SU497085A1 - Multi-axis manipulator software control system - Google Patents

Description

one

The invention relates to the field of aBtoMaTH and computer technology and can be used in the construction of program management systems for multi-axis manipulators, casting machines and metalworking machines.

KNOWN SYSTEMS of multi-coordinate manipulators that contain a program block made in the form of a resistive-diode matrix with switching elements of a program set, whose inputs through working elements do NOT connect position sensors of working bodies and include triggers and amplifiers to the outputs associated with the control elements of the movement of the working bodies.

The disadvantage of these systems is their complexity and low reliability.

The aim of the invention is to simplify the system and increase its reliability.

This is achieved by the fact that the system contains reverse blocks, with the first, second and third inputs of the reverse block connected to the inputs of a resistive-diode array connected respectively to the extreme position and middle position sensors of the working element, the fourth and fifth inputs of the reverse block are connected to the outputs the triggers of the coordinate control units of the extreme positions of the working element, and the first and second outputs of the reverse unit, through amplifiers, are associated respectively with the control elements of the working body, and also by the fact that the reverse unit win four elements "inverted two circuit" OR, two schemes "And reverse trigger and two latch memory unit being input pen Vågå trigger memory and a zero input of the second flip-flop memory connected to the first input

the reverse block, the single input of the second memory trigger and the zero input of the first memory trigger are connected to the second input of the reverse block, the single outputs of the memory trigger are connected to the first inputs of both circuits

"And the second inputs of which are connected to the third input of the reverse unit, the outputs of the circuits" And connected respectively to the single and zero inputs of the reverse trigger, the inputs of the first and second elements of the "BAN" are connected to the fourth input of the reverse unit, and the inputs of the third and fourth elements " BAN - with the fifth input of the reverse block, the single output of the reverse trigger is connected to the prohibitory inputs of the first and fourth

of the elements “BANNER, and zero - with the inhibiting inputs of the second and third elements“ BAN, the outputs of the first and third elements “BAN THROUGH through one circuit“ OR connected to the first output of the unit

of the reverse, the outputs of the second and fourth elements “BANNER through another circuit” OR are connected to the second output of the reverse block, and also that the outputs of the resistive-diode matrix through the corresponding series-connected normally closed contacts of the switching elements of the program set and the diode are connected to the zero bus. FIG. 1 shows a block diagram of a software control system, and FIG. 2 - block diagram of the reverse. The software control system (Fig. 1) contains sensors 1b, b, n, position, elements "NOT 2 22, ..., 2n, resistive-diode matrix 3 with vertical 4 and horizontal 5 buses, switching elements 6i-i,. .., Qi-n, 6m-i, ..., 6m-n set of the program with normally closed contacts, ..., 7i-n, 7m-i, ..., 7t-n, block 8 of coordinate control with triggers 9i, ez, ..., 9 and amplifiers yu 102, ..., lOg, elements 11g I, Id control of the movement of working bodies (not shown), block 12 reverse, diodes 13i 182, ... , 13th and zero bus 14. The reverse unit in FIG. 2 contains four elements “Prohibition 15-18, two schemes“ OR 19 and 20, two schemes “And 21 and 22, trigger 23, reverse and trigger 24 and 25 of memory. The software control system works as follows. After dialing the necessary program using switching elements, ..., Sm-n (Fig. 1), signals are received in a certain sequence from the sensors li, ..., 1 „through the elements“ NOT 2, ..., 2 ”and resistive-diode array 3 to the corresponding triggers 9i, ..., 9, of the block 8 of the coordinate control. To make symmetrical movements. Objects without changing the program serves as a block 12 reverse. In the middle position of the corresponding organ on the first and second inputs of the reverse block 12, signals from the sensors li and b of the extreme positions of the working organ are absent, and on the third input there is a signal, since the sensor b is activated (see Fig. 2). There is a signal at the second inputs of the And 21 and 22 circuits, but since there is no signal at their first inputs, the outputs of the And 21 through 22 circuits also lack signals. In this state of the circuit, there are no signals on the unit outputs of the flip-flops 23, 24, and 25, and there are signals on the zero outputs of the same triggers. The zero signal from the output of the trigger 23 of the reverse locks the elements “BANKS 16 and 17.” According to the dialed program, at the required time of the cycle from the vertical strip 4 of the matrix 3 (Fig. 1), the signal goes to the trigger 9i of the coordinate control unit 8. From the output of the trigger 9i (Fig. 2), the signal will go to the fourth input of the reverse block 12 and through the element "BANNER 15 and the scheme" OR 19 will go to the amplifier Yu. This will turn on the Hi control element and the corresponding operating member of the manipulator will move to its extreme position for service facility. At the beginning of the movement of the working body, the signal from the sensor C will disappear. At the end of the non-displacement of the working body, the sensor h is triggered and at the first input of the block 12 of the reverse through the element "NO 2i a signal is received. At the same time, the memory trigger 24 is turned on and at the first input of the circuit "And 21 but the Wits signal, but its output signal will not be, since there is no signal at the third input of the reverse unit 12. After performing the operations on the first serviced object from the diode array 3, according to the dialed program, the signal will go on turning on trigger 92 and turning off trigger 9i of block 8 of the coordinate control. In this case, the Hi control is disabled. From the output of the trigger 92, the signal will go to the fifth input of the block 12 of the reverse and through the element BANGE 18 and the scheme OR 20 will go to the amplifier 102. This will turn on the element 112 controlling the movement of the working element in the opposite direction. When the working device arrives in the middle position, the sensor 1h turns on again and at the second input of the circuit "AND 21 a turn signal. In this case, at the output of the circuit “And 21 according to the Wits signal, which will turn on the trigger 23 of the reverse. The trigger 23 of the reverse will remove the signals from the inhibit inputs of the elements "BANKS 16 and 17" and will feed them to the inputs of the elements "BANKS 15 and 18 and the control element will turn off. When the trigger 9i of the coordinate control unit 8 is re-enabled according to a given program, the signal from the fourth input of the reverse block 12 through the BAN 16 and the OR 20 circuit will pass through the second output and turn on the amplifier 102 and the control element 1. The manipulator will move torus to the second symmetrically located serviced object. Upon the arrival of the working body to the second extreme position, the sensor 12 is triggered, which will activate the memory trigger 25 and disable the memory trigger 24. When the manipulator arm is returned to its middle position at the output of the “22 And Wits circuit” signal, which will return the trigger 23 of the reverse to the initial position. The scheme is again ready to move to the first serviced facility. In some cases, there is no need to move along any coordinate for the multi-angle manipulator to work. In this path, all switching elements up to 6n-i or 6m-i to t-n will remain disconnected on one or several vertical busbars 4 of a resistive-diode array 3 (Fig. 1). In this case, a false signal may appear on the vertical bus 4 . So that the sigal does not get on the triggers 9i, 92,. .., 9, vertical bus 4 resistive-diode array

3 through diodes 13 ..., 13 t and corresponding normally connected normally closed contacts, ..., 7i-n, 7m-l, ..-, Im-n

switching elements connected to the zero bus 14. The signal at the output of the vertical bus 4 is missing.

Subject invention

Claims (3)

1. The software control system of the multi-axis manipulator contains, and a program block, made in the form of a resistive-diode matrix with switching elements of the program set, to the inputs of which, through the elements, the working position sensors are NOT connected, the coordinate control blocks, including The triggers and amplifiers associated with the elements of the control of the movement of the working bodies are distinguished, and in order to simplify and improve the reliability of the system, it contains reverse blocks, the first The second and third inputs of the reversing unit are connected to the inputs of a resistive-diode matrix connected respectively to the extreme position and middle position sensors of the working element, the fourth and fifth inputs of the reverse block are connected to the outputs of the trigger triggers of the coordinate units of the working body, and the first and second outputs of the block the reverse through amplifiers are associated respectively with the control elements of the working organ. 2. The system of claim 1, wherein the overwrite block contains four elements “BAN, two OR schemes, two AND schemes, a reverse trigger and two memory triggers, the single input of the first memory trigger and the zero input of the second the memory trigger is connected to the first input of the reversing unit, the single input of the second memory trigger and the zero input of the first memory trigger are connected to the second input of the reverse unit, the single outputs of the memory trigger are connected to the first inputs of both And schemes, the second inputs of which are associated with the third input of the reverse block, in the “AND” circuit moves are connected to the single and zero inputs of the reverse trigger, the inputs of the first and second “BANCH” elements are connected to the fourth input of the reverse unit, and the inputs of the third and fourth “BREAK” elements to the fifth input of the reverse unit, single output of the trigger of the reverse is connected to the prohibitory inputs of the forward and fourth elements “BANNER, and zero - to the prohibitory inputs of the second and third elements“ BAN, the outputs of the first and third elements “BANNER through one circuit“ OR connected to the first output of the unit reverse go out the second and fourth elements “BANNED through another scheme“ OR are connected to the second output of the reverse unit. 3. The system according to claim 1, characterized in that the outputs of the resistive-diode array through the corresponding serially connected normally-closed contacts of the switching elements of the program set and the diode are connected to the zero busbar. Submarine g with 7; - / 11i 112 one, 22 2j