SU746433A1 - Stepping system for programme-control of manipulator - Google Patents

Description

(54) STEP-UP SYSTEM OF PROGRAM TAPE MANIFULTER

The invention of OTHocHtcH is to automation and computer technology and can be used to create impulse software systems for manipulating a manipulator. Step-by-step software for manipulator control, a memory unit, a recording unit, a playback unit, a command generation unit, a commutator, a stepping motor, and a position sensor 1 are known. However, they have a complex structure when implementing their fra binary logic elements. The closest technical solution to this invention is a system comprising a memory unit connected in series, a first key, a program playback unit and a control unit, the first and second outputs of which are connected to the corresponding inputs of the first switch, the output of which is connected to the input of a stepper motor, connected through an actuator with the position sensor of the actuator, connected in series the second switch, the first delay element, the first OR element and the program recording block, in The output of which is connected to the second input of the first key, the second port of the second switch connected to the second input of the first OR element, the third input of which is connected to the first output of the second switch 2. The disadvantage of this system is its low accuracy, especially at high speeds, due to the inertia of the executive organ and possible loss of pulses by a stepper motor. The goal will invent and enhance the topusti system. The goal is achieved by the fact that the system contains a second key, a serially connected second delay element, a reversible counter, a first digester, an i-pulse generator and a second OR element, and a second decoder and the AND element sequentially connected, the second input of which is connected to the input of the second delay element and the third output of the control unit, and the output of the second input of the second element OR,

The output of which is connected to the third input of the first switch, the input of the second key is connected to the output of the actuator position sensor, the first output to the input of the second switch, and the second output to the second input reversibly. go counter, the output of which is connected to the input of the first and second decoders.

The drawing shows a functional diagram of the system (at the single coordinate of the manipulator).

It contains a memory block 1, a first key 2, a second key 3, a program recording block 4, a program playback block 5, a control block b, a first switch 7, a stepper motor 8, an actuator 9, an actuator position sensor 10, a second switch 11 , first delay element 12, first OR element 13, correction block 14, reversible counter 15, second delay element 16, first decoder 17, second decoder 18, second OR element 19, pulse generator 20, element 21 I.

Step system works as follows.

When keys 2 and 3 are set to the recording position and the working device moves along the required trajectory, the pulse position sensor 10 of the real position generates pulses that through the second switch 11, the first delay element 12 and the first element 13 OR arrive at the recording unit 4.

As a result, all movements of the executive unit 9 are recorded in memory block I, for each coordinate on a separate track of the magnetic tape. The forward movement signals are recorded with single pulses, and the reverse movement signals are recorded with double pulses.

To play the program, set keys 2 and 3 to the work position. The read by the playback unit 5 pulses arrive at the control unit 6, which generates control commands for the first switch 7 (forward and reverse movement) and pulse sequences corresponding to movement, which through the correction unit 14 arrive at the information input of the switch engine 7 of the stepper motor and are further processed by the stepper motor 8. From the pulse sensor 10 in position to the subtractive input of the reversible counter 15 pulses are received, corresponding to the actual movements of the Executive Body. by 9. To the summing input of the reversible counter 15, the pulses of the program delayed by the second element 16 are received. Delay time is selected.

appropriately and stepwise

the engine 8 and the executive body 9, therefore, with accurate reproduction of the program

334

reversible counter 15 is in the zero state. If the number of pulses arriving at the subtractive input is less than the number of pulses arriving at the summing input,

which indicates the lag of the executive body 9, for example, due to the loss of pulses by a stepper motor, the reversible counter 15 (in this example, six-bit) is set in succession

000001, 000010, 000011, etc., is detected by the first decoder 17, which includes a pulse generator 20. The correction pulses from the generator 20. The pulses come through the second element 19 OR, along with the program pulses, to the first switch 7 and process the stepper motor 8. The correction pulses are output by the generator 20 pulses until the reversing counter 15 is reset (error corrected ). In case a run of the actuator 9 occurs, corresponding to the difference in pulses, the reversible counter 15 is set in succession to the state 111111, 111110, 111.101, etc. Such counter conditions are detected

the second decoder 18, on the inverse output of which the signal disappears and element 21 also closes, preventing the following program pulses from being sent to the stepper motor 8 until an error is complexed by them (counter 15 is zeroed).

The application of the invention will improve the accuracy of the positioning of the manipulator.

Claims (1)

Invention Formula The step-by-step manipulation software control system containing the connected memory unit, the first key, the program playback unit and the control unit, the first and second outputs of which are connected to the corresponding inputs of the first switch, the output of which is connected to the input of a stepper motor connected through an actuator to the position sensor of the executive 0 {) gannas, the second switch, the first delay element, the first OR element and the program recording block, whose output is connected to the second input of the first key, are connected in series, the second output of the second switch is connected to the second input of the first OR element, and the third. the input of which is connected to the first output of the second switch, which means that, in order to improve the accuracy of the system, it contains a second key, a second delay element connected in series, a reversible counter, a first decoder, a pulse generator and a second element