SU932462A1 - Positioning device - Google Patents

Description

(54) POSITIONING DEVICE

one

The invention of the ognosigs to the technique of learning of precision movements of the lenses, used in many parts of the technique and, in particular, in the manipulators and coordinate tables, mainly with a stepper electric drive and a kinematic pair screw-nut.

A positioning device with a backlash compensation is known, which includes a stepper motor, a servo system, a steering angle sensor, a displacement sensor and a correction device l.

However, such a device is difficult to implement, since it requires the presence of feedback and sensitive elements of a complex structure.

The closest technical solution to the present invention is a positioning device, including a pulse generator, connected via a switch to a stepping motor connected to an actuator, an input unit connected to a switch and the first input of a step counter, the second input and output of which is connected to a switch, block backlash samples and backlash memory block 2.

In the case of reverse movement, this device allows to compensate for the backlash of the kinematic pair by the amount recorded in the backlash memory block and is usually set equal to its average value. However, due to the uneven distribution of the backlash

10 screws such a device does not allow for sufficient positioning accuracy. In addition, the positioning error occurs due to the elastic deformations of the drive.

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

The goal is achieved by the fact that the input device containing a pulse generator pushed through a switch to the inputs of a stepper motor connected to the output of the actuator is an input unit connected by the first BbBtooaNra trick to the second axhoy of the mutator connected by the third the input with the output of the step counter, and the second output with the read input of the counter, three counters are introduced, the trigger to the two AND-NOT elements connected by the first inputs. With the third output of the KoMMyiaTopa, Werth parvo inputs to inputs of the first counter, the compounds of the entrance to the third informEschionnym YOU stroke input unit, a first output to a fourth input of the switch and the second output to data input of the second counter connected to the output of subtraction input of first AND-HEj and utfavl. The input to the switch p output, to the first input of the trigger and to the control of the third input of the third counter connected to the fourth output of the second input connected to the fourth output of the second input connected to the second input of the second input and the second output with the second input of the first NAND element, and the third input with the rising of the second counter, the output of the third counter being connected to the fifth input of the Switch. The drawing shows a block diagram of a device that contains a generator of 1 pulses, 1 mugator 2, stepper color, 3 or 3, executive speed 4 bl 5 input, 6 counters shp.ch. counter 7, second counter 8, tdaggoi 9; the third counter is 10, the first is-11 11, the second is 12, the device works as follows. From the input unit 5 to the counter of 6 steps, a signal is received corresponding to the required amount of movement. It is recorded. Then, from the input unit 5 to the switch 2, a signal of selection of the direction is applied, which allows the passage of pulses from the generator 1 to the stepping motor 3 and at the same time to the reading input of the counter 6 steps. The testing of a given number of HMity pulses and the movement of an executing mechanism 4 to the required distance from a given equalization takes place. Moving the bogus mechanism into a plug-in mechanism 4 is carried out until the counter is 6 steps down and its output does not receive a signal of the end of the transfer cycle to switch 2. This signal prevents the pulse from the generator I

pulses and the number written to counter 10 is read. Then, at the output of the counter 10, the pulse, the steps, is received. . After practicing a predetermined number of steps by engine 3, the actuator 4 must move to a predetermined positioning point. However, due to the presence of backlash and elastic deformations in the kinemas of the ach of a chain of the actuator 4, its installation accuracy is low. Therefore, the cycle of backlash and elastic deformation begins further. ° signal arrival from counter 6; steps - switch 2 outputs a signal to the recording input of the first counter 7 and causes the signal from the input unit 5 to the information input of the counter 7 to be recorded. Then a pulse is generated at the output of the switch 2, which arrives at the recording inputs of the counters 8 and 1O and to the first trigger input 9 As a result, the code is first. The second counter 7 is rewritten into the counter 8, and in the counter 10 is written koo, I receive your message from the input block 5. The code recorded in the third counter 1O corresponds to the displacement of the actuator 4 by the value, and the code recorded in the first counter 7 corresponds to the movement by the value LL, where LH is the maximum possible play in the kinematic chain Lb is the smallest backlash, the resolution is set at the same time the preparation at the second output of flip-flop B, which is connected to its second input and the second input of epec. 11. At the first output of flip-flop 9s, which is connected to the input of the AND-NOT element 12J, the signaling inhibit switch The prohibition of the passage {of pulses from the generator 1 from the stepping motor 3 is removed. In addition, impulses from the generator 1 are fed to the inputs of elements 11 and 12. At the output of element 11, pulses are received to the subtracting input the second counter 8. After the number recorded there is read from the second counter 8, its output receives a signal at the third input of the trigger 9, which changes its state. At the first output of the trigger 9 and on the input of the element, AND-HE 12, a signal is enabled, and at the second output and input of the element 11, the forbidden signal. From the stroke of the element 12 to the subtractive input of the third counter 10, 593 switches on the switch 2 begin to flow. At the same time, the OHira type works out the number of pulses given by the counters 10 and 7 and the actuator move forward forward. After the arrival of a pulse from the output of the third counter 10 from the output of the switch 2, a pulse is sent to the recording inputs of counters 6 and 10. At the same time, the contents of the first counter 7 repeatedly record into the second counter 8, the third counter 10 records information received from the input unit 5, and the trigger 9 is reset. The pulses from generator I are fed to the step motor 3 from another output of switch 2 that causes the reverse of the engine 3. From the output of the element 11 to the subtractive input of the second counter 8, pulses start to flow. There is a reading of the contents of the counters 8 and Yu, which leads to the movement of the actuator 3 by the same amount in the opposite direction. When counters 8 and 10 are & sped out, a second pulse is sent from the output of counter 10 to switch 2, which again causes overwriting of information from first counter 7 to second counter 8, recording information into third counter 1O, setting trigger 9 to its initial state and the cycle repeats. In this case, the actuator moves by the same amount, but without changing the direction of movement. When the third impulse comes from the output of the third counter U to the switch 2, the cycle repeats again, but in this case the movement reverses. Upon arrival from the output of the third counter. 10 of the fourth pulse at the output of the switch a pulse is generated, which is fed to the read input of the first 7, from which one is read. Then, in the switch 2, a pulse is formed and the new information is rewritten from counter 7 to counter 8, written to counter 10, and the trigger 9 is set to its original state. Further, the entire cycle of operation is repeated, but the amount of movement is reduced by one step. The operation cycles of the device are repeated until all the information from the first 50 is read.

counter 7. When counter 7 is set to zero, a signal arrives at its output, arriving at switch 2. When this signal arrives, the pulses are not supplied to the stepping motor 3. In this way, the reciprocating actuator 4 is provided in the direction of movement

counter. connected to the fifth input of the switch.

Sources of information taken into account by npi; i expertise

1. US Patent No. 3886424, cl. 318-630, 1975.

2. US patent number 35GO830, cl. 318-630, 1971 (prototype). 26 with linearly decreasing amplitude relative to the positioning point. As a result, positioning of the actuator 4 is performed with an error not exceeding one half of the amplitude decrement step. The proposed precision positioning device allows for an accuracy of ± 2.5 microns, while the known It does not provide installation accuracy of only about +5 km.

Claims (1)

 The formula of the invention and the Positioning device, comprising a pulse generator, connected through a switch to the inputs of a stepper motor, connected to an input of an actuator, an input unit connected to the information output of the treadmill counter by the first output, and the second output to the second inputs of the switch connected the third input with the output of the step counter, and the second output with the matching input of the counter, characterized in that, in order to improve the accuracy of the device, three sparklers, a trigger and a d of the NAND element connected by the first inputs to the third output of the switch connected by the fourth outputs to the first inputs of the first counter connected by the information input to the third output of the input unit, the first output to the fourth input of the switch, and the second output to the information input of the second counter, connected by the subtractive input to the output of the first NAND element, and the control input to the fifth output of the switch, to the first input of the trigger and to the control input of the third counter connected to the information input the fourth output of the input block. The subtractive input — to the output of the thrusters) of the NAND element, connected by the first output with the trigger input of the ra, connected by the second inlet and the second output to the second input of the first AND – NAND element, and the third input