SU1234807A1 - Device for controlling profiling manipulator - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create copy manipulators. In the invention, due to the force sensor, the actuator, the threshold element and the second switch introduced, a more accurate measurement of the forces occurring on the actuator when interacting with an external object is provided, which improves the accuracy of the device for controlling the coping key. 1 il. to oo 00

Description

The invention relates. It is suitable for robotics and can be used when creating copy manipulators.

The aim of the invention is to increase the accuracy of the device by providing a more accurate measurement of the forces that occur on the executive body during interaction with an external object.

In the drawing, present a functional diagram of the device.

The device contains a single organ 1, the first actuator 2, the first moment sensor 3, first position 4 sensor, first adder 5, first switch 6, second cyt-r: -iaTop 7, first 3 n second 9 amplifiers third adder 0, second switch P , second actuator 12, speed sensor 13, operating mechanism 14,: sp o l: E5 body 15, second moment sensor 16, force sensor 17 5 second position sensor 18, and threshold element 14ent 19, The device operates as follows.

When the manipulator is working in the free zone, there is no signal at the output of the I7 sensor of the force of the executive body. The first inputs of the first 6 and second 1I KONMyTaTopoB are connected to the outputs. The specifying side is fixed by the moment, and the executive side - by speed and position. The signal with j aT4H- 18 position of the executive part through the first adder 5, the first amplifier 8, the first switch 6, the adder 7 is fed to the actuator 12. The reference signal for the executive part is the signal from the sensor 4 of the posterior part, and the reference signal for parts - the signal from the sensor 16 moment. As a result, the operator controls the position of the executive body 15, the forces arising in the actuator

When the executive body 15 touches the external object, for example, when assembling, the installation operation at the output of the force sensor 7 appears a signal that, when the threshold threshold was reached, the threshold element 9 switches switches 6 and II. The porous element 19 does not suppress the signals from the sensor 17 of the force U ,, that interferes, and thereby prevents false triggering.

hog mutators. The second inputs of the first 6 and Etorog 11 T tori connect ni SI with outputs. The specifying side of the; tp-szhnom is closed by the moment, and the exponent of the momentum is closed at the moment and at a speed. The signal from the sensor 1 7 efforts through. The second switch 1 1,. the adder 10, the second amplifier 9, the switch 6, the sugmator 7 is fed to the actuator 12 of the executive side. The signal of the specifying side is the signal from the force 17 patch, and the signal from the executive side is the signal from the setpoint 3, the operator at the same time:; the force generated (it is in the sensor 1 7 of the actuator / liter body 15, and directly controls velcchi :: 1st effort.

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The device dp / controls with a copying arm 5 contains its first drive, kinematically connected with the first moment sensor, which is kinematically connected with the first position sensor connected by an output in series with an ncpsbn i adder. first amplifier. the first switch and the second adder with the input of the second drive, kinematically connected with the speed sensor, by ps-Hdklshchenny output to the second input of the second mapper, and with the performer-libft-t mechanism, which is kinematically connected with the executive body, with the second sensor 1- . {of the moment and second, a, and hchikok po.pezhepi connected by the output to the second input of the first adder, the third adder, the first input of the cots; pogo connected to the output; of the first.-moment sensor, and the output - with the input / tergugo drive directly and the second usuysttel - with the second: echo,: yumervogo switch switch ,, o t i-a y w e e so, with the aim of increasing } ;: and control accuracy, it is with: obed: t Consistently connected: and: —Gkatically, force sensor connected to the executive, by the 1st organ, the threshold j lGMeHT and the second switchboard, the second

VHO, whose: is connected to the output of the second moment sensor, the third input is to the output of the force sensor, and to the yyrgy input of the third adder, and the threshold element is connected to the third-third input of the first switchboard.

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Claims (1)

Claim A device for controlling a copy manipulator, comprising a first drive kinematically connected to a first torque sensor that is kinematically connected to a first position sensor connected via an output through a series-connected first adder, a first amplifier, a first switch and a second adder with an input of a second drive kinematically connected to a speed sensor, connected to the output to the second input of the second adder, and with an actuator that is kinematically connected to the actuator, with with a second torque sensor and a second position sensor, connected to the second input of the first adder, the third adder, the first input of which is connected to the output of the first torque sensor, and the output, with the input of the first drive directly and through the second amplifier, with the second input of the first switch l and '·' with the fact that, in order to improve the accuracy of control, it contains a force sensor, a threshold element and a second switch, the second input of which is kinematically connected with the actuator in series connected to the output of the second torque sensor, the third input to the output of the force sensor, and the output to the second input of the third adder, and the output of the threshold element is connected to the third; input of the first switch.