SU616610A1 - Device for control of automatic line autooperators - Google Patents

Description

(54) DEVICE FOR CONTROLLING AUTOMATIC AUTOMATIC OPERATORS

LINK 3 of the operator, a second with an address register; The block contains two logical elements OR. trl of the logic element And both the inverter and the low position sensor of the auto operator, the inputs of the first element OR are connected to the bit inputs of the unit, and the first inputs of the first two elements AND and the input of the inverter are connected to the output of the first element OR, the second input of the first element AND, as well as the second the inputs of the third and third elements are connected to the second input of the block, the third inputs of the second and third elements are connected to the third input of the block, the first and quarter inputs of the third element are connected to the output of the inverter and from the output the lower position sensor, the outputs of the AND elements are connected to the inputs of the second OR element, the code of which is connected to the first output of the block, and the output of the third And element is also connected to the second output of the 5k block and the stripper block contains logical elements AND, position sensors, logical element OR, the inverter, whereby the inputs of the AND elements are connected to the input of the block, the inputs of the OR element are connected to the outputs of the AND elements and the sensor outputs on the EMSS, the input of the inverter is connected to the output of the OR element, and the outputs of the inverter and OR element are connected to the output of the block . FIG. 1 is a block diagram of an assembly; in fig. 2 pokaeana block-schematic diagram of the device; in fig. Figure 3 shows the layout of the horizontal unit of the auto operator. The device contains a regaster I, an encoder 2, a comparison unit 3, a unit 4 for horizontal movement of an auto operator, a block 5 for vertical movement of an auto operator, a block 6 for the first operator autotransfer, a unit 7 for driving away an auto operator, a logical element OR 8, logic elements AND 9, 10, II, HiiBepTop NOT 12, logical element OR 13, low position sensor 14. autoinfestation, logic elements AND 15, logical element OR 16, inverter 17 NOT, sensor 18 auto-stop stop functions 18, located in the danger zone (hazard zone), logic element AND 19, logic element K 20, memory element 21, memory element 22, logical element OR 23, element-delay 24, bus Start 25, search Over 26, bus Under 27, bus Equals 28,. bus Forward 29, bus Back 30, bus Start of verticals shifted 31 "In each channel of the device (see Fig. 1), the position address address register 1 and the auto-operator position encoder 2 on the line are connected with their one-bit outputs to the comparison unit 3, the outputs of which are connected not connected to the inputs of the horizontal displacement unit 4. The output of the horizontal displacement unit 4 is connected to the input of the vertical movement unit 5, the other input of which is connected to the corresponding output of the comparison unit 3. The output of the vertical movement unit 5 is connected to the input of the address register 1, the one-bit outputs of which are also connected to the auto-start unit 6 and the auto-operator unit 7. The second input of the block 6 of the start of the avtokuroperator is connected to the output of the 7th booster of the auto operator. The third input of the auto-start start block 6 is connected to the output of the control-link-off block 7 of the control channel by the adjacent auto-operator. The first output of the auto-start unit 6 is connected to the input of the horizontal-movement unit 4, and the second is connected with the address regaster. The auto-start-up unit 6 (see Fig. 2) contains two logical elements OR, three logical elements AND, an inverter and a low-position sensor of the auto-operator. The input of the logical element OR 8 is connected to one another by means of one address. The first inputs of logic elementals AND 9 and 10 and the input of the inverter NOT 12 are connected to the output of the logical element OR 8. The second input of the logic element Msma I 9 is connected to the output of the inverter HE 17 of the auto-ratter unit 7. The second inputs of the logic elements And 10 and 11 are connected to the output of the logic element OR 16 of the block 7 of the distillate of the az operator. The third input of the logic element And 10 is connected to the output of the inverter 17 of the block 7 of the distillate control channel adjacent an operator. The Tpexid input of the logic element AND 11 is connected to the output of the beauty element OR 16 of the block of the driving unit of the control unit for the auto operator. The fourth input of the electric terminal 11 and 11 is connected to the output of the sensor 14 w {the lower position of the rod of the auto operator. The output of the logic terminals of AND 9, 10 and II is connected to the inputs of the logic relay OR 13, the output of which is connected to the input of the unit 4 for horizontal overfilling. The output of the logic terminal And 11 is also connected to the input of the register I of the address. The distillation unit 7 aBTOonepaToj:; a contains logical elements AND 15 ..L5 (the number of which is equal to the number of posed in the danger zone, the logic element OR 16, the inverter NOT 17 and sensors 18 ... 18 j of the hazardous position. The inputs of the logic elements 15 and 15 are connected to the corresponding one-bit outputs of the regaster 1 address so that when the binary address code 1 address is placed in the danger zone, the output of the logic elements 15, ... 15j is excited, the logic outputs elements And 15 ... 15 are connected to the inputs of the logical element OR 16, to the other The sensor inputs of which are connected to the outputs of the sensors 8 .... 18j stop the auto operator in the zone.The output of the logical element OR 16 is connected to the input of the inverter NOT 17, as well as to the second inputs of the logic elements AND 10 and AND 6 of the start of the automatic operator and the third input of the logic the control unit element 11 of the control channel 6 of adjacent auto-operators. The output of the inverter HE 17 is connected to the second input of the logic element AND 9 of the automatic operator start block 6 and the third input of the logical element 10 of the control channel start block 6 of the adjacent automatic operator.

Block 4 of horizontal displacement (see FIG. 3) contains logical elements AND 19 and 20, elements of memory 21 and 22, logical element OR 23, and delay elements 24. The first inputs of the elements And 19 and 20 on the buses 26 and 27, respectively, through which the signals More and Less are received, are connected to the comparison unit 8. The outputs of the logic elements And 19 and 20 are connected to the recording inputs of elements 21 and 22 of memory, respectively, the fault inputs of which are via bus 28 Equally connected to block 3 of the comparison. The forward inputs of the memory elements 21 and 22 on the 29 and 30, respectively, send the command 1 Forward and Back to the auto operator, the inverse outputs are connected to the inputs of the logic element OR 23, the third input of which is connected via the RUN bus 25 to the start unit 6 of the auto operator. The output of the logic element OR 23 is connected to the input of the delay element 24, the output of which is through the bus. The beginning of the vertical movement 31 is connected to the input of the vertical mixing unit 5 and to the second input of the logic elements AND 19 and 20.

The device works as follows. After recording in the register 1 of the control channel address of the first auto-operator of the binary code of the position to which the auto-operator is sent, block 3 compares the information from the register 1 address and the encoder 2 position of the auto-operator on the line by comparing the information that produces one of the signals More and Less, which On tires 26 and 27, respectively, they are fed to logical elements AND 19 and 20 of horizontal movement unit 4, preparing one of them on the first input. At the same time, at the input of the logical element OR 8 of the auto-start block 6, the auto-operator appears (the signal that prepares the AND 9 logic elements and the auto-start block 6 of the auto-input unit through their first inputs and puts the inverter HE 12 into an unexcited state. Signal from this inverter blocks the logical element And 11 on its first input.

The operation of the device in different situations that may arise on the line during the joint operation of two auto-operators:

D. The danger zone is free, and the position to which the autopsy is sent is outside. danger zone. None of the sensors will be excited in this §, ... 18j ak as the auto-operator is outside the danger zone, and none of the outputs of the logic elements And 15, ... 15 | Since the position code is recorded in the address register 1, which, like the auto operator, is located outside the danger zone. Therefore, the output of the logical element OR 16 will have a signal that blocks the logical elements AND 10 and 11 through their second inputs, and the output of the inverter NOT 17 will have a signal that, together with the signal from the output of the logical element OR 8, will excite the logical element AND 9. The signal from the output of this logical element AND 9 will pass through the logical element OR 13 and on the bus

5 START 25 post items in block 4 horizontal shift to the input of logical element OR 23 (CM. Fig. 3). The signal from the output of the logical element OR 23 will go to the input of the delay element 24 and after some time, determined by this element's second time, post-input to the input of logical elements AND 19 and 20, one of which was prepared earlier by the signal More or Less from block 3 compare . Therefore, one of the finest elements, And 19 and 20, will generate a signal that will excite one of the elements 21 or 22 of the memory. In this case, one of the excited elements 21 or 22 of memory on tires 29 or

30 will signal Forward or Back and

0 auto operator will start its horizontal mixing. It should be noted that the signal from the output of the delay element 24 over the bus 31 will also go to the input of block 5 vertical mixing, 1U since block 3 comparison

5 at that moment, it produced one of the signals More or Less and did not generate the signal Equals, then there will be no vertical mixing.

As soon as the auto operator reaches the specified position and information, arriving at block 3 of the comparison from the register of the 1 address and encoder 2, the position of the auto operator on the line becomes the same, block 3 compares the signal Equals, which will go through the bus 28

5 to the fault inputs of the memory cells 21 and 22 and reset them to their original state. The previously sent Forward or Backward signal will disappear and the auto-operator will stop at the specified poetry. When you reset one of the elements 21 or

0 22 memories in the initial state the signal from the inverse output of these devices, passed the logic circuit OR 23, will initiate the delay 24 and after some time through the bus

31 enters block 5 of the vertical sweep 5 or. Since all this time is present

Signal Equal, generated by the Comparison Unit 3, the Vertical Mixing Unit 5 will begin to work out the vertical displacement, after which it has developed,

WITH

coming into the register of 1 address. This last signal will reset the address of the preset position code previously recorded in registrar 1, which indicates that the transport has finished working off and, consequently, that the auto operator has been released and is ready to receive the next task.

2. The danger zone is free, and the position to which the auto operator is sent is in a dangerous 3ojie. In this case, as well as in the previous one, the signal from the output of the logical element OR 8 will prepare logic terminals 9 and 10 on their first inputs, and the signal of the inverter HE 12 will block the logic element 11 on its first input. But in this case, one of the logical elements AND 15 .., 15j will be excited since the binary position code in the dangerous zone is recorded in the address resolution 1, and the signal from it goes through the logical element OR 16 and goes to the second inputs of the logic elements. And 10 and 11, as well as the input of the inverter is NOT 17, the signal from the output of which will block the logical element l: And 9 at its second input. Thus, the logical elements And 9 and 10 are blocked. The logical element I 10 will be excited, since the adjacent auto-operator stands or moves outside the danger zone and, since the permit signal is sent to the third input of this element, the output of HiraepTopa is NOT 17 of the control channel 7 of the control channel of the adjacent auto-operator. from the output of the logical element AND 10 through the logical element I.PI 13 via the START 25 bus enters the horizontal movement unit 4. Further operation of the device is similar to the operation of the device in the first case, starting from the moment the signal appears on the START 25 bus.

The first auto operator is sent to a position that is in the danger zone, but the danger zone is occupied, the second auto operator who has already completed his transport operation, which means that the second auto operator does not have information in register 1 of the control channel address. The absence of information in the address register 1 leads to a trm, that the logical elements AND 9 and 19 of the control channel by the adjacent auto-operator are blocked by their first inputs from the logical element OR 8, and the logical element 11 by podgopgovlen by its first input from the inverter HE 12. Other than that, since the second auto-op is free, its rod is in the lowest position, and the lower position sensor 14 is excited, and, therefore, a signal goes from the fourth input of the logic element AND II, also pushing this logic th element.

Since the second operator is in the danger zone, the exit from the sensors 18tl..l8j of the positions in the danger zone will be excited, and therefore the logical element OR 16 is excited, the signal from which also prepares the AND 11 logic element , and the inverter NOT 17 is not excited, and, therefore, the signal from it blocks the logical element 10 of the auto-start block 7 in the control channel of the first auto-operator.

With the appearance in register 1 of the control channel address of the first auto-operator of a position code located in the danger zone, a logical element OR 8 will be excited, the output of which is prepared by AND 9 and 10 logic elements, and the signal from the NO number of the HE 12 will block the AND 11 in logical element the control channel start block of the first auto operator. In this case, the output of one of the logical elements will be excited; And 15, i.l5j and the output of the logical element OR 16, the signal from which will prepare the logical elements AND 10 and AND of the start block 7 in the control channel by the auto-operator and cause excitation of the logic element And 11 of the start block 7 in the control channel of the adjacent auto-operator, since was previously prepared for the other three of its inputs. The signal from the excited logic element 11 will write to the register 1 of the control channel address of the adjacent auto-operator a position code to which the adjacent auto-operator should be driven. At the same time, the signal from the logical element AND 11, having passed through the logical element OR 13, will go via bus 25 Start to block 4 of horizontal movement. After that, the adjacent auto operator will begin to move out of the danger zone. At the same time, it will leave the position sensor 18 located in the danger zone, and the sensor will go to the unexcited state, which will cause the disappearance of the signal at the output of the logic element OR 16 and the appearance of the signal at the output of the inverter NOT 17 of the distillation unit 7 in the control channel of the adjacent auto-operator , the signal from which will initiate a logical element AND 10 of the start block 6 in the control channel of the first auto operator, as it was previously prepared from its two other inputs. The signal from the logical element AND 10, having passed through the logical element OR 13, will go to block 4 of horizontal movement of the control channel by the first auto operator, in which the command for horizontal movement of the first auto operator to the dangerous zone is developed.

Thus, the transfer of the first operator to the danger zone occurs only after the start of the movement of the adjacent auto-operator from the danger zone,

Claims (3)

4. The first auto-operator is sent to a position in the danger zone, but it is dangerous for the second auto-operator, who no longer completed his transport operation. “It will indicate that in the register 1 of the control channel address the second auto-operator has information, and therefore the logical element OR 8 will be excited and the HE 12 inverter not energized, the signal from which blocks the logical element AND 11 of the start-up block 6 in the control channel adjacent autooperation. Since the second auto operator performs his transport operation in the danger zone, either one of the sensors 18, or one of the logical elements 15, will be excited, or both this sensor and this element of the stripping unit 7 in the canister of the adjacent auto operator, and therefore , the output of the logical element OR 16 will be excited and the output of the I1 shertor NOT 17, the signal from which blocks the logical element AND 10, of the start block 6 in the control channel of the first auto-operator is not excited. Logic elements And 9 and 10 of the start block 6 in the control channel of the first auto operator also turn out to be blocked. The first of these is blocked by the signature of the HE 17 inverter of the control channel of the control channel by the first auto operator, since this inverter is in the unexcited state, and the second from the HE inverter 12, since this inverter is also in the unpowered state 1I. Thus, none of the AND 9, 10, and 11 paddle elements of the start-up block 6 in the control channel. The first auto-operator is excited, and therefore does not send a signal through the bus OR 13 through the bus 25, which would cause a command to appear on the horizontal move the first auto operator. Therefore, the first auto-operator, although the position code is recorded in registers 1 of the address of the channel uprav1 and the first auto-operator, will not start its move} 01e to it until the second auto-operator finishes his transport operation in the danger zone, i.e. will not be free, which will lead to the situation described in the third incident. 5. The first auto-operator is in the danger zone and is in a position that is outside the danger zone. In this case, like the previous ones, the logical element OR 8 of the start-up unit will be excited in the control channel by the first auto-operator, the output from which will prepare the AND 9 and 10 logic elements by their first inputs, and the inverter NO 12 will not be excited, the output signal of which blocking the logical element AND 11. Since the first auto-operator is in the danger zone, one of the .lSi position sensors will be excited, being in the danger zone, the signal from the input through which the logical element OR 16 will prepare the logistic element AND iO by its second the entrance to the entrance, and the sitat from neo; Since the second auto-operator is outside the danger zone, the logical element I.PI 16 of the 7-distiller unit in the control channel of the adjacent auto-operator will be unexcited, and therefore the inverter HE 17 will be excited7H and the signal from it will go to the third input of the logic element 10 of the start block 6 in the control channel of the first auto-operator. Thus, through all three inputs of this lotus element, AND 10; there are links that cause its excitement, and it is sent from it through the logical element OR 13 will enter horizontal movement unit 4 and will work out a command to: move the first auto operator. Claim 1. A device for controlling automatic operators of an automatic line, comprising channels according to the number of auto operators, each of which consists of an address register, an encoder and a comparison unit, with the bit outputs of the address register and nfratora connected to the corresponding inputs of the comparison unit, the horizontal movement unit of the auto operator, the inputs of which are connected to the corresponding outputs of the comparator unit, the automatic operator's vertical movement unit, the first input of which is connected to the corresponding output The second input unit is connected to the output of the horizontal unit that moves the auto-operator, and the output is connected to the penicjpa address input, characterized in that, in order to increase the reliability of the device by eliminating the collision of two adjacent auto-operators, the device contains an auto-start unit and a stripper unit in each channel the auto operator, whose bit inputs are connected to the outputs of the address register, the second input of the auto operator start unit is connected to the output of the auto operator otgon unit, the third input of the start unit is connected to swing control channel block adjacent autooperator distillation, yield blo ka first start autooperator connected to the input unit autooperator horizontal movement, and the second - a register address. 2. The device according to claim 1, characterized in that the start-up unit contains two logical elements OR, a logical element AND terminal, an inverter and an auto-operation lower position sensor, the inputs of the first element OR are connected to the bit inputs of the unit, and the first inputs of the first two elements And the input of the inverter is connected to the output of the first element OR, the second input of the first element AND, as well as the second inputs of the second and the third demopers I are connected to the second input of the unit, the third inputs of the second and third elements I are connected to the third input of the block, the first and quarter inputs of the third element I are connected, respectively, to the output of the inverter and to the output of the down position sensor, the outputs of the I elements are connected to the inputs of the second element OR, the output of which is connected to the first output of the block, and the output of the third element AND is also connected to the second output of the block. , 3. The device according to A.1, about tl and h and it with the fact that the block of distillation contains logical elements And, Danish positions, logical element OR, an inverter, and the inputs of the elements AND are connected to the input of the block, the inputs of the element OR are connected to the codes of the elements AND, to the outputs of the position sensors, the input of the inverter is connected to the output of the element OR, and the outputs of the inverter and the element OR are connected to the output of the block. Sources of information taken into account in the examination: }. USSR Author's Certificate No. 368611, M.C. G 06 F 15/50. 2. USSR author's certificate No. 367412, MJOr. G 05 B 19/04. nineteen 21 22 31 23 2 EO