SU1565679A1 - Manipulator - Google Patents

Abstract

The invention relates to robotics and can be used to create remote copy manipulators. The aim of the invention is to expand the functionality of the device. The device uses the input keys to switch the drive control circuits of the driver and actuator bodies, which ensures that the organs are held in the desired position and also the position of the driver and actuator organs is coordinated. The device also contains an integrator, four adders, an electrohydraulic actuator and an electric actuator, pressure and position sensors, and an elastic element. 1 il.

Description

The invention relates to robotics and can be used to create remote copy manipulators.

The aim of the invention is to expand the functionality of the device by ensuring that the position of the driver and actuator of the manipulator is coordinated.

The drawing shows the functional diagram of the device

The device contains an integrator 1, the first adder 2, electro: Idoprivod 3, the first sensor 4 position, the actuator 5, the sensor 6 pressure, the second adder 7, the actuator 8, the elastic element 9, the sensor 10 torque, the second sensor 11 position, the master body 12 , the third adder 13, the first and goroy to / chochki 14 and 15, respectively, the fourth adder 16, the third and fourth keys 17 and 18, respectively.

The device works as follows.

In the initial position, the key 15 is open, the output of the key 14 is connected to its second input, the keys 17 and 18 are closed. The executive command is G and the organ 12 ui h in non-h./- position and their mutual .h) in life can be arbitrary, p ir, ii “le and. mismatched rn. o .c and with szk: tse l l. sh vekmv e laid -i -,). ghana 5

Peoed and J io p., Serve as a support for JPI iai. i - i z.ughes; 5 iaii% t ,, i to change the output on cnii,;. i chica 10, measure, def. 1 Mk) of that element 9 and oedipei, oh; a key 14 with an electrically insignificant lead led to the inclusion of electrik a 8 and its displacement Bi M i; oto cho. K and, v, omitted by L through u set opi ana 12 i chapra i i, imm BIITCTB: g isg1. h h organ 5 N ohm 1, ac am: h specifying 12 and the most i, i o; i ,, h. cos 1-to-one, n.uparop i, a k. impact on ass. 1.1 opi ,,:. , turn on the building. In the works of tieooxo, I can lock the l iio-i th, connect the output of the i-key 14 with it to the first input and

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lock the keys 17 and 18. In this case, the input of the integrator 1 through, the adder 16, the key 15 and the adder 13 is connected to the outputs of the sensors 10 and 6. In the absence of power effects of the operator on the driver body 12 hours of external load on the executive body 5, the output signal integrator 1 corresponds in magnitude to the output signals of sensors 11 and 4, which determines the zero value of the signals from the outputs of adders 7 and 2 and excludes when the device is put into operation, uncontrolled movements and loads of electric drive 8 and electric hydraulic drive 3 under the action of ehodnyh processes.

When performing work, the operator, acting on the delivery body 12, generates control signals with the help of an elastic element 9 and a sensor 10, which are received through a sumyur 13, a key 15 and an adder 1b at the input of the integrator 1. At the output of the Shregrayer 1, cm of control lines are formed, m - they are closed in position by electric motor rt and electric hydraulic actuator 3 Under yusgviemi control hyi on: it from the output of integrator 1, arriving on the first inputs of adders 7 and 2. i electromotive 8 and electrohydrodrive.1 3 move the setting and executive bodies 5 and 5 respectively 12 with sk If the executive body 5 moves, an external load acts on it, the magnitude of this load is measured by sensor 6, the output signal of which goes to the adder 13. where the comparison with the sensor signal K), Ah, as a result of the control of the operator H pc, the output of the adder 13 generates a signal proportional to the sum (if the load on the executive body 5 is directed towards the dvp / kenp) or the difference (if trechu motion) force effects opsrayura hectares: a, taio- schii body 12 and heat ki to the actuator 5 Under deist miev. igal for i.a of adder S3, input through key l. j, the adder 1 e and the iterator 1 to the inputs of the adders 7 and 2, the actuator 8 and the electric drive 3 move the master and executive bodies 2 i B at a speed proportional to h ms or the difference of the force effects burned to the master and executive bodies 12 and five.

If, during the operation of the device, it is required to ensure the long stationary position of the driver and actuator 12 and 5, then to perform this operation, the keys 15, 17 and 18 are open. The value of the output signal of the integrator 1 will correspond to the output signals of the sensors 11 and 4 angles of the driver and actuator 12 and 5, respectively, and remain unchanged regardless of the force applied to the driver and actuator 12 and 5. This allows the operator to be relieved of participation in long operations x but withholding the giving and the executive bodies 12 and 5

in a stationary position and provides high accuracy of holding a stationary position.

To remove the driver and actuator 12 and 5 from the stationary position, it is necessary to close the key 15 and unlock the keys 17 and 18. This connects the output of the third adder 13 to the input of the integrator 1, the output of which, depending on the operator’s controlling actions on the master organ 12 and loads on the executive body 5, control signals are formed, in accordance with which the output shafts of the electric drive 8 and the electric hydraulic drive 3 and the driver 12 and the executive 5 bodies associated with them are driven. accordingly.

To turn off the device, you must install the actuator 5 to its original position, unlock the key 15, close the keys 17 and 18, the output of the key 14

0 connect to its second input. Acting on the driver unit 12 and controlling the movement of the output shaft of the electric drive 8 by changing the signal of the sensor 10 connected via the second input of the second key 14 to the input of the electric drive 8,

5 can be set to the desired position specifying authority 12.

Claims (1)

Invention Formula five A manipulator control device comprising a sequentially connected integrator, a first adder and an electric hydraulic actuator connected hydraulically with a pressure sensor, and kinematically - with a first position sensor, an electric actuator kinematically connected through a spring element with a moment sensor and directly with a second position sensor connected output with the first input of the second adder, the second input of which is connected to the integrator output, and also a third adder connected by the first input with the output of the pressure sensor And the second input with the output of the torque sensor, characterized in that, in order to extend the functionality, it additionally contains the first, the second and third keys, as well as successively connected fourth key and fourth adder, the second input of which connected via the second key to the output of the third adder, the third input through the third key to the output of the first position sensor, and the output to the input of the integrator connected by the output to the fourth key input, the first i nopBOto key connected to the output of the second adder, the second input to the dtchika moment, and the output - to the electric drive J I ffJ ™ V1 J