHbiMH, for example, VKB-0.5 .., - i;

. The clock generator 8 is made, for example, on logic elements of the K155 series with resistive-capacitive feedback. At the output of these elements with a fixed frequency, rectangular pulses appear.: -.

Counters 9 and 13 are binary counters and can be performed, for example, as independent circuits of various series, for example, K155IE6.

The decoder 10 is made, for example, in the form of an independent K155IDZ circuit with inversion of the output signals using logic elements, and it can also be. made on the K155REZ microcircuit with preliminary programming of the necessary STATES.

The switch 12 is, for example, a toggle switch or a memory button.

The remaining elements are known and described in various reference books. The cyclic system of programmatically controlling the manipulator operates as follows: depending on the state of the switch 12, the first or second operation mode is set. When Tiep & oM operation mode, the passage of information is blocked: from the second counters 13 through the second information inputs of switch 2, but

. information is allowed to pass through its first information input, connected to the first element I1. The operation of the decoder 10 is also blocked, at all its outputs levels of the logical unit are established, allowing passage through all the third elements And 11.

; The code of the first program block is sent from the switch 2 through the third elements I-1 i to the memory unit 3, the output of which. Information on the processing of the required degree of mobility is displayed. This information is entered into the reader, rta receives the corresponding drive 5,

the actuating element of which begins to move and frees the sensor. positioned 6. from its effect. . : from position sensor 6, logic level 0 is supplied through the second elements AND 7 and the first element AND 1 to: the first information input of switch 2, blocking, changing the program code code at its output. As the actuator actuator 5 exits to the programmed point,

 its effect on the positioning sensor is ..

6. from which, when triggered, a logical unit level is received. This

logical unit goes to the first

informational: input of switch 2 and

changes the code at its output, which corresponds to the second block of the program. The processing of the second frame occurs similarly to the above cycle.

B. In the second mode of operation, the output of switch 12 changes the logic level, as a result of which switch 2

It is blocked from receiving information at the first information input, but switches to receiving information at the second information inputs, and the decoder 10 starts its work, periodically issuing a logical unit level at each output, thereby allowing the information to pass through a certain group of third elements AND -11, In this case, independent control of individual corpses is possible.

drives 5, which are grouped, for example, by the following criteria: control of the degrees of mobility of the first hand of the manipulator, control of the degrees of mobility of the second hand of the manipulator, control of technological equipment, etc.

Processing cycle for each pre-programmed drive group

next: initially every second

counter 13 through switch 2 supplies

first inputs of third elements AND 11 codes

 first frames of programs.

At the moment the logical unit level is output to the second inputs of the first group of third elements And 1 from the decoder 10, the information of the corresponding second counter 13 is supplied to a part of the address inputs of the memory unit 3, at the other address inputs of the memory unit 3 at this time there are fixed levels of logical zero.

; According to the received code of the first program block for the first group of degrees of mobility, information from the memory unit. 3 is entered into the reading unit 4, and from it goes to the drive 5 of this group. The programmed degree of mobility is tested, the positioning sensor 6 gives, as in the first mode, the logic zero level in turn, then the logical unit level.

These levels come through the corresponding second element And 7 in the course, respectively. the existing second counter 13, in which the output code is changed, and now it corresponds to the second program block for this group of degrees of mobility. While testing the degree of mobility from the first group, the decoder 10 outputs the level of the logical unit to the second inputs of the next group of third elements And 11, skipping the code of the first program block of the next second counter 13 to memory block 3, information from the remaining second counters 13 does not go to the memory block tee.

The code of the first program block for the next group of degrees of mobility appears on the corresponding address space of the memory block 3, the fixed levels of logical 0 are displayed on the remaining address inputs of the memory block 3. From the memory block 3, through the reading block 4, information about the processing of the corresponding the degree of mobility in this group goes to drive 5, Information from the memory unit 3 does not arrive at the remaining groups of degrees of mobility at this point in time, but is stored in the reader.

The processing takes place similarly to the above cycle with the difference that the signal about the end of the positioning comes through the second element And 7 corresponding to this group of degrees of mobility to the corresponding second counter 13. The cycle of working out the following groups

degrees of mobility is similar. Due to the higher speed of issuing clock signals to the second inputs of the third elements And 11, the working out of each group of degrees of mobility practically occurs simultaneously and does not depend on each other.

This mode of operation of the device is advisable to use where required

based on technological requirements, maintenance of several units by the robot

5 equipments. For example, when servicing two conveyor systems on which the appearance of parts is not synchronized and is random in nature. In this case, control of one arm of the manipulator is combined into one group, and control of the other hand into the other group. The use of this control principle can also be transferred to the control of technological equipment or accessories, allotted for this

5, if possible, one of the groups of manipulator drives. In this case, the control system of the manipulator turns into a control system of a robotic, technological complex, which significantly improves reliability and reduces the time. Ki-robots, simplifies

Claims (1)

maintenance, reduces the cost of manufacturing the complex, etc. - The claims 5 Cycles a manipulator software control system containing an AND element, the output of which is connected to the first information input of the switch, a memory unit connected in series with the readout unit, drives, positioning sensors, characterized in that, in order to expand - functionality by providing independent control of separate groups of drives, drives, it is equipped with a switch and series-connected clock generator, the first counter and decoder, and individual groups of positioning sensors are equipped with second elements And, second counters and groups of third elements And, the outputs of each group of positioning sensors are connected through the corresponding second element And with 5 by the first AND element and the input of the corresponding second counter, the outputs of which through the second information inputs of the switch and the first inputs of the corresponding group of the third AND elements are connected to the memory unit, the second inputs of each groups of third AND elements are connected to the receiver and connected to the control input by the decoder, one of the outputs of the decoder, and the switch and the address input of the switch.