SU773573A1 - Apparatus for cycle-type programme control - Google Patents

Description

The invention relates to automation and can be used in software control systems for two-position objects. A known software system is controlled by robots containing a clock pulse associated with a coincidence circuit, a pulse distribution unit, a plug-in plug-in field, an object control circuit. The known system provides control of the movement of the robot actuator and external technological equipment l. However, the system does not protect the actuator against emergency situations if the program is not correctly set and in case of a mechanism failure. The closest in technical essence to the present invention is a device for programmed control, comprising position sensors and serially connected pulse generator, AND element, pulse distributing unit, program set block 1), OR elements, triggers, delay blocks, second triggers, single inputs of which connected to position control sensors; The device is known to provide program control of an industrial robot 2. A disadvantage of the known device is the complicated control circuit of the next step, since a separate trigger is required for each position sensor. Each position sensor is polled only in a certain program step. The use of such position sensors does not allow the construction of permanent protective interlocks, which complicates the programming process and does not ensure reliable operation of the device. The purpose of the invention is to increase the reliability of the device. This goal is achieved in that a cyclic program control device comprising a position sensor unit and a series-connected pulse generator, a key, a first AND element, a distribution unit and a program set block connected by the first inputs to the first inputs of the control units, the second input of the first And element through the trigger to the output of the first delay element.

and the second output of the program dialing block is connected to the input of the second delay element, the serially connected mode driver, the analyzer and the OR element, as well as the serially connected logical block, the second AND element and the NOT element, whose output is connected to the input of the first delay element are connected to the second trigger input with the output of the second element I, connected by the second input to the outputs of the control units, and the third input to the output of the position sensor unit and to the second input of the analyzer, the third input of which is connected to By the logic unit, the second output with the second input to the control units connected by the third inputs to the second input of the distribution unit and through the OR element to the output of the second delay element, the mode driver is connected to the distribution unit, the first input of the logic unit to the output of the position sensor unit, and the second input is to the third output of the program set block.

The drawing shows the block-skem device.

The device contains a pulse generator 1, connected via a key with the first input of the first element I 2, the output of which is connected with the first input of the distribution unit 3, which through block 4 sets the program and control units connected to the controlled objects 6-b, block 7 of sensors position, the output of which is connected to one of the inputs of logic block 8 connected to the input of the second element and 9, the output of which is connected to the element NOT 10 and the zero input of the trigger 11, the first delay element 12 connected to the single input of the trigger 11, driver 13 p zhimovJvklyuchenny between the output distribution unit 3 and the third input of the analyzer 14, the output of which is coupled to one input of the OR gate 15, the other input of which is connected to the output of the element 16 second delay between cycles.

Block 3 contains a counter, a reset element, and a decoder, and is intended to sequentially distribute the program signals and step code to determine the conditions of the locks.

Blocks 5-5 contain logical AND and trigger and are designed to control objects bb, Block 7 is a collection of sensors, the number and type of which depends on the objects used bb, and the sensor control of the previous equipment.

Block 8 contains a set of logical elements and is intended for organizing the connection of objects b-b with prech

with technological equipment.

The imaging unit 13 contains a set of logic elements corresponding to possible emergency and forbidden situations at each step of the software program and is intended to supply a code of blocking conditions on the analyzer 14,

The analyzer 14 contains a set of logical elements and is designed to compare the code of the blocking conditions with the data of the block 7 and gives commands to block or reset blocks 5-5, for example, when the executive body of the object is in the area of the stamp.

1ains 17,18,19 and 20 are a collection of parallel communication lines, the number of which depends on the number of control & objects. The device also contains a key 21,

The device works as follows.

Before starting operation, all units are preset to the zero state. The signals from the block triggers on the control bus 18 arrive at AND 9 and are compared there with the signals arriving from block 7 via bus 19, Element 9 and the match signal on trigger 11 and NE 10, trigger signal 11 AND 2,

After pressing the key 21, the clock pulses from generator 1 are sent to block 3, the counter of block 3 outputs the first step code to the driver 13, the control signal from the inputs of block 3 enters the corresponding receiving slot of block 4 and through it to the inputs of the corresponding blocks 5 - 3, Occurs switching of the triggers in blocks 5-5 and the signal affects the corresponding controlled objects b -6,

At the same time, the control signal via the control bus 18 arrives at the AND 9 element. Since the state of the triggers in the blocks at the start of execution of the program at this step does not correspond to the state of the signals on bus 19, the AND 9 element issues a signal, A mismatch that affects the trigger 11, switching it to the prohibition position, the prohibition signal is fed to the second input of the element 2, the latter prohibits the arrival of clock pulses at block 3, which goes into the mode of waiting for resolution at the next step. After the moving object bb has reached the predetermined position, the signals on buses 18 and 19 coincide and the element 9 gives a signal to the element NOT 10, the sighed signal triggers the element 12, which delays the time between steps and triggers the trigger 11

Resolution. The delay time, in steps, is necessary to wait for the end of the mechanical bounce of objects 6-b and increases the accuracy of positioning the objects 6-b in the final positions. The Resolution signal goes to AND 2 and block 3 moves to the next step.

In addition, the device allows the following additional actions.

From block 3, the bus 20 to the imaging unit 13 receives the step code of the program. The latter issues to the angtizer 14 a lock condition code for each step of the program, which is copied with information coming from block 7 via bus 19.

Analyzer 14 determines the degree of danger created by the situation and, depending on this, acts on the blocks in the form of blocking signals. In case of emergency situations, the block OR 3 is reset to the initial position via the element OR 15.

If it is necessary to coordinate the operation of the control object 6-6 with the previous technological equipment, from block 4 a request signal is sent to the input of block 8. Block 8 is set to the standby mode of the signal from block 7 and sends a blocking signal to the element And 9 and the analyzer 14. One of the sensors of block 7 monitors the previous technological equipment, and the rest control the position of the objects. After the end of the cycle of operation of the previous technological equipment, the corresponding sensor of the block 7 B1 decays the sync signal to the input of block 8, which comes out of the standby mode and removes the blocking of the AND 9 element and the analyzer 14.

The operation of the device continues according to the dialed program, or the description above.

The use of video modules in the device circuit favorably distinguishes the proposed device from the known one, since it protects the actuating units of the controlled object and external process equipment from damage in emergency situations. The generation of blocking and resetting signals makes it possible to introduce a self-preserving instinct in the operation of a controlled object, such as an industrial robot.

. The introduction of a delay between program steps increases the accuracy of positioning in the end positions, which is especially important at high speeds of movement of controlled objects.

Formula

the invention

Device for cyclic program10

control unit containing a position sensor unit and a pulse generator connected in series, a key, the first element I, a distribution unit and a program set connected to the first inputs to the first inputs of the control units, the second input of the first I connected through a trigger to the output of the first delay element, and the second the output of the program dialing block - to the input of the second delay element, which is so that, in order to increase the reliability of the device, serially connected

 shaper mode analyzer

and the fUIH element, and the serially connected logical block, the second AND element and the NOT element, whose outputs are connected to the input of the first delay element, the second trigger input is connected to the output of the second AND element, connected to the second input to the outputs of the control units, and the third input to the output of the sensor unit position and the second input

5 angsiaetara, whose third entrance

connected to the output of the logic unit, and the second output to the second inputs of the control units connected by the third inputs to the second input

0 of the distribution unit and through the OR element to the output of the second delay element, the driver of the modes is connected to the distribution unit, the first input of the logic unit is connected to the output

 block sensor position, and the second

 input - to the third output of the set of the program.

Sources of information taken into account in the examination

1. Bel Nin PN Apply after robots. M., Mechanical Engineering, 1975, p. 209-215.

55 2. USSR author's certificate No. 537328, cl. G 05 B 19/08, 1975 (prototype).

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Claims (1)

Claim A device for cyclic program control, comprising a position sensor unit and series-connected pulse generator, a key, a first AND element, a distribution unit and a program set unit connected to the first inputs of the first inputs of the control units, the second input of the first element AND is connected via a trigger to the output of the first element delays, and the second output of the program set block - to the input of the second delay element, with the exception of the fact that, in order to increase the reliability of the device, sequentially connected internal moderator _t analyzer and OR element, as well as a logic unit connected in series, the second AND element and the NOT element, the outputs of which are connected to the input of the first delay element, the second trigger input is connected to the output of the second AND element connected by the second input to the outputs of the control units and the third input - to the output of the position sensor unit and to the second input of the analyzer, the third input of which is connected to the output of the logic unit, and the second output - with the second inputs of the control units connected to the third inputs to the second input distribution unit and through an OR gate - a delay to the output of the second element, the mode generator is connected to the distribution unit, the first logic block input - to the output of the position sensor unit and the second input - to the output of the third set of program block.