SU1705066A1 - Setting device of remotely-controlled semiautomatic manipulator - Google Patents

Description

move ty / y - i and

ka 2, second gauge 3, with a pool ;.); Perzoy, the first t and the second 5 displacement sensors, limit switches 6-9, outputs 10 and 11 of the primary and second displacement sensors, the handle 12 dimmers, the first 13 and the second h accumulators, the first 15 and the second 16 integrators, four constant sources tension

The device works as follows.

The actuator of the manipulator is controlled with the help of the control knob 12 located on the second carriage 3, by moving the first 2 and second 3 carriages in the base 1 with the guides. At the same time, the signals at the outputs 10 and 11 of the first and second sensors 4, 5 of the switch-20 spaces, kinematically connected with the first 2 and second 3 carriages, respectively, vary in size in accordance with the position of the carriages 2, 3. The displacement sensors kt 5 serve 25 for precise installation of the actuator of the manipulator and ensure its small movements in two coordinates. The signals from the outputs 10 and 11 of the first and second sensors of the relocations are fed respectively to the first inputs of the first 13 and second 1 adders, the output signals of which are sent to control the actuator of the manipulator.

. If it is necessary to move from one area of the working space to another, the operator brings carriages 2 and 3 to the stop with corresponding limit switches 6-3 Occurs to limit switches closing, while the voltage of the constant voltage sources goes through the limit switches to the integral inputs The tori 15, 1b, and from their outputs, linearly increasing voltages are removed, which are fed to the second inputs of the first 13 and second 1 t adders. At the same time, the output voltages of the adders 13 and 14 are sufficient to move the actuator of the manipulator to any point of the two-coordinate workspace.

Therefore, to each integrar10

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The torus 15, 16 connects positive and negative sources of constant voltage through the corresponding limit switches 6, 7 and 8, 9, which ensures the displacement of the actuator of the manipulator in two coordinates in the required direction.

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Claims (1)

Invention Formula A remote semiautomatic manipulator driver, 5 comprising a base with guides along which the first carriage moves, the second carriage moves inside the first carriage in the direction orthogonal to the direction of movement of the first carriage, the control knob located on the second carriage, the first and second displacement sensors located respectively on the guide base and the guide of the first carriage and kinematically connected respectively to the first and second carriages, four sources of constant voltage, the first and second adders, the first inputs of which are connected respectively to the outputs of the first and second displacement sensors, the outputs of the adders are connected respectively to the first and second outputs of the device, characterized in that, in order to simplify the design of the device, two limit switches installed on the base with guides, two limit switches installed on the first carriage, the first and second integrators, the outputs of which are connected respectively to the second inputs of the first and second Adders The first and second sources of DC voltage are connected respectively via limit switches installed on the base, with the rails, with the first and second inputs of the first integrator, the third and fourth sources of DC voltage are connected respectively to the end switches. the first carriage, with the first and second inputs of the second integrator. five 45 50 L 12 s 7 eleven / h X / / but / ///// Compiled by V. Klynin Editor I. Bandura Tehred A. Kravchuk -Order.157 Circulation VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR P3035, Moscow, Kh-35, Raushsk nab. D. V5 / i ; ra P - I «Te-J Proofreader N.Samborska Subscription