SU1644094A1 - Positioning device - Google Patents

Description

one

(21) 4609464/24

(22) 10/17/88

(46) 23.04.91, Bksh0 R 15 (71) Moscow Institute of Instrument Engineering

(72) Yu.L. Nikolaev, A.G., Ershov, V.A., Smirnov and O.I0 Petrov

(53) 62-50 (088.8)

(56) Ivanov AoA. Designing systems for automatic product manipulation. - M .: Mashinostroenie, 1981, s, 216-228.

Industrial Robotics. / Ed. Ya.A „P ifrina, - W .: Mechanical Engineering, 1982, p. 188-209.

(54) POSITIONING DEVICE

(57) The invention relates to the means of automatic control of the movement of the working bodies of instrument and technological systems and can be used in the technique of linear measurements,

devices of exact mechanics and optics, technological equipment, in particular in robotic devices, as a single-axis multi-position module of linear displacements. The purpose of the invention is to improve the positioning accuracy. For this, the electromechanical actuator is equipped with a piezoelectric 4 and a controlled gripper 5 of the surface of the cylindrical guide housing, and keys 14, 15, a two-threshold comparator 12, a trigger 13, an amplifier 16 of the power supply voltage of the piezoelectric 4 and a switch-on relay element 17 are inserted into the control unit gripping device 50 This technical solution allows for a multi-position operation cycle with maintaining positioning accuracy within the measurement error of the position of the movable rod u 4 sludge.

(L

The invention relates to means of automatic control of the movement of the working parts of instrument and technological systems and can be used in the technique of linear measurements, instruments of precise mechanics and optics, technological equipment, in particular in robotic devices as a single-axis multi-position module of linear displacements

The purpose of the invention is to improve the accuracy of positioning,

FIG. 1 shows a constructive implementation of the device for positioning; Fig. 2 illustrates an exemplary embodiment of controlled gripping; in fig. 3 is a block diagram of the device; in fig

Converter 9, the deviation enters through the closed key 15 to the input of the amplifier 16, the output voltage of which causes a corresponding change in the size of the piezoelectric package 4 in the axial direction. As a result, the reference surface of the piezoelectric package moves, causing the movable rod to move and adjust its position. If the error signal exceeds Ur, 0p, or U P0p2 /, the comparator 12 switches the trigger 13 to the single state. At that, the quick release of the gripper 5 occurs, which is provided by applying reverse voltage from the relay element 17 to the piezoceramic fixing elements 6, causing a decrease linear

4 - the two- 0 Sizes of the latter are functional. Simultaneously, the threshold threshold comparator key 15, setting the piezopack to the zero position, and including the Positioning Device (FIG. 1) includes a housing 1 with a cylindrical guide, a movable rod 2 connected to the actuator 3, a piezo packet 4 attached to its base the end surface of the grip 5, fixed stationary counting surface on the movable rod

Key 14. As a result, the control element 11 and the actuator 3 25 move the device stem in a direction dependent on the sign of the error signal. Upon reaching the error signal corresponding to the threshold value ipor (or.

Key 14. As a result, control element 11 and actuator 3 25 move the device stem in a direction dependent on the sign of the error signal. Upon reaching the error signal corresponding to the threshold value ipor (or.

5 (FIG. 2) is made in the form of a washer, the trigger is installed in the holes of which piezoceramic elements 6 are mounted. At this, the gripper 5 interacts with the surface of the cylindrical guide casing 1t. Position of the movable rod 2

45

35

measured by the position sensor 7 The device also comprises a control unit 8 having a position sensor measuring converter 9, a reference element 10, a control element 11- a 4-d drive, a two-threshold comparator 12, a trigger 13, keys 14 and 15, a piezo-pack power amplifier 16, relay element 17 of the capture and the setting device 18 position.

The device works as follows.

In the initial state, the error signal at the output of element 10 is within the limits of D ° and chlorine 2. this trigger 13 is in the zero state. The key 14 is turned off, the key 15 is turned on, and the relay element 17 holds the gripper 5 in the switched on state, providing mechanical connection of the housing 1 to the movable rod 2 through the piezoelectric packet 4 from Unopi D ° por2 measured with sensor 7 and

50

S5

the left position, as a result of which the actuator 3 switches off and engages the gripper 5 and the control circuit of the piezopack 4. The device returns to its initial state with regulation of the set position by means of a piezoelectric package

The proposed technical solution allows a multi-stage operation cycle with maintaining positioning accuracy within the measurement error of the position of the movable rod.

Claims (1)

Invention Formula A positioning device comprising an electromechanical actuator consisting of a housing with a cylindrical guide, on which is placed a cylindrical movable rod connected to a moving actuator of the movable rod and a movable rod position sensor, as well as a control unit containing a moving actuator control element of the movable rod and the reference element connected by the first input to the setpoint master output Converter 9, the deviation enters through the closed key 15 to the input of the amplifier 16, the output voltage of which causes a corresponding change in the size of the piezoelectric package 4 in the axial direction. As a result, the reference surface of the piezoelectric package moves, driving the movable rod and adjusting its position. If the error signal exceeds Ur, 0p, or U P0p2 /, the comparator 12 switches the trigger 13 to one state. In this case, the pickup 5 is quickly disconnected, which is provided by applying reverse voltage from the relay element 17 to the piezoceramic fixing elements 6, causing a decrease in linear The key 14. As a result, the control element 11 and the actuator 3 move the device stem in a direction dependent on the sign of the error signal. Upon reaching the error signal corresponding to the threshold value ipor (or. the trigger is set to the trigger is set to the left position, as a result of which the actuator 3 switches off and engages the gripper 5 and the control circuit of the piezopack 4. The device returns to its initial state with regulation of the set position by The proposed technical solution allows for a multi-position operation cycle with maintaining positioning accuracy within the measurement error of the position of the movable rod. Invention Formula A positioning device comprising an electromechanical actuator consisting of a housing with a cylindrical guide, on which is placed a cylindrical movable rod connected to a moving actuator of the movable rod and a movable rod position sensor, as well as a control unit containing a moving actuator control element of the movable rod and the comparison element connected by the first input to the output of the position adjuster, and the second input - to the output of the measuring transducer of the position sensor The moving rod, characterized in that, in order to improve positioning accuracy, the electromechanical actuator is equipped with a piezopackage and controlled gripping of the surface of the cylindrical guide housing, the piezopack being installed along the moving direction of the moving rod, the reference surface of the piezopackage is fixedly connected to the surface of the moving rod, the controlled gripper is made in the form of a washer with Aixie's piezoceramic elements, located coaxially with the cylindrical guide body and fixed on the base surface of the piezopackage, and the control unit is equipped with two sources of threshold voltages, two keys, a piezopack power supply voltage amplifier, a gripping relay element, a trigger and a two threshold comparator, the first and second inputs of which are connected to the outputs of the corresponding threshold voltage sources , the third input - with the output of the comparison element and with the information inputs of the two keys, and the first and second outputs are with the corresponding trigger inputs connected by the first output with the control input of the first key connected by the output to 5 to the input of the moving actuator drive control element, and the second output to the input of the gripping switching on relay element and the control input of the second switch connected to the input of the piezo-pack power amplifier. , dv / / / / / / W g H ghchtllhhh / l I I + Unum d 2 FIG. 2 Ubtf Fy