SU1442392A1 - Apparatus for program control of manipulator - Google Patents

Abstract

The invention relates to the field of robotics and can be used to create manipulators operating according to a given program. The aim of the invention is to simplify the device by eliminating the amount of memory necessary for performing the return operations. To do this, triggers, a technological equipment sensor, and a reversible counter are entered into the device containing the program task block, the AND element, the combi-switch, the drives and the overlay sensors. The manipulator is returned to its initial position using the trajectory of motion already recorded in the memory along which the technological equipment was loaded. 1 il.

Description

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The invention relates to robotics and can be used to create manipulators operating according to a predetermined program.

The aim of the invention is to simplify the device by eliminating the amount of memory required to perform the return operations.

The drawing shows the functional diagram of the device.

The diagram shows element 1, commutator 2, reversible counter 3, block 4 of program instructions, trigger 5 of the gate 6, position sensors 7, sensor 8 of the process equipment

The device works as follows

From block 4, trigger 5 (for example, T trigger of the required regush coordinate is given a logic level 1, sets trigger 5 to one state. The actuator 6 of the required coordinate starts working, resulting in a log level from sensor 7

This level through the element I 1 and the switch 2 enters iia su1 1: a reversing input of the account for a scale of 3 frames and for its 1S-1Y input 5 a block to issue and change the address of the memory cell of the 4 "

At the output of block A, the logical O levels are set over all bits. At the end of the movement of a given coordinate from the sensor 7 of the position, the logic level 1 arrives. The trigger 5 does not change its state for the time the coordinates are processed. Prn-40, which came from the sensor 7, the level of logical i. through the element And 1 and kommz -tator 2 enters the summing and clock inputs of the reverse account25

the voltage and coordinate return to their original state.

When a program frame is being processed, information about the reverse of the program, the logic level 1

the corresponding channel through the changeover contact of the sensor 8 of the technological equipment enters one of the address- inputs of the switch 2s, changes the passage of logical levels from the element I 1 so that they now go to the subtracting-and-return input of the reversible counter 3 and the program starts returning. zero cell memory. At the same time, repeated levels of logical units to the inputs of the flip-flops 5 cause the movement coordinates of the corresponding coordinates to be inverted and they all return to the initial position. In the zero frame of the program, the sensor of the logical unit from block 4 enters through the sensor program technology 8

to the other address input of switch 2, as a result, the summing input of the reversing device C 3 is connected to the output of the element I 1 and the program starts running again before the program is issued from block 4 to reverse the program 1 The program’s reverse may not be 5 a signal will come from block 4 or the sensor 8 of the technological equipment will not work. The sensor 8 of the technological equipment is necessary to create a reverse of individual program fragments or to create internal cycles in it.

Formulas

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A device for software control of the manipulator, containing a program setting block, sequentially

When the output of the next memory cell of block 4 is output, the output of which is the information of the next program frame appears, and the cycle of processing is repeated. If in the next frame of the element I, of the program, it is necessary to return the just-worked coordinate to its original state, then the same channel receives the logical level 1 and the trigger 5 takes coordinate trigger, the output of which

as well as for each adjustable coordinate actuator 5 associated with a position sensor, the output of each of which is connected to a corresponding gauge; the entrance

That, for the purpose of the device's ulschecka, it contains a sensor-technological equipment, a reversible counter and for each controllable

the initial state, and therefore, at its output a level of logic 0% appears, and from the electromagnetic distributor of the drive 6 is removed

the connected element And and KOMNryTarops element And, about the t and i and y with e coordinate coordinate trigger, the output of which

as well as for each adjustable coordinate actuator 5 associated with a position sensor, the output of each of which is connected to a corresponding gauge; the entrance

the connected element And and KOMNryTarops element And, about the t and i and y with e coordinate coordinate trigger, the output of which

That, for the purpose of the device's ulschecka, it contains a sensor-technological equipment, a reversible counter and for each controllable

connected to the input of the drive, and the input of each of which - to the corresponding first at the output of the program task block, connected to the input r with

the outputs of the reversible counter and the second output with the sensor input of the process equipment, the first and second outputs of which are connected respectively to the second and third

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the inputs of the switch connected to the first and second outputs with the corresponding inputs of the reversing count

The third input is connected to the output of element I.

Claims (1)

Claim A device for programmatically controlling the manipulator, comprising a program setting unit, an AND element and a switch connected in series, and also, for each adjustable coordinate, a drive associated with a position sensor, the output of each of which is connected to the corresponding input of the And element, characterized in that, for the purpose To simplify the device, it contains a sensor of technological equipment, a reversible counter, and a trigger for each adjustable coordinate, the output of which is connected to the input of the drive, and the input of each of them is connected to corresponding to the first output of the program task unit, connected by the inputs to the outputs of the reversible counter and the second output with the input of the sensor of technological equipment, the first and second outputs of which are connected respectively to the second and third inputs of the switch, connected by the first and second outputs to the corresponding inputs of the reversible counter , the third input of which is connected to the output of the element I.