SU644617A1 - Stepping system of program control of multicoordinate manipulator - Google Patents

Description

one

The invention relates to the field of automation and computer technology and can be used to create pulsed manipulator control systems.

The known step-by-step software control system of a multi-axis manipulator comprising a memory unit, a recording and playback unit, a command generation unit, a switch and a stepping motor has two magnetic tracks in the memory unit along each adjustable coordinate, which limits the number of adjustable coordinates.

The closest technical solution to the invention is a system comprising serially connected memory unit, key and playback unit, serially connected switchboard and stepper motor connected through an actuator to an actuator position sensor, recorder, the output of which is connected via a switch to the input memory block, and a shaper executive commands.

In this system, only one magnetic track is used for each coordinate, which allows the system to be used in multi-axis manipulators. However, the implementation of this system on binary elements when using information in the ternary number system (+ 1.0-1) is very complex.

The aim of the invention is to simplify the system.

The essence of the invention is that the system contains the first element

OR, the first delay element, the one-shot, the first And / and the trigger elements connected in series, the second element of the | Zhki series, the third delay element, the second element

Claims (2)

And, the second OR element and the fourth delay element, the output of which is connected to the first input of the switch, the second and third inputs of which are connected respectively to the first and second outputs of the trigger, the first input of which is connected to the second input of the second OR element, and the second input - to the output The second element And, the second input of which is connected through the one-shot to the output of the first element, the first input of which is connected to the input of the second delay element and the output of the playback unit, and the second input - to the output of the second delay element , the first output of the position sensor of the executive unit is connected to the first input of the first element OR, the second input directly to the second input of the first OR element and through the first delay element to the third input of the first OR element whose output is connected to the input of the recording unit. The drawing shows a functional diagram of the proposed system. The circuit contains a memory block 1, a key 2, the first element OR 3, the playback unit 4, the recording unit 5, the first delay element 6, the stepping motor 7, the switch 8, the actuator 9, the actuator sender 10, the first And 11 element , the second element And 12, the second element OR 13, the second 14, the third 15 and the fourth 16 delay elements, the one-shot 17, the trigger 18. The system works as follows. To record the program, set the key 2 to the "Record" position and manually make the necessary mixing; the executive unit 9, from the position 10 of the executive body position the impulses flow through the first element OR 3 to the recording unit 5 and the program is recorded on the magnetic tape of the memory unit 1. The reverse movement pulses are fed to the input of the first element OR 3 directly from the sensor 10 and through the first delay element 6, therefore the reverse movement program is recorded double shifted by the delay time of the impulse. lsami. In the position of the key 2, the Operation read from the magnetic tape of the memory 1, single and double pulses through the playback unit 4 arrive at the elements of the formation of control commands. When implementing the reverse movement program, the dual pulses are extracted by the first element AND, and the second delay element 14 in the presence of double pulses at the output of the first element 11, single pulses are formed, which follow at appropriate intervals and arrive through the second element OR 13, into the fourth element 16 delays. The same pulses are fed to the input of the trigger 18, the trigger 18 is set to a single position. Controlled by the trigger 18, the switch 8 switches the windings of the stepping motor 7 to the reverse movement position. After that, the delayed pulses from the fourth element 16 of the delay through the input of the switch 8 on the stepper motor 7, which moves the Executive body 9 in accordance with the program. The pulses from the output of the first element 11 start the one-shot 17, which forms the signals covering the second element 12. When entering from the playback unit 4 single pulses (direct movement) through the delay elements 14 and 15 to the second element 12, the second input of which is connected to the one-shot 17, open, at the output of the second element I 12, pulses appear that switch the trigger 18 to the logical zero position, the switch 8 switches the windings of the stepper motor 7 to forward movement. The same signals through the second element OR 13 and the delay element 16 are passed to the switch 8 and are processed by the stepping motor 7. The described system ensures the operation of one adjustable coordinate and, when working with the multi-axis manipulator, must be increased accordingly by the number of adjustable coordinates. The application of the invention will make it possible to simplify the shagovaya system of software control by a multi-coordinate manipulator when implementing it on binary elements. A step-by-step software control system of a multi-axis manipulator comprising a serially connected memory unit, a key and a playback unit, a serially connected switchboard and a stepping motor connected through an actuator to the position sensor of the actuator, and a recording unit whose output is connected via a key the input of the memory block, in order to simplify the system, it contains the first element OR, the first delay element, the one-shot, sequentially connecting The first AND element and the trigger and the second delay element connected in series, the third delay element, the second AND element, the second OR element and the fourth delay element, the output of which is connected to the first input of the switch, the second and third inputs of which are connected respectively to the first and second outputs of the trigger , the first input of which is connected to the second input of the second element OR, and the second input - to the output of the second element AND, the second input of which is connected through the odiovibrator to the output of the nerve element AND, the first input of which o is connected to the input of the second delay element and the output of the playback unit, and the second input is connected to the output of the second delay element, the first output of the actuator position sensor is connected to the first input of the first OR element, the second input is directly to the second input of the first OR element and through the first element delay with the third input of the first element OR, the output of which is connected to the input of the recording unit. Sources of information taken into account in the examination 1. Machine tools Handbook. with. 25. 5b with program control, 2. Shadrin V.N. Phase control of M., “Mechanical Engineering, 1975, magnetic tape, M.-L.,“ Energy, 1964, 64461 p. 14.