SU809048A1 - Device for remote slave manipulator control - Google Patents

Description

(54) DEVICE FOR CONTROLLING A REMOTE COPY MANIPULATOR

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The invention relates to automation, in particular to sensitive remote copying manipulators, and can be used to create highly accurate universal manipulators.

A manipulator is known that contains an actuator, the output shaft of which is connected through mechanical gears and elastic elements of the load sensors to the operator shaft and the load shaft, and the sensor outputs are connected to the inputs of the adder, the output of which is connected through an amplifier to the input of the engine 1.

The disadvantage of this manipulator is its inconvenience and lack of accuracy due to the invariance of the established value of the scale of transfer of the load to the operator's shaft. The scale value is provided by the ratio of the ratio of gear ratios and the change of this scale is not provided by the design.

A manipulator is also known that contains a driver and an actuator with drives and load sensors installed in their joints, the outputs of the load sensors are connected to the inputs of the corresponding adders, the outputs of which are connected to the inputs of the corresponding drives of the driver 2.

The disadvantage of this manipulator is also the inconvenience of use and low accuracy due to the lack of the ability to scale the reflection of the force. This means that when working with small and marginal loads, the relationship between the force reflected on the operator's hand and the force developed by the executive body when exposed to the object of manipulation remains constant, which leads to relatively large feeling errors when working with small loads due to that the proportion of disturbances in the total reflection signal increases relatively. During long-term work with large loads, the inconvenience of such a manipulator is obvious because of the impossibility of coordinating the physiological properties of the operator and the technical characteristics of the machine.

The closest technical solution to the present invention is a device for controlling a remote control copying device, containing a control panel, an accelerometer of an actuator.

serially connected positioner of the master, actuator of the actuator and load cell of the executive, balance unit and serially connected adder, actuator of the actuator and load sensor of the actuator, the output of which is connected to the first input of the adder 3.

The disadvantages of this device are also its inconvenience when working with large loads and relatively low sensitivity when working with objects acting on the actuator with forces or moments close to the lower limit of the sensing range. If the manipulator is operated for a long time with loads close to the maximum, the operator must also overcome for a long time the maximum reflected loads, which increases its fatigue and reduces its performance, i.e., such a manipulator becomes inconvenient. The level of disturbances in the sensitive manipulator almost does not depend on the magnitude of the load and can be considered constant. These disturbances include inaccuracies in the balancing of the accelerometer system, errors caused by dry friction in the joints, etc. If the load is small, then its relative proportion in the force reflected on the operator’s hand is felt worse by the operator, and the accuracy of sensation drops.

The purpose of the invention is to increase the accuracy of the device.

This goal is achieved by the fact that the device contains a coefficient switching unit, the first input of which is connected to the output of the control panel, the second input to the output of the actuator load cell, and the output to the second input of the adder.

In addition, it contains the second and third coefficient switching units, the first inputs of which are connected to the output of the control panel, the second inputs, respectively, to the outputs of the balance unit and the accelerometer of the actuator, and the outputs to the third and fourth inputs of the adder.

The drawing shows a functional diagram of the device for controlling a remote copying puller.

The device contains the sensor 1 position of the master, the sensor 2 of the load of the driver, the actuator 3 of the driver, balance unit 4 installed on the driver 5, actuator 6 of the actuator, sensor 7 of the actuator, accelerometer 8 of the actuator installed on the executive 9 , a manipulation object 10, a control panel 11, an adder 12, blocks 13-15 of switching factors and an operator 16.

The device works as follows. The operator 16 moves the setting body 5, changing its position in space. The movement 30 is converted by the sensor 1 position of the driver unit into a control signal. The actuator of the executive body 6 executes the specified movement and the executive body 9 interacts with the manipulation object 10. The forces (moments) resulting from this interaction are measured by sensor 7.

load of the actuator and the load signal through the coefficient switching unit 13 and the adder 12 is supplied to the water 3 of the driver body, acting through the elastic element in the sensor driver 2 load on the operator 16 and causing him to feel resistance, proportional to the adjusted load from the executive body 9 This correspondence is provided by comparing the load control signal from the block.

13 switching the coefficient with the feedback signal on the load from the load cell sensor 2 in the adder 12. Based on the experience and evaluation of the object 10 manipulating, for example, its mass, or from the value of the force perceived by the operator, the operator 16 selects the scale of the load force reflection and sets the selected value on the remote control 11 If the operator feels a slight reflected force at 30, he switches to

0 to the console 11 for controlling the scale of reflection; in so doing, according to the signal from the console 11 of the control unit, the coefficient switching unit 13 changes the gain at the input of the adder so that with the same signal from the executive load sensor 7

5 of the organ, the actuator 3 of the master organ develops a larger reflected force on the hand of the operator 16. If the operator feels an excessive increase in load, the actions from the remote controller 11 are performed in the reverse order. In this case, the operator has the opportunity to choose for himself the optimal scale of reflection of the load, based on the expected duration of the work and the magnitude of the load.

Thus, the manipulator becomes

5 convenient for the operator to work as part of the biotechnical human-machine system.

Claims (3)

In manipulators equipped with an accelerometric equilibration system, it is necessary to simultaneously switch the coefficient along the equilibration channels, which also increases the sensing accuracy. The signal of the accelerometer of the actuator 8 algebraically summed in the adder 12 with the signal of the sensor 7 load of the actuator. The simultaneous change in the coefficients in blocks 13 and 14 of the coefficient switching ensures that the accelerometer signal of the actuator 8 and the weight component of the signal of the actuator load sensor 7 at the inputs of the adder 12 are equal in modulus. Note that accelerometers in this case play the role of a component of the acceleration of free fall, creating a weight load on the executive body. The same task is performed by the coefficient switching unit 15, if the executive body 9 is balanced completely or partially by the compensation method using the balancing unit 4 installed on the master body 5. The function of the balancing unit, which includes accelerometers and a calculator, consists in generating a compensating signal with the same functional dependence on position 30 as the weight load of the actual design of the executive body on its position. Thus, the operator of the manipulator chooses at its discretion the most convenient range of operation of the sensing system, ensuring a relative decrease in the level of interference and an increase in the accuracy of the manipulator, on the one hand, and an increase in usability and a decrease in operator fatigue on the other. Claim 1. Device for controlling a remote copying manipulator, comprising a control panel, an accelerometer of an actuator, serially connected driver position of the driver, actuator of the actuator and load sensor of the executive body, equilibration unit and serially connected adder, actuator of the driver and load sensor specifying An organ whose output is connected to the first input of an adder, characterized in that, in order to increase the accuracy of the device, it contains coefficient switching unit, the first input of which is connected to the output of the control console, the second input to the output of the actuator load sensor and the output to the second input of the adder 2. The device according to claim 1, which includes the second and third coefficient switching blocks , the first inputs of which are connected to the output of the control panel, the second inputs - respectively to the outputs of the balance unit and the accelerometer of the actuator, and the outputs to the third and fourth inputs of the adder. Sources of information taken into account during the examination 1.Kubarev E.I., Kuleschov V.S., Pakin A.A. The systems of moment unloading and moment mass stabilization in copying manipulators. Collection "Theory and device manipulation of tori, M.," Science, 1973, p. 72, fig. one. 2. Kuleshov V.S., Lakota N.A. Dynamics of control systems by manipulators M., “Energy 1971, p. 244 rice 514 3. USSR author's certificate No. 275680, cl. B 25 J 3/04, 31.03. 69 (prototype). L v . ± j L.