SU489627A1 - Device for positional control of a robotic arm - Google Patents

Description

The invention relates to the field of computer technology and can be used in the design of motion control devices for manipulator robots and other active external digital computer devices. Devices for positional control of a robotic arm are known, comprising command potentiometers connected through a switch to the servo system input, and a null organ, the inputs of which are connected to servo mismatch buses. The design complexity and low overall weight of these devices are due to the presence of precision mechanical moving parts with large dimensions and weight, as well as the high cost and complexity of programming work cycles of irregular length. The purpose of the invention is to simplify a device for positional control of a robot arm. This is achieved by the fact that the device contains a serially connected clock generator, a starting circuit, a scaling circuit, a pulse distributor, a typing field of a sequence of positions, an encoder for the control code, and a block of rewriting gates whose outputs are associated with the corresponding control inputs of the switch, a typing time delay field, the encoder of the conversion code and the dial-type field of the cycle length. The output of the dial field of the cycle length is connected to the pulse distributor reset bus, the outputs of the distributor to the corresponding inputs of the set fields of the cycle length and time delay, and the outputs of the latter through the encoder of the conversion code to the corresponding control inputs of the counting circuit, the output of which is connected to the stopping input of the starting circuit , and with its triggering input, the output of the nullorgan is associated. In addition, an additional clock generator, an additional pulse distributor, an additional pulse distributor, a delay time field, and a multichannel selector, whose outputs are connected to the corresponding control inputs of the unrecord valve, are inputted into the device, and the control inputs are connected to the outputs of the distributor. pulses. The starting and stopping inputs of the additional starting circuit are connected respectively to the output of the counting circuit and the output of the additional pulse distributor. The imp is a functional diagram of the device. It contains command potentiometers 1, servos of the robot 2, switch 3, null organ 4, the first distributor 5 pulses.

typesetting zero 6 nosinii sequence, encoder encoder 7, ventn 8 uncut, typesetting zero 9 lengths of the generator, generator 10 snohronnulsov, start circuit 11, controlled unthinkable circuit 12, typesetting field 13 of the timeout, time stamp, generator 14 of the conversion code, 16 start circuit, 17 distributor 17 pulses, zero dial 18 delays, multichannel selector 19.

Command potenniometry device 1 are connected to the inputs of servo robot 2 through the switch 3, shnny mismatch robot servosnstemy - vhodamn with zero body 4. The inputs unravleni switch 3 outputs the first wound rasnredelitel 5 nmnulsov 6 via dialup Nole nosledovatelnosti nozitsny, code encoder 7 and valves unravleni 8 neresanisi. The outputs of the nerve pulse distributor are additionally connected to the inputs of the dial-up field 9 of the n-length, the output of which is connected to the reset bus of this distributor impulses. The first generator of 10 clock pulses through the first start-up circuit 11 and the adjustable unthinkable circuit 12 is connected with the input of the nerve distributor of pulses. At the control inputs of the equivalent recalculation circuit 12, the time delay and the encoder 14 of the recalculation code are entered into the output of the nerve impulse distributor via the type-setting zero field. The stopping input of the starting circuit I is connected to the output of the variable counting circuit 12, and the trigger input is connected to the output of the null organ 4. The second generator 15 of clock pulses is connected via the second starting circuit 16 to the input of the second distributor 17 nm pulses, the outputs of the latter through a dial zero of 18 delays Multichannel selector 19 - with the user-friendly inputs of 8 nonresanci valves. The triggering input of the start-up circuit 16 is connected to the output of a controlled scaling circuit 12, and the stopping input is connected to the output of the distributor 17 pulses, the control inputs of the multichannel selector 19 to the outputs of the distributor 5 pulses.

The device functions as follows.

When switching to the next motion ethane, the controllable uncountable circuit 12 is zeroed out and a pulse is formed at its output. This impulse does not convert the 11th circuit to the “Ston” position, due to which the supply of impulses from the generator of 10 sync pulses to the controlled recalculating circuit 12 is stopped. This impulse, after connecting to the input of the distributor 5, contributes to a shift about the same output potential to the neighboring output unit. In accordance with the dial-up on the dial-up zero, the following 13 is displayed: this time potential induces certain inputs of the encoder 14 of the conversion code, at the output of which a code is generated corresponding to the value of the 13-time delay in the new position. This code is rewritten into a convertible circuit 12,

What about her preparation for the countdown of the exposure time.

The same potential from the output of the distributor 5 pulses is applied to the dial field 6 of a sequence of positions on one of the control inputs of the multichannel selector 19. In the nerve case, according to the set on the dial zero, 6 consecutive positions, this notification excites one of

input bus encoder 7 control code. At the same time, at its output, the control code is generated by the switch 3 (address), which is located at the information inputs of the non-sensitized valve 8. In the second case, a single notice from the output of the distributor of 5 pulses causes the inputs of the multichannel selector 19 to be connected, corresponding to the next movement ethane to its outputs associated with the control inputs of the rewriting valves 8. This achieves the selection of a specific section of the dial-up zero 18 delays corresponding to the next motion ethane. The same impulse, which caused the transition of the distributor of 5 pulses to a new state, translates the starting circuit 16 into the “Start.

The pulses from the generator output of 15 sync pulses are fed to the input of the distributor 17 pulses. Single notional output

the latter begins to sequentially shift from one output bus to another. Distributed nmnosy nostunyut on the dial field 18 delays, where, in accordance with the set form various groups of pulses arranged in time in the required way. The ground pulse, corresponding to the next transition, passes through the multichannel selector 19 to the control inputs of the nonresanci valves 8. These impulses

cause a rewriting of the new code of the adjustment (address) in the section of the switch 3 in the required sequence, whereby the switch sections begin to connect the outputs of the new 2 to the inputs of the robot servo systems

soils of command nootentiometers 1. After the completion of the cycle of its operation, the distributor 17 of pulses goes into the initial state, and at this, at its final output, a pulse is formed, which sets the starting circuit 16 to the position “Stop. By the time of completion of the cycle of operation of the distributor 17, the outputs of all the servos of the robot 2 will be connected to the outputs of the new soil of the command nomenometers 1.

In other words, the robot is brought into motion but with all degrees of freedom that are required for non-transition to a new position. After the gripper of the robot takes the position corresponding to the new position, the mismatch signals of the robot servo systems become equal to zero. In this case, the zero-body 4 is triggered, the output signal of which switches the starting circuit 11 to the “Start. Gene generator pulses

10 sync pulses begin to arrive at