SU1534308A1 - Ultrasonic meter of motion parameters - Google Patents

Abstract

The invention relates to a measurement technique and can be used in robotic systems and complexes for the automated measurement of movement and velocity. The aim of the invention is to enhance the functionality by allowing simultaneous measurement of movement and speed. To measure movement, a time interval is formed, the duration of which depends on the magnitude of the movement. The movement speed is defined as the difference between the measurement results of movement in adjacent measurement cycles. The measurement results are stored in the respective registers. 5 il.

Description

The invention relates to a measurement technique and can be used in robotic systems and complexes for the automated measurement of movement and velocity.

The purpose of the invention is to enhance the functionality by allowing simultaneous measurement of movement and speed.

FIG. 1 is a block diagram of a motion parameter meter; in fig. 2, 3, 4, 5 — embodiments of its main assemblies.

The linear displacement meter contains a magnetostrictive linear displacement transducer consisting of a duct 1 of a magnetostrictive material with a free end, a stabilizing tension stabilizer 2, an acoustic damper 3, two limit stops 4 displacements, a write-read element 5, a recording amplifier 6 and a preamplifier 7 of reading, digital conversion channel

consisting of control circuit 8, measurement generator 9, accumulation unit 10, reversal circuit 11, accumulation unit 12, interrogation generator 13, pulse generator 14, first delay element 15, pulse generator 16, registers 17 and 18, delay element 19, bus 20 control, launch bus 21, query bus 22, result and speed tires 23 and 24, synchronization bus 25, one end of the sound duct 1 is installed in the acoustic damper 3 and connected to a stretching force stabilizer 2, coaxially with the sound duct 1 fixed element 5 read-write with the possibility of longitudinal movement between the motion limiters 4, having a kinematic connection with the object of controlled motion, the output of the write-read element 5 is connected to the third input of the control circuit 8 through the preamplifier 7 readout, its first output through ICMP

with

four

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about

00

jjim ii aim icnepaiop 9 is connected to the forward counting input of the accumulation unit 10 and the synchronization of the reverse circuit 11, its outputs are connected to the forward and inverse counting inputs of the accumulator 12 by the transfer output connected to the information input of the reverse 11 circuit and its zero the input is connected to the synchronous inputs of blocks 10 and 12 of the accumulator 1i and I1 is connected to one output of the pulse generator 14 pulses its output 1from, connected to the Bxoiy of the read write element 5 hcpei sy 1 write 6, the input of the impulse generator 14 is connected to the triangle BI.IXOIV of the circuit 8 management Leray ioperator 13 poll its second you ho i through to the cop 15 is connected to a delay request mud 22 and connected to the input generates 1st T L pulses its output (.oi UMRH sinhrovhoaami with registers 17 and 18

AND BY J.K 1SHESN

41 rez tcment 1 0 accumulative inputs iisipa 17 and about

24

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to the synchronization chip 25, 19 for delays, the outputs of the control unit with information 12 accumulation and re- eats are connected to the bus through speed through the register 18 the first and vyuro and inputs of the control circuit 8 LCH i) respectively i to the bus 21 and 20 run bus

 with i swarms, gvo works with one way

Initially, the system has set you up, uioe condition Via bus 22 request) digital signal is “Injected in response to which digital bus i 21 i i UK icH digital impulse and i signal is launched to start eipomnsa digital conversion channel the network on bus 20 of the control unit is not exposed to a digital sieve. 71 "Ack ianoB (phi 2) At its third output forms. from this point on, a decision is made by the cohorts of iroi (the launch of the poll generator 13 is conducted (FIG. 5)) which generates pulsed uii our poll with a frequency of 1 i -1 Г | i tl T interrogation period

Ma Nikk ipHKHHOHiioi about the converter ne) i mark

On the basis of the HMHV 1c generator 13 it has a poi i cell generator shaper 14 nyov (fsh 4) on the signals of which iipoiHB (1ИГ1.И record the beginning of the first code (N „-0 001 but also information inputs in 10 10 accumulation, and excitement uiinreiH h of recording Mai nitrostrictive i pi is formed by t shneynyh movements

 The current imp imp ibc force u ui of the record is passed to the input i in the inline-jit mtmacc and read by one hundred iooi.no i. 1 and you are mined with the ability to move and in) by i him mi tirovannuyu MI ning) nnu BOIH ve ie HI outside the direct m ii nyusy gryktsionnuyu transformation This mi ta paciipi with fan etei in both sides i in koarovo i m of restriction restriction

0

0

five

linear displacement generator with final phase velocity V At the same time, at the output of the write-read element 5, a modulated voltage pulse is generated that passes without a delay to the input of the preamplifier 7 readout and is used to start the measuring generator 9 through the control circuit 8 The generator 9 generates reference counting frequency pulses {that pass to the forward counting input of accumulation unit 10

Spreading in the direction of the composite acoustic damper 3, the magnetoelastic wave at some moment of time reaches the acoustic damper and experiences complete acoustic absorption, thereby eliminating the formation of secondary reflected magnetoelastic waves in the magnetostrictive transmission path.

Spreading to the opposite side, the magnetoelastic wave at the desired time reaches the reflection zone of the free end of the sound duct, experiences almost complete reflection and propagates in the opposite direction in the direction of the read record element 5, located at the desired distance, J, OCTHIH B of the tementation 5 of the readout record, the magnetoelastic wave induces a high-voltage pulse of the readout voltage due to the magnetoelastic transformation readout reader 7

Spread further along the conductor 1, the magnetoelastic wave, the read entry element 5, reaches the acoustic 1E 1pfer} and undergoes acoustic assistance.

The imput preamplifier 7 reads through to the information input of the circuit 8 for controlling the digital channel of the device conversion and stops the operation of the measuring generator 9. From this moment the counting frequency of the reference frequency f from this moment does not go to the forward counting input of the accumulation unit 10. counting inputs of the block; through the reversing circuit 11, the first conversion cycle does not carry information. In the first linear conversion conversion cycle, the digital position code equal to

 Have

Then, the polling generator 13 generates a second pulsed polling signal. In this case, the pulse shaper 14 is excited, the signals of which record the first cat 10 accumulation of the cat (1) formed at the outputs into block 12

five

0

B and

0

N.Tx,

(one)

five

accumulation and installation of the reversal circuit 11 (Fig. 3) into the inverse counting mode, in which the counting pulses of the measurement generator 9 are passed to the inverse count input of the accumulation unit 12.

At the same time, you start the recording amplifier B of the magnetostrictive linear displacement tel, according to the signal of which the measured object displacements are started, are written to the output buffer registers.

.yul; N4 ---- N -., (6)

where stored until the next conversion cycle. According to the heating output of the control circuit 8, the enable signal of the polling generator 13 is removed, the generator is blocked.

At the next time point, the position result bus 23, bus 24 of the resultant oscillator 9 through the speed preamplifier 7 Ju and synchrophase bus 25 and control circuit 8 excites the magnetoelastic wave in the sound conductor 1. The response of the magnetoelastic wave is read by the moving recording element 5 read through time

15

The following signals are displayed: "Position Code," Speed Code, and "Synchronization;. A request signal is set on request bus 22.

At this point, the full motion translation cycle ends in the code, and the next cycle is performed unchanged when the Run Start Bus 2 signal is given. The operation of the device can be forcibly blocked when

t 2

(2)

At this point, the full motion translation cycle ends in the code, and the next cycle is performed unchanged when the Run Start Bus 2 signal is given. The operation of the device can be forcibly blocked when

match the code of the current position of the monitored object

Nx ,, o. f - f

(3)

through which the measuring generator 9 stops. During this period, T.

counting pulses are passed on the straight line 20 of the digital signal control bus 20 to the counting input of the accumulation unit 10 and form-stop.

The measurement accuracy of the device is determined by the sampling frequency f of the time interval T of the displacement, and noise immunity is ensured by using modulating the probing mag- num. The counting pulses of the measuring generator 9 are simultaneously passed through the reversing circuit 11 to the inverse counting input of the accumulation unit 12, and subtracting the current code from the NX code generated in the first clock of the motion translation. If the values of the codes turn out to be NX 2, then the transfer output of accumulation unit 12 generates a non-elastic signal, stabilization of the impedance of the magnetostriction signal transmission path by stabilizing its mechanical voltage, and 30 also isolating it from the external environment. Motion limiters 4 define the required range of movement of the recording-reading element along the sound guide and prevent mechanical elements from being converted from mechanical destruction.

in which the inverter 35 inverter II during operation switches from the direct counting mode. Thus, the use in which the counting pulses of the processor are measured to calculate the parameters

tel generator 9 is passed for direct movement of an object made according to the scheme

digital machine with "rigid logic, 4Q" provides the expansion of its functionality with respect to the field of technical application. At the same time, the maximum possible speed of the process of calculating the motion parameters of the object under control is achieved.

Claims (1)

An ultrasonic motion parameter meter comprising a magnetostrictive linear displacement transducer comprising a sound guide with an acoustic damper at the end, a readout element adapted to move along the sound guide and intended to be connected to a controlled object of movement, and a read preamplifier whose input is connected to the output in the circuits 10 and 12. Through this 55 readout elements, and the digital channel, the time is started by the shaper 16 of the conversion, including the measuring generator connected in series, the reversing circuit and the first block of us the overflow signal of the discharge grid, the counting input of the accumulation unit 12, will form the difference between the specified codes NxcK | N2-Nit, (4) kbtora carries information about the current speed of movement of the controlled object -4L „Hi-Ili ToT; (five) As a result, at the end of the second clock of the motion conversion on the n-bit output of accumulation unit 10, the position code of the object to be monitored is generated (3) and the object speed code is generated on the n-bit output of accumulation unit 12. On the second output of the control circuit 8 (Fig. 2), a signal is generated which is delayed by the transition time, 45 50 pulses, by the signal of which the generated codes of position (3) and speed (4) object displacements are written to output buffer registers. .yul; N4 ---- N -., (6) where are stored until the next conversion cycle. According to the heating output of the control circuit 8, the enable signal of the polling generator 13 is removed, the generator is blocked. The next time point on the bus 23 result on the position, the bus 24 result on the speed and the bus 25 synchrony The following signals are displayed: "Position Code," Speed Code, and "Synchronization;. A request signal is set on request bus 22. At this point, the full motion translation cycle ends in the code, and the next cycle is performed unchanged when the Run Start Bus 2 signal is given. The operation of the device can be forcibly blocked when bus 20 control digital signal "Stop. boiling, and the chowls are connected by the interrogation generator and the first one is iti ii, the output of which is connected to the inputs of the reversal circuit and the first iHJi.i of the accumulation unit, characterized in that. In order to expand the functionality of simultaneous measurement of displacement and velocity, the magneto-friction transducer of displacements is equipped with a stretching force stabilizer, displacement restraints, ICHHUMH devices at the ends of the twist duct, and the force of a recording that is connected to the output of the first Tlsov driver and the read element is made universal in the form of a write-read element, the input of which is connected to the output of the write silica gel, digital channel 1van1-. supplied in series connected by the control circuit, the first delay element and the second pulse generator, the second delay element, the first and second registers, the inputs of which are connected to the output of the second pulse generator, and the second accumulation unit, the first and second inputs of which are connected respectively to the output of the measuring generator and the output of the first pulse generator, and the output to the second inputs of the first accumulation unit and the first register, the input of the control circuit is connected to the output the read preamplifier, its outputs — with the input of the interrogation generator and the measuring generator, and the outputs of the first accumulation unit — with the second inputs of the reversal circuit and the second register corresponding to -retarded l sync fJt, speed code / V3 position code -P request Fig 2 Fig.Z From 13 Mm m with U Kb 32 KYLK 5