SU1506436A2 - Device for program control of automatic operator grip - Google Patents

Abstract

The purpose of the invention is to simplify the operation of the device. The device includes the nineteenth and twentieth elements OR, a group of RS-flip-flops from the first to the fourth group of elements AND, indicators and a matching code converter. Additionally, it contains a serviceman’s console and twenty-first and twenty-second elements OR. 1 hp ff, 1 ill.

Description

HioGporebnfe is related to ic automation and wireless technology and can be used to control various devices and telemechanics and other software devices, such as electroplating machines, automated warehouses and manufacturing processes, and is an advanced device.

auth. St. N 1233103.

The purpose of the invention is to simplify the ex- shucation of the device.

FIG. 1 shows a diagram of the device; in fig. 2 is a diagram of comparison blocks; in fig. 3 is a block diagram of the determination of the movement of a grip on the third coordinate на in FIG. 4-8 are diagrams of cycle control blocks; in fig. 9 is a schematic of the zero decoder in FIG. 10 is a block diagram of an accompaniment1, amche indication; in fig. 11 and 12 are gripper movement patterns.

The device contains (Fig. 1) control panel 1, encoder 2, first reversible counter 3, dividers counters 4 and 5, buffer registers 6 and 7, blocks 8 and 9, compare, second reversible counters 10 and 11, second 12 -15, seventh 16, eighth 17 and

Perv TV elements And, the sensor 19 movement of the grip on the first coordinate (X), the first element 1-ШИ 20, the sensor 21 and 22 of the limiting position of the grip on the third coordinate Z, the sensor 23 of the zero position of the grip on the second Y and Z third coordinates, generator 24 pulses, 1K-trigger 25, first RS-trigger 26, decoder 27 zero, first driver 28 pulses, second RS-trigger 29, second 30 third 31, fourth 32, fifth 33, sixth 34, seventh 35, eighth 36, the ninth 37, ten of the 38 and eleven 39 elements OR, the third element is NOT 40, blocks 41-45 by control of the cycle, block 46 is defined neither the capture movement along the third coordinate, the launch element 47, the mode setting elements 48 and 49, and the capture position sensor n with the second coordinate with load 50 and without load 51.

Blocks B and 9 comparisons contain (Fig. 2) the first 52 and second 53 combinational adders, the second 54 and the first 55 elements NOT, the fifth 56, the sixth 57, the third 58, the fourth 59, the twenty-third third 60, twenty-fourth 61, - twenty fifth and twenty sixth

63 elements AND, the eighteenth element HJIli 64 and the sixth 65, seventh 66 and eighth 67 elements NOT.

Block 46 contains (Fig. 3) eighth 68 and ninth 69 RS-flip-flops, eighty 70, nineteen-seventeen 71, twentieth 72, twenty-first 73 and twenty-second 74 elements AND, fourteenth 75, fifteenth 76, sixteenth 77 and seventeenth 78 elements OR fifth element NOT 79.

Block 41 contains (Fig. 4) the ninth 80 and ten of the 81 And elements, the third RS flip-flop 82 and the first shift register 83, the block 42 (Fig. 5) is the fourth element 84, the eleventh 85 and the twelfth 86 elements And Quarter RS trigger 87 and second shift register 88, block 43 (FIG. 6) —fifth RS flip-flop 89, thirteenth element I 90, and third shift register 91, block 44 (fig. 7) —the second pulse shaper 92, sixth RS flip-flop 93, the twelfth element OR 94, the fourth shift register 95 and the fourteenth 96 and fifteenth 97 AND elements, and the block 45 (Fig. 8) - the third pulse shaper 98, the seventh RS-trigger ep 99, thirteen element OR 100, fifth register 101 shift and sixteenth 102 and seventeenth 103 elements I.

The decoder 27 zero consists (figure 9) of the elements And 104-107.

The device contains (Fig. 1) block

108 accompanying display and remote control

109caster.

Block 108 consists (FIG. 10) of the group of the twenty-first 110, the nineteenth of the 111, the twenty-second of the 112, and the twentieth of the 113 elements OR, the group of RS flip-flops 114-117, the group of elements AND 118-121, the group of elements NOT 122-125, forming together with the decoder 126 a matching converter 127 codes, and indicators 128-131, and the console 109 - from the control buttons 132-135.

The device must implement the three main cycles of work specified by the operator.

First cycle: (put from zero to address) the capture takes, moves to the specified address, the capture puts and remains at the address.

Second cycle: (put not from zero to the address) the capture goes to O, the capture takes, the capture goes to the address, the capture puts and remains at the address.

515

 The third cycle: (taken from the address) the seizure proceeds at the Azres, the seizure is taken, the seizure goes to O, puts and remains at zero.

In addition, there are two auxiliary cycles, Take and Put, and these cycles have features depending on whether you are left-handed or right-handed with a hold.

The preset signal resets all counters, device registers, and trigger 26 to O, and before entering each new address into O, only counters 4 and 5 and block 46 are reset and set to a single cocToflfme trigger 114 of block 108.

When implementing the first cycle, the device works in the following way.

In the initial state, the gripper is in the zero position (,), i.e. in the loading position (with a signal at the output of the decoder 27). It is necessary to transport the load to the cell with the corresponding address. For this, it is necessary to dial the address on those 1, and when the buttons of the console 1 are pressed, the encoder 2 generates a moving code corresponding to the pressed button and a sync pulse with which the generated code is written B the corresponding discharge of the reversible counter 3, the state of which is transmitted to block 108 Then it is necessary to press the element (button) 19 Put, while trigger 110 is reset and trigger 115 of the block 108 is set and counters dividers 4 and 5 are displayed on the sub-key display. Signal is fed to the inputs of blocks 41 and 42 and to S - trigger input 26. Pr and this is the single potential at Vits at the 1-input of the 1K-flip-flop 25, as a result of which, on the falling front of the synchroimpulse coming from the output of the generator 24 to the C-BKHOD of the GK-flip-flop 25, it translates into a state and the frequency pulses f from its output go to the incoming input of counter 3 and to the input of counter divider 4, and the overflow pulses of counter-divider 4 arrive at the counting return of the counter-divider 5. The incoming pulses of frequency f to the input of counter 3 and the counter divides the 4 continues-- wed until the exit e overflow channel counter Minus

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3 not on Wits and Cylc, with which its front edge drops to O the trigger 26, so that on the falling edge of the same pulse (since O coincides on the front with the pulses of the frequency f of the generator 24), the trigger 25 drops to O.

Element 18 is closed and the frequency f stops flowing to the inputs of counter 3 and counter divider 4.

The division factors of the dividers counters 4 and 5 are chosen equal respectively to the number of cells in the row along the X coordinate and the number of rows of the cells along the Z coordinate. Since, depending on the specific automated storage, the number of cells along the X coordinate and the number of rows along If the Y coordinate can be varied in very small predictions, it is convenient to carry out divisor counters with variable division factors, for example, with the help of special switching devices. Under this condition, when the number of iguls is equal to the number of the dialed address, at the input of the counter 3, in the counters-dividers 4 and 5, codes are formed that correspond to the 1st coordinate of 1at X and Y of the selected cell. In the event that a re-flood signal appears at the output of divider counter 3, this means that the cell belongs to the right shelf, and if the overflow occurs, then to the left one. This pulse from the counter-divider 5 output goes to the input of block 46, since the frequency of the generator 24 can be 500 + 1000 kHz, even with the number of warehouse cells 10,000, the time of the specified conversion is 0.02 s, i.e. actually nopenno.

Now pressing the element (button) 47 starts the execution of the cycle. Si1-na.p Start from element 57, passed through the element OR 33, arrives at the trigger inputs of blocks 41-43. However, only block 41 is triggered, since only for it the trigger condition is the presence of a signal on the output of the decoder 27 and pressing element 49 Elok 41 produces a signal to Take, which from its output through the element OR 35 goes to the start-up unit (s input 44). , (control loop) Capture movement when implementing a cycle Take shown in Fig. 11. The position of the capture before the cycle is turned on

the Y coordinate is not exactly defined, and it can be in an arbitrary position, at the point O or A; According to the Z coordinate, talvat is at the point 7,

which is fixed by a special sensor 23. In addition, the point

sensor 21, and point Z -. sensor 22. The position of the grip on the coordinate Y is determined by the point O, corresponding to its position with the load, and the point L corresponding to the position without load. These points are fixed with the help of sensors 50 and 51, which operate when moving along the Y coordinate.

When working with the left shelf, the left cycle is realized, while working with the right shelf, the right cycle is realized.

If the capture is generally X and Y at zero, the signal from the output of the decoder 27, affecting block 46, ensures that only the left window is forcibly switched on, regardless of the presence or absence of the counter-overflow signal of the L 5. Therefore, B In this case, the left cycle is implemented. To do this, the block 44 forwards the signal Movement to the unloaded position (to the point

.-

five

ten

20

At the same time, the sensor 21 is triggered and its output signal is fed to block 44. In addition, the output signals of sensors 21 and 22 through the OR 36 element including 11 / g trigger 29. As a result, block 44 turns on the Forward Z signal and turns on position with load. This signal is fed to the input of the elements OR 30 and 32. The output signal of the element OR 30 includes the positive direction of travel along the X coordinate, and the output signal of the element 5 STI 32 through the element OR 38 turns on the drive of the coordinate Y, and through the element NOT 40 blocks the element 16.

The drive is turned on and the grip is moved from point B to point o. When the pickup reaches the point O (position with load), the signal from the sensor 50 will be fed to the input of the unit 44 and turns off the signal Motion c. load position The coordinate drive is turned off.

Now, block 44 generates the signal Reverse movement along the Z coordinate, which is fed to the input of block 46 and the signal Move to the right appears at its output. Drive is engaged

25

A), which, having passed through the IlTIi element of the 3U Z coordinate, and the capture moves

31, turns on the V drive. The same signal from the output of the AND 32 element, having passed through the NOT 40 element, blocks the AND 16 element, due to which impulses from the input of the OR element 20 of the sensors 50 and 51 cannot enter the inputs of the AND elements 14 and 15 and change The state of counter 11, i.e. distort the given coordinate.

The drive of the coordinate Y is turned on, the capture moves in the direction Y to the point A. Upon reaching the point A, the signal from the output of the sensor 51 hits the corresponding input of the block 44. As a result, the signal disappears on the output of block 44. The movement to the unloaded position and, consequently, the signals at the outputs of the elements OR 31 and 38 disappear. The capture movement along the coordinate Y stops. After this, block 44 generates a signal for forward movement along the Z coordinate, which arrives at the input of block 46, at the exit of which a signal appears. L Capture to the left. This signal turns on the motor of capture movement along the coordinate 7. to the left. Capture moves until I reaches points B.

five

0

five

0

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right until it has reached} 1y the position of Zjj. At this point, sensor 23 is triggered, and its () signal, arriving at block 44, switches off along Z. The cycle is complete.

At the same time, the block 44 generates a signal. The cyclic end of the cycle is taken, which is TopbDi, passed through the element WIT 33, is fed to the input of the block 41, which generates the signal Movement to address. This signal through the OR element 34 enters block 108, sets the trigger 116 and resets the trigger 115, the synchronous inputs of the parallel writing of registers 6 and 7, the state of which begins to be displayed in block 108, and B these registers from the counters-dividers 4 and 5 record the coordinates Xd and At the given cell. Since the preset signal (PU) counters 10 and 11 are reset to O, then blocks 8 and 9 produce signals X f and U Od, which open the elements And 13 and 15, respectively. At the same time, the other outputs of blocks 8 and 9 disappear, which is equivalent to the appearance of signals V The signal from the output of block 8 directly drives the X coordinate,

and the V signal from the output of block 9 turns on the Y coordinate via the OR element 38.

The directions of movement along the coordinates X and Y are determined by the encoded signals of blocks 8 and 9. So, in this case, X g X and Y, where X, and Y; - the current values in the strips 10 and It, the signal X. r X from the output of block 8 includes the positive direction of travel along X, and the signal Y; The output from the output of block 9 through the element ШШ 30 includes the positive direction of travel along U.

The speed of movement along each coordinate is determined according to the following law: if (Xd - X j) 7 4, then the second (maximum) speed is switched on to the coordinate X, if (X -

X;) 4, then the first (minimum) velocity V along the coordinate X. Similarly, for the coordinate Y: (At j- the second velocity, (At i) - the first velocity H.

The signals of the first and second speeds are also generated by blocks 8 and 9.

Due to the influence of these signals, the X and Y coordinate drives are turned on, and the capture, together with the load, moves towards the specified address, and the pulses from the output of the sensor 19 are transmitted through the OR element 113 to the S input of the trigger 117 and to the R input of the triggers 114 -116 and through the element AND 13 to the summing input of the counter 10, and the pulses from the output of the date 50 (or 51) through the element OR 20 and the element AND 10, opened at the second input by the input signal of the element 40, arrive at the input of the element 15 and from its output to the summing input of counter 11, the information of which, like the The counter 10 is supplied to block 108. Moreover, as it moves upward, sensor 50 is working and sensor 51 is working downwards. When (X, -X |) 4, the drive of the X coordinate switches to V, and on condition (Xd- X,) 0 is turned off and at the output of block 8 instead of sig

A signal appears. This signal sets to 1 trigger 29, which activates the brake on the X coordinate. This brake increases the accuracy of the stop on the X coordinate.

Similarly, when (Od-U.-) 4, the coordinate drive switches to

min P 4 U)) On the output of block 9 instead of the signal V, the emergence of J5

20

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0 0 5

0

five

with signal. Positions with the specified address is reached. When two signals appear, an And 17 element is triggered. Its output signal is through shaper 28, which highlights the leading edge of the signal, is fed to the input of element) and 33, and from its output to block 41 input. RTOK 41 generates a Put signal, which the element OR 39 is fed to the input of block 45 as a signal to start the cycle put.

Block 45 begins to generate the signals necessary to implement the cycle. Put it in full accordance with FIG. 12. First of all, at the output of block 45, a signal appears. Movement to the loaded position. This signal through the element OR 30 includes the direction + Y, through the element OR 32 and the element NOT 30 blocks the element AND 16, and through the element OR 38 turns on the drive of the coordinate Y. When the point O is reached by the signal from the sensor 50, the Y coordinate is stopped, and block 45 generates a signal for forward movement along the Z coordinate. This signal is fed to the input of block 46, which generates a signal for the movement to the left or the movement to the right.

As it is shown, in the presence of the signal O on the output of the decoder 27, the roller 46 initially always generates a signal to the left. However, in this case, this signal is absent, since the capture is not in common for the X and Y zero coordinates, but at some address X; X, YY Y. Therefore, the choice of direction is now determined by which of the racks, left or right, the selected cell belongs to. A sign of the right rack is the overflow signal of the counter-divider 5, which is stored in block 46. The absence of this signal is understood as a sign of the left rack.

Let, for example, the overflow signal of the counter-divider 5 in this case occurs when the right-hand cycle is implemented (Fig. 12). Therefore, block 46 generates a signal movement to the right. This signal turns the drive Z coordinates to the right. When the grip reaches point E, the sensor 22 is triggered (the load is pushed into the cell). Its output signal through the element OR 36 turns off (resets to O the trigger 29) the brakes of the X coordinate and, moreover, goes to the corresponding input of the block 45. At the same time, the output of the block 45 disappears the signal Direct motion along the Z coordinate and the signal Motion appears in the no-load position. This signal, through the element IPL-31, turns on the direction of the leftover motion —Y, through the elements OR 32 and 38 turns on the drive Y, and through the element OR 32 and the element NOT 40 blocks the element AND 16.

The grip moves from point E to point D.

At the same time, the load is lying to the bottom of the cell. When the point D is reached, a pulse from the output of sensor 51 enters the input of block 45. As a result, the signal disappears at its output. The motion moves to the unloaded position and a reverse movement signal appears along the Z coordinate. This signal arrives at the input of block 46, the output of which is the movement to the left. The drive of the Z coordinate starts moving the grip to the left until the sensor 23 (zero position of the grip on the Z coordinate) operates. The capture without load exits stashta to point A. The output signal of sensor 23 is fed to the input of block 45, and the signal of return movement along the Z coordinate is turned off. The cycle is set to complete. At the output of block 45, a signal appears. End of the cycle is put, which through the OR element 33 arrives at the input of Block 41. The first cycle is completed, therefore in block 41 only internal faults occur and no extra signals are generated. Indeed, the capture, taken in from zero (in X and Y) patozheni, put it in a cell with a given address.

When implementing the second cycle, the device operates as follows.

Initially, the capture is located near a cell with a certain address X., Y ,, And the values of X; and W; is found in counters 10 and 11. These same values are also found in dividers counters 5 and 4 and registers 6 and 7. At the output of the decoder 27 there is no signal of the zero position of the coordinates X Y.

To implement the second cycle, you need to dial the number of the cell where the load should be placed.

The operation of the console 1, the encoder 2 and the counter 3 is described above. Then, pressing the element (button) 49 generates a Bundle signal, which enters the inputs of blocks 41 and 42, and triggers (sets to 1) the trigger 20, which results in the conversion of the dialed cell number to the Y coordinates, which will appear in the dipsters 4 and 5 as in the first cycle. Then, by closing the element (button) 47, a Start signal is generated, which through the element OR 33 enters the inputs of blocks 41-43. However, now only block 42 is started. I.e. only its trigger condition is the presence of a signal from element 48. and the absence of a signal of zero coordinates X, Y at the output of the 1x1 generator 27.

According to the Start signal, block 42 generates a signal Zero, which through the OR element 37 enters the reset inputs of registers 6 and 7 and resets them to O. At the same time, the outputs of blocks 8 and 9 appear

X | Xd and yj Ood, and signals /. Signal X; X. from the output of block 3 turns off the direction of movement -X and opens element AND 12. The signal from the output of block 8 turns on the drive of the X coordinate. The signal Y j YL - output of block 9 through the element OR 31 turns on the direction of movement Y, and the signal / through the element 1, 38 includes a drive, U. The gripper begins to move along the X and Y coordinates in the zero direction.

The selection and switching of the speeds of motion V is the same as in the first cycle. The feedback pulses at the X coordinate from the sensor 19 through the And 12 element are fed to the readings of the counter 10 input, and the feedback pulses along the Y coordinate from the sensor 20 output through the OR 16 element opened by the output signal HE 40, and element 14 arrive at the subtracting input of the counter 11, as well as through the element OR 113 to the S-input of the RS flip-flop 117.

When O appears in counter 10, a signal appears at the output of block 8. At the same time, drive X turns off at the output of block 9. When O appears in counter 11, a signal appears at the output of block 9. This signal includes

movement on the coordinate W. Capture comes to zero in X and Y.

If there are two signals at the input of the element OR, a signal j of the forward front is formed through the driver 28 and the element OR 33 enters the input of the Start of block 42, Block 42 generates a signal of the Start of cycle to take which through the element OR 35 starts block 44 (cycle control Take ). From this point on, the device works in the same way as in the implementation of the first cycle. At the end of the cycle, Take Capture goes to the address, when the address is reached, the Put cycle is implemented, and then the action is terminated. The second 1; the cycle is complete.

When implementing the third cycle, the device operates as follows.

Initially, the gripper is in an arbitrary position, the coordinates of which are X and Y are stored in counters 10 and 11, respectively. To implement the third cycle on the remote control 1, you need to dial the number of the check from which you need to take the load. This number is recorded in counter 3. Next, pressing item 48 (button)

15

Take, prepare block 43 and us-ZO 53 gives the direct code X, U. current n r .... JJ

tanavakug into 1 trigger 26. This starts the conversion of the cell number to its X and Od coordinates in the same way as described above. Wherein

The coordinates of X and Y are from the outputs of counters 10 and 11, respectively. The scheme work is based on the following algorithm X X (y / Y j). if the code at the output of adders (F) is 111111111 and the transfer from the high bit is absent. It is, i.e.

new values of x. and

P

U are recorded

35

counters dividers 4 and 5, and the sign of the rack - in block 46.

Then element 47 generates a Start signal, which through element OR 33 enters the inputs of Start-up cove 41-43, but only block 43 is started. At the same time, at the output of block 43, a Motion to address signal is generated, which through element OR 34 includes

Subcycle Motion to address. Motion with AND 57, the element NOT 54, and the element AND 56.

  - ..

The address is the same as when the first one works. At the end of the sub-cycle. The movement to the address of the output signal of the driver 22 through the OR element 33 enters the input of the block 43 and the latter generates a start-up signal to take, which through the OR 35 element starts the block 44. The Take cycle is realized in the same way as

50

Indeed, if the code F at the outputs of all bits of the adders 52 and 53 is equal to 1, then all the inputs of the element And 57 present single signals and, therefore, there is a signal at its output, which affects the input of the element And 56, but its other the inputs are also units, since at the outputs F, F, and F. the adder 52 the snout is described above with regard to the directional unit, and at the output C1 of the adder 53

zero, then at the output of the element NOT 54 is one.

NIN, i.e. left or right shelving, Capture takes the desired load. Signal The end of the cycle from the output of block 44 through the element OR 33 goes to

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506436 4

block input. 43. Block 43 generates a signal through the element OR 37 Movement to zero, and then generates a start-cycle signal to put. This signal through the element OR 39 starts block 45 (Put loop control), and if at the output of the decoder 27 there is a zero-state signal acting on block 46, then the Put loop is implemented in the left variant in the same way as described above. Capture puts the load. Signal Termination of 1 screen from the output of block 45 through the element OR 33 to the input of block 43, but block 43 does not generate any external signals, but only produces internal faults. The third cycle is complete. The connection of the console 1 with the counters 10 and 11 is necessary for entering the initial information with the exception of the power supply, if the capture is not at zero.

Block 8 (9) works as follows (Fig. 2).

The first group of inputs of adders 52 and 53 is fed the reverse code X d (Ud) coordinates X or Y from the outputs of recorders 6 or 7, respectively, and the second group of inputs of adders 52

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20

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.... jj

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The coordinates of X and Y are from the outputs of counters 10 and 11, respectively. The scheme work is based on the following algorithm X X (y / Y j). if the code at the output of adders (F) is 111111111 and the transfer from the high bit is absent. It is, i.e.

X / H Gu. Y) if 1111 1111, and

 C1 O;

X: 7X (), if G P111P1, and

C1 1;

() 4, the signal Xd Xj () is generated by the element

- ..

Indeed, if the code F at the outputs of all bits of the adders 52 and 53 is equal to 1, then all the inputs of the element And 57 contain single signals and, therefore, there is a signal at its output, which affects the input of the element 56, the inputs are also units, since the outputs F, F, and F. adder 52 units, and the output C1 of the adder 53

zero, then at the output of the element NOT 54 is one.

Signal X; X is formed with an AND 58 element when the signal coincides, taken from the output of the HE element 54, and the F 11111111 signal taken through the HE element 55 from the output of the And 56 element.

Signal X; XD is formed using an AND 59 element when the signals from the output C1 of the adder 3 and 1 11 111 1 coincide with the output of the HE element 55.

The signal (X - Xj) 4 is formed by a decoder built on the elements AND 60-63, OR 64 and NOT 65-67. The elements NOT 65-67 serve respectively to form the signals F ,,, F and F ,. The signals at the outputs of the AND 60-63 elements are formed with the following codes at the outputs of the adders 52 and 53, 1.2, 3.4, which differs from the 1П1 X X- state by 1,2,3,4 pulses, respectively. Therefore, the output element OR 64 unit signal only when it is necessary to include a low speed.

The task of block 46 (Fig. 3) is to correctly select the direction of movement of the grip when implementing the Take and Put cycles, depending on which rack, left or right, this or that cycle is implemented with. In addition, a special case is work in O, i.e. in the loading position when it is necessary to implement only the left loop. The unit works in the following way. Originally signal

The preset (PU) trigger 68 is set to the zero state, which is perceived by the block as working with the left 2-rack. If in the process of converting a given cell number to the coordinates X, and Od the counter-divider 5 overflows, then its overflow pulse sets the trigger 68 to state 1, which is perceived as the right-shelf operation command.

Suppose now that any of the inputs of the element OR 75 receives a signal for forward movement along the Z coordinate. If the pickup is not at zero, then the zero position signal, which is a prohibition signal for elements 70 and 71, is absent, therefore the forward movement signal arrives at the inputs of the elements 70 and 71. If the trigger 68 is in the state O (sign of operation on the left racks), then the output of the element 70 is a signal that is set to the state O the trigger

69, and through the element OR 78 includes the movement of the capture to the left.

When a signal arrives at any of the inputs of the OR 76 signal, the reverse movement along the Z coordinate of its output signal goes to the inputs of the AND 73 and 74 elements. But in this situation, the AND 73 element is open, and the signal from its output through the OR 77 element includes movement grip to the right, i.e. to the position of Zp. If by the time of the arrival of the signal Direct movement along the Z coordinate the trigger 68 is in state 1 (sign of operation from the right; - rack), then the signal from the output of the OR 75 element passes through the AND 71 element, sets to 1 trigger 69 and through the element OR 77 turns on the right movement along Z. With the arrival of the signal, the return movement along the Z coordinate to any of the inputs of the element IL1 1 76 outputs the signal of the latter to the inputs of elements AND 73 and 74, but now the element 74 opens and the signal from its output through the element OR 78 includes a movement to the left, which is widely regarded as the implementation sootvststvuyupr1h cycles.

The capture gels are in the zero state (loading state), it is necessary to always implement a left-cycle. In this case, the inputs of the elements Pi 70 and 71 are affected by the signal O as an –button, but the same signal through the element NOT 79 as an permitting element is present at the input of the element AND 72. Now the signal of the Direct movement along the Z coordinate from the output of the element OR 75 passes through the element AND 72, sets in O the trigger 69 and through the element OR 76 includes the capture movement to the left. With the arrival of the signal Reverse movement along the Z coordinate, this signal from the output of the element ILR1 76 through the element 73 and the element OR 77 switches on the capture movement to the right.

Block 41 (Fig. 4) works as follows.

If, in the presence of a zero-position signal, a signal comes in to put, then element 80 is set and sets to 1 flip-flop 82, which is reset to O with a preset signal. With the arrival of a signal, its trigger on its trailing edge at input C | register 83, the unit with trigger output 82 is written to young

the lightest bit of register 83 and at its right output, the start motion signal in the address is received. Element H 81 does not work this time, since at its permitting input there is a signal on the VLA - PBX at the end of the Start signal.

The next Start signal, passed through AND 81, drops its trigger edge 82 into O, and triggers the 1 shift in register 83, causing the Cycle Start signal to take off at its second output. With the arrival of the next start signal, the next shift occurs and a start-up cycle is formed. The next Start signal causes the shift register to be reset in O.

Block 42 (Fig. 5) works similarly to block 41 with the difference that the condition for its launch, i.e. Record 1 in the RS flip-flop 87 is the absence of a signal O at the input of the element NO 84. Only then, by a signal to wait, the element 65 is opened and the trigger 87 is set to 1. The rest of the block 42 works analogously to the block 41, but its register 88 shifts made fourfold. Block 42 sequentially generates four signals: Start of movement to zero, Start of cycle to take, Start of movement to address, Start of cycle to put.

Block 43 (Fig. 6) works similarly to block 42c of the one that

is triggered (written 1 to trigger 89) directly by a signal Take. The sequence of signals generated by the cycle: Start of the movement to the address, Start of the cycle, take, Start of the movement at zero, Start of the cycle, put.

Block 44 (Fig. 7) works as follows.

The preset signal trigger 93 is reset to O. With the arrival of the Start signal on its leading edge, the trigger 93 is set to state 1, resulting in a single potential appearing at the input of the sequential recording of register 95. The pulse generated by the driver 92 from the Start signal, pass through the element OR 94, arrives at the input (C1) of the shift of the register 95, and with its back edge writes 1 to its first bit. As a result, at its first output occurs

Signal Movement of the cargo. With the arrival of the signal from the sensor 51. Capture to the unloaded position, this signal, transmitted through the element OR 94, element AND 96, resets the RS flip-flop 93 to its O front trigger, and shifts its rear edge 1 into the register 95. signal. Direct motion along the Z coordinate. From the arrival signal. Capture in the left position (Z) or Capture in the right position (Z) from the corresponding sensor. This signal goes through element I. Sh 94 enters the shift input of register 95 and shifts 1 to the next DUUPLE DISCH. In this case, a signal is generated. The movement is half a load. With arrival from the sensor 50 of a signal Capture in I will put with freight

0 5 0

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0

(Egr) at the output of the element OR 94 a signal appears, a shift 01 01 1 in the register 95. At the same time, the signal is a reverse movement along the coordinate

Iz. With the arrival of the response, the Capture is in the zero position along the Z coordinate (Zg) from the feedback sensor signal:; having passed through AND 97 element, forms the I – O signal of the Eye} 1g; it loses the cycle and at the same time, at the rear, it resets to 97. 1 | Икл 3 ак о} гч е н.

The difference B in the operation of block 45 (Fig. 8) from block 44 is in the sequence of the generated signals, namely: Movement to a position with a load, Direct movement along the Z coordinate, Movement into a position without load, Reverse movement along the Z coordinate, Finished 1 : e cycle.

The decoder 27 (FIG. 9) works in the following way.

If X d 00000000, then X d 11111111, and if Ud 00000000, then Ud 11111111, then when X d O and U O signals will be at the inputs of the element And 106 and, therefore, at its output. At the end of the movement along the X and Y coordinates, the condition X, Xd, Y: Ud is observed, at this moment the signal arrives at the second input of the element 107 and at its output the signal Grip appears at zero.

Block 103 (Fig. 10) operates as follows.

When a PU signal appears on counters 4 and 5, the trigger 114 is set to half a phenomenon 1, and

Triggers 115-117 are set to O, thereby allowing signals to pass through elements 118 of the group and converter 127 to the indication from counter 3. If signals from buttons 48 and 49 are left in 1, trigger 115 is set and the other triggers are set to O. as a result, the passage of signals from counters A and 5 through the elements 119 of the group to the indication is allowed.

I

After the Start signal from the element OR 33, at the output of the element OR 34, a signal appears that switches the trigger 116 into 1, and the rest triggers into O. At the same time, the indication allows the passage of signals through

0643620

elements 120 of the group from registers 6 and 7. After the start of the movement of the Geni on the X and Y coordinates, the signals from the sensors 19 50 and 51 through the OR element 20 set the trigger 117 to 1, and the remaining triggers to O. As a result, the passage to the indication is allowed through elements And 121 groups of output signals from counters 10 and 11.

To visually check the state of the required register or counter, regardless of the switching signals, using the dependent fixation buttons 132-135 connected via the OR 110-113 element to the group trigger 114-117, the indicators 128-131 are connected to the corresponding register or counter. 20

ten

15

75

Reverse enable

FIG. 2

FIG.

.0

54

5

6

Start

PU

93

92

91.

Pusn

poo

9

98

100

Doubing 6 position without load-d incl.

pr my ooroinate 2

k6 and kenya

 b load position

Start Pro

with a load at about .... //

Reverse dubin, at the coordinate l of Busn of r. Turn

91

„OKOHt QHue cycle

Fi2.7

-

AO

Л8ижеиие8 + У, У by / live with a load

u

A2 A2

m

V C / C2

fOf

pr my dibin

Z coordinate (start lx}

Movement b position

de3 cargo

Start o5r. Hodd

-Y, y

Reverse coordinates 6 and Kenya

t

End of cycle

FiaZ

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t

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Editor V. Petrash Tehred A. Kravchuk

Order 5438/50 Edition 788 Subscription

VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5

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Proofreader M.Sharoshi

Claims (2)

1. DEVICE FOR SOFTWARE CONTROL FOR AUTO OPERATOR CAPTURE by autoswitch G 1233103, which means that, in order to simplify operation of the device, nineteenth and twentieth OR elements are introduced into it, a group of RS-triggers from the first to fourth groups of AND elements , indicators and matching code converter, outputs connected to the inputs of indicators, and inputs to the inputs of AND elements of all groups, the S-input of the first RS-trigger of the group is connected to the R-inputs of the other RS triggers of the group and to the inputs of zeroing the divider counters, and the direct output - with control the main input of the first group of elements “AND, the S-input of the second RS-trigger of the group is connected through the nineteenth OR element to the outputs of the elements of the mode settings and directly to the R-inputs of the remaining RS-triggers of the group, and the direct output to the control input of the second group of elements AND, The S-input of the third RS-trigger of the group is connected to the output of the sixth OR element and to the R-inputs of the remaining RS-triggers of the group, and the direct output is to the control input of the third group of AND elements, the S-input of the fourth RS-trigger of the group is connected directly to R- inputs of other trigs gers of the group and through the twentieth OR element with the outputs of the first OR element and the capture displacement sensor along the first coordinate, and the direct output with the control input of the fourth group of AND elements, the information inputs of which are connected to the outputs of the second reversible counters, and the information inputs of the first, second and third groups of elements And are connected to the outputs of the first reverse counter, counter-divisors, and buffer registers, respectively. 2. The device pop. ^ characterized in that it contains the commissioner’s remote control and the twenty-first and twenty-second OR elements, the output of the twenty-first OR element is connected to the S-input of the first and R-inputs of the remaining RS-triggers of the group, and the first input - to the zeroing inputs of the divider counters, the output of the twenty-second OR element is connected to the S-input of the third and R-inputs of the remaining RS-triggers of the group, and the first input to the output of the sixth OR element, and the second inputs of the twenty-first and twenty-second and third inputs of the nineteenth and twentieth OR elements are connected to the tweeter outputs of the commissioner.