SU1226408A1 - Multichannel device for programmed control of manipulator - Google Patents

Description

The invention relates to the field of robotics and can be used in various areas of production in the automation of technological processes.

The purpose of the invention is to increase the reliability of the device by eliminating positioning errors and simplifying the program control system.

The drawing is given a functional diagram of the device.

The device contains a program block 1, a register 2, an AND 3 element, a pulse counter 4, actuators, position sensors 6, -6f, EQUIVALENCE 7, -7 elements.

The frame register can be performed for example on T) -triggers. In the automatic testing mode of the program, signals from the corresponding output of block 1 are input to the input of each D-trigger, and in the manual testing mode, the commands are received from the manual control panel by a manipulator (not shown).

The device works as follows.

In the first frame of the program from block 1, the register (frames) 2 records information about the initial position of the manipulator, i.e. For each adjustable coordinate, a logical 1 or O signal is emitted, depending on the program. This signal is fed to one of the inputs of the EQUIVALITY element 7, and to the other its input comes a signal from the sensor 5 of the position. If the manipulator is already in the initial position, then the signal levels at the inputs of the EQUIVALENCE VALUE 7 element are the same and the logical signal is kept at its output; 1, the EQUIVALENCE elements of all adjustable coordinates, because the state of the drives 5 and their 6 position sensors correspond to the "commands issued by the register 2 to the manipulator.

The presence of signals of logical 1 at the inputs of the element And 3 causes the appearance of the same signal at its output. Logical 1 from the output of the AND 3 element enters the input of counter 4 and it, acting on block 1, switches the program to the next frame. Since in the program's JOB frame there are commands that have not yet been worked out by the manipulator, then at the inputs there are

0

five

five

five

five

0

five

of the corresponding elements EQUIVALENCE 7, signals of different levels appear and at their outputs there are logical O signals, which prohibit the logical O from the output of element I 3 from the operation of the 4-pulse counter, keeping the program on this frame. In this state, the control system remains until the manipulator does not execute commands in all coordinates, which is confirmed by a change in the state of the corresponding position sensors 6 and the appearance of the corresponding equal levels at the inputs of each element (logical 1 or 0). and in the previous case, the signal of logical 1 from the element And 3 enters the counter 4 and it switches the program to a new frame.

Further operation of the device is pro-; and it descends in the same way as considered.

If at any coordinate there is a violation of the positioning of the manipulator, then the corresponding position sensor 6 changes its state and at the output of one of the EQUIVALENCE 7 elements along this coordinate a logical O appears, which prohibits further operation of the device and prevents possible damage to the manipulator and technological equipment. A similar action occurs when any position sensor 6 fails.

Having the ability to monitor changes in the state of the sensors 6 of the position at the moment of moving the actuators of the actuator 5, the device makes it possible to determine the unstable operation of the sensors 6 of the position and diagnose their possible failure.

The device makes it possible to increase the reliability of the manipulator by eliminating positioning errors by controlling the control system in any frame of the manipulator state program at all adjustable coordinates.

The reduction of the number of logical elements for each adjustable coordinate allows to simplify the control system and thereby increase its reliability.

Claims (1)

Invention Formula A multichannel device for software control of a manipulator containing a program block connected by inputs to the bit outputs of a pulse counter connected by a counting input to an output of an And element, and in each control channel - a drive connected by an output to an input / Coordinate 1- 5i Editor E. Papp Compiled by M.Gorbunova Tehred I.Popovich Proofreader Y.Pogo Order 2131/46 Circulation 836 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 A position switch, characterized in that, in order to increase reliability, a register is entered in it and in each control channel an EQUIVALENCE element connected by the first input to the output of the position sensor, the output to the input of the AND element, and the second input to the corresponding output of the register connected with the outputs of the program block. HooP fioma p- Jil 5p 6p In