CN101236069B - A photoelectric positioning device for a construction manipulator - Google Patents
A photoelectric positioning device for a construction manipulator Download PDFInfo
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- CN101236069B CN101236069B CN2008100105101A CN200810010510A CN101236069B CN 101236069 B CN101236069 B CN 101236069B CN 2008100105101 A CN2008100105101 A CN 2008100105101A CN 200810010510 A CN200810010510 A CN 200810010510A CN 101236069 B CN101236069 B CN 101236069B
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- 238000010276 construction Methods 0.000 title claims abstract description 25
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000003287 optical effect Effects 0.000 description 14
- 230000005622 photoelectricity Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 229910018095 Ni-MH Inorganic materials 0.000 description 1
- 229910018477 Ni—MH Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 230000004807 localization Effects 0.000 description 1
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Abstract
一种施工机械手的光电定位装置，涉及一种光电定位装置，该装置包括有硬件部分和软件部分，其特征在于，硬件部分包括：机械靶盘、靶盘转轴、驱动电机、电子元器件和光敏二极管；机械靶盘的外表面安装有光敏二极管或光电带，内表面安装有驱动电机、靶盘转轴和电子元器件；单片机的控制程序及各模块之间的连接电路为软件部分。本发明的定位装置可以根据具体使用情况，实现对施工机械手所握持的工件的单靶定位、双靶定位或三靶定位；该装置的光电靶简单可靠，有利于施工机械手实现自动化施工。
A photoelectric positioning device for a construction manipulator, relating to a photoelectric positioning device, the device includes a hardware part and a software part. Diodes; photosensitive diodes or photoelectric strips are installed on the outer surface of the mechanical target disk, and the drive motor, target disk rotating shaft and electronic components are installed on the inner surface; the control program of the single-chip microcomputer and the connection circuit between each module are software parts. The positioning device of the present invention can realize single-target positioning, double-target positioning or triple-target positioning of the workpiece held by the construction manipulator according to specific usage conditions; the photoelectric target of the device is simple and reliable, which is beneficial for the construction manipulator to realize automatic construction.
Description
Technical field
The present invention relates to a kind of photoelectric positioning apparatus, particularly relate to and a kind of workpiece that construction mechanical arm gripped is realized the straight line positioning means for positioning.
Background technology
Construction mechanical arm is the novel mechanical equipment of large-scale underground pipe network modernization construction as large-scale underground buried pipeline construction mechanical arm, can improve the efficient of pipeline construction, reduces or avoids casualty accident.Existing several countries have carried out the research of machine for pipe hand, and as the research and the test of second generation large-sized concrete underground pipeline laying mechanical arm, but this mechanical arm does not solve problems such as tube coupling (workpiece) straight line detection and localization.Up to the present, the research of China's construction mechanical arm has some achievements, but for utilizing optical target straight line Position Research achievement still to belong to blank.
Summary of the invention
The object of the present invention is to provide a kind of locating device to the workpiece that construction mechanical arm gripped, the photodiode of this device or photoelectricity band are arranged along the target disc radial direction, constitute photosensitive utmost point footpath.Its locating device can utilize single target location, two target location or the realization of the three targets location location to the straight line of workpiece.This optical target is simple and reliable, helps construction mechanical arm and realizes automated construction.
The objective of the invention is to be achieved through the following technical solutions:
A kind of photoelectric positioning apparatus of construction mechanical arm, this device includes hardware components and software section, and its hardware components comprises: mechanical target disc, target disc rotating shaft, drive motor, electronic devices and components and photodiode; The outside surface of machinery target disc is equipped with photodiode or photoelectricity band, and inside surface is equipped with drive motor, target disc rotating shaft and electronic devices and components, and mechanical target disc is by the drive motor driven in rotation that is installed in inside surface; Electronic devices and components include: laser pick-off circuit, coding circuit, be installed in angular displacement sensor, AD converter, single-chip microcomputer and wireless communication module in the target disc rotating shaft, wherein, AD converter, coding circuit and wireless communication module all link to each other with single-chip microcomputer, and being subjected to Single-chip Controlling, the connecting circuit between the control program of single-chip microcomputer and each module is a software section; This photoelectric positioning apparatus is mainly gathered two data: a laser beam that is angular displacement sensor records is beaten the polar angle of laser spot on mechanical target disc; A distance that is laser spot apart from mechanical target disc center; Photodiode or photoelectricity band are arranged along mechanical target disc radial direction, constitute photosensitive utmost point footpath, and angular displacement sensor is surveyed polar angle; When laser beam is beaten on the mechanical target disc of rotation, the photosensitive utmost point directly touches laser spot, data acquisition system (DAS) will directly be worth the utmost point of laser spot on mechanical target disc with polar angle and collects, and passes to data receiving system by wireless transmitting system, for control system provides information.
The photoelectric positioning apparatus of aforesaid a kind of construction mechanical arm, its single described photoelectric positioning apparatus can be measured the location of 2 degree of freedom, two described photoelectric positioning apparatus can be measured 4 degree of freedom or be less than the location of 4 degree of freedom, and three described photoelectric positioning apparatus can be measured 6 degree of freedom or be less than the location of 6 degree of freedom.
Advantage of the present invention and effect are:
Locating device of the present invention can be realized single target location, two target location or three targets location to the workpiece that construction mechanical arm gripped according to concrete operating position; The optical target of this device is simple and reliable, helps construction mechanical arm and realizes automated construction.
Description of drawings
Fig. 1 is the front view of photoelectric positioning apparatus of the present invention;
Fig. 2 is the left view of photoelectric positioning apparatus of the present invention;
Fig. 3 concerns synoptic diagram for photoelectric positioning apparatus internal control of the present invention;
Fig. 4 is the structural representation of photoelectric positioning system of the present invention;
Fig. 5 is the principle of work synoptic diagram of photoelectric positioning apparatus of the present invention.
Embodiment
The present invention is described in detail with reference to the accompanying drawings.
As shown in the figure, this photoelectric positioning apparatus includes hardware components and software section.Its hardware components comprises: mechanical target disc 1, target disc rotating shaft 2, drive motor 3, electronic devices and components 4 and photodiode 5.The outside surface of machinery target disc 1 is equipped with photodiode 5 or photoelectricity band, and inside surface is equipped with drive motor 3, target disc rotating shaft 2 and electronic devices and components 4; The machinery target disc is by the drive motor driven in rotation that is installed in inside surface, electronic devices and components 4 include: laser pick-off circuit, coding circuit, be installed in angular displacement sensor, AD converter, single-chip microcomputer and wireless communication module in the target disc rotating shaft, and by Ni-MH battery as its power supply.Wherein, AD converter, coding circuit and wireless communication module all link to each other with single-chip microcomputer, and are subjected to Single-chip Controlling, and the connecting circuit between the control program of single-chip microcomputer and each module is a software section.This photoelectric positioning apparatus is mainly gathered two data: a laser beam that is angular transducer records is beaten the polar angle of laser spot on target disc; A distance that is laser spot apart from the target disc center.
Principle of work of the present invention is: photodiode or photoelectricity band are arranged along the target disc radial direction, constitute photosensitive utmost point footpath, and angular displacement sensor is surveyed polar angle.When laser beam is beaten on the receiving target of the photoelectricity location of rotation, the photosensitive utmost point directly touches laser spots, data acquisition system (DAS) will directly be worth the utmost point of laser spots on target disc with polar angle and collects, and passes to data receiving system by wireless transmitting system, for control system provides information.
Utilize photoelectric positioning apparatus of the present invention, promptly this optical target can use single target positioning system, two target positioning system or the realization of the three target positioning systems location to construction mechanical arm according to concrete operating position.This optical target is simple and reliable, helps construction mechanical arm and realizes automated construction.
In use, optical target is installed on the certain position of mechanical arm, and laser instrument is fixed on the working-yard, mechanical arm reached ideal position when the adjustment laser beam made it through target center.Can select with 1 optical target, 2 optical targets or 3 optical targets according to the needs of mechanical arm measuring position state.Disposing under the proper situation, 1 optical target can be measured 2 degree of freedom, and 2 optical targets can be measured 4 degree of freedom, and 3 optical targets can record 6 degree of freedom of mechanical arm in certain spatial domain.
When work, when laser beam is got on the photoelectricity, after the photosensitive utmost point of rotation directly touches laser beam, will trigger circuit, make optical target collect the extreme value and the polar angle of laser beam position on optical target, and a data wireless that collects is transferred to data receiving system.The data computation that the position computation module basis of data receiving system receives goes out the position of laser spots, and location parameter is passed to control system.
Claims (2)
1. the photoelectric positioning apparatus of a construction mechanical arm, this device includes hardware components and software section, it is characterized in that hardware components comprises: mechanical target disc (1), target disc rotating shaft (2), drive motor (3), electronic devices and components (4) and photodiode (5); The outside surface of machinery target disc (1) is equipped with photodiode (5), and inside surface is equipped with drive motor (3), target disc rotating shaft (2) and electronic devices and components (4), and mechanical target disc (1) is by the drive motor that is installed in inside surface (3) driven in rotation; Electronic devices and components (4) include: laser pick-off circuit, coding circuit, be installed in angular displacement sensor, AD converter, single-chip microcomputer and wireless communication module in the target disc rotating shaft (2), wherein, AD converter, coding circuit and wireless communication module all link to each other with single-chip microcomputer, and being subjected to Single-chip Controlling, the connecting circuit between the control program of single-chip microcomputer and each module is a software section; This photoelectric positioning apparatus is mainly gathered two data: a laser beam that is angular displacement sensor records is beaten the polar angle of going up laser spot at mechanical target disc (1); A distance that is laser spot apart from mechanical target disc (1) center;
Photodiode (5) is arranged along mechanical target disc (1) radial direction, constitutes photosensitive utmost point footpath, and angular displacement sensor is surveyed polar angle; When laser beam is beaten when the mechanical target disc (1) of rotation is gone up, the photosensitive utmost point directly touches laser spot, data acquisition system (DAS) will directly be worth the utmost point of laser spot on mechanical target disc (1) with polar angle and collects, and passes to data receiving system by wireless transmitting system, for control system provides information.
2. the photoelectric positioning apparatus of a kind of construction mechanical arm according to claim 1, it is characterized in that, single described photoelectric positioning apparatus can be measured the location of 2 degree of freedom, two described photoelectric positioning apparatus can be measured 4 degree of freedom or be less than the location of 4 degree of freedom, and three described photoelectric positioning apparatus can be measured 6 degree of freedom or be less than the location of 6 degree of freedom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100105101A CN101236069B (en) | 2008-02-29 | 2008-02-29 | A photoelectric positioning device for a construction manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100105101A CN101236069B (en) | 2008-02-29 | 2008-02-29 | A photoelectric positioning device for a construction manipulator |
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| Publication Number | Publication Date |
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| CN101236069A CN101236069A (en) | 2008-08-06 |
| CN101236069B true CN101236069B (en) | 2010-06-09 |
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| CN2008100105101A Expired - Fee Related CN101236069B (en) | 2008-02-29 | 2008-02-29 | A photoelectric positioning device for a construction manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104808554B (en) * | 2015-04-20 | 2017-12-01 | 深圳市文鼎创数据科技有限公司 | One kind picks up card system and its picks up chucking method automatically |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1236092A (en) * | 1998-05-14 | 1999-11-24 | 殷镇良 | Space-time converter for angle and angle displacement sensor |
| CN1258842A (en) * | 1998-12-25 | 2000-07-05 | 中国科学院沈阳自动化研究所 | Omnibearing position transducer |
| CN200977655Y (en) * | 2006-12-02 | 2007-11-21 | 武汉德宝机电设备制造有限公司 | Three-dimensional scaling apparatus of six-spindle robot system for automobile producing line |
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2008
- 2008-02-29 CN CN2008100105101A patent/CN101236069B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1236092A (en) * | 1998-05-14 | 1999-11-24 | 殷镇良 | Space-time converter for angle and angle displacement sensor |
| CN1258842A (en) * | 1998-12-25 | 2000-07-05 | 中国科学院沈阳自动化研究所 | Omnibearing position transducer |
| CN200977655Y (en) * | 2006-12-02 | 2007-11-21 | 武汉德宝机电设备制造有限公司 | Three-dimensional scaling apparatus of six-spindle robot system for automobile producing line |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2000-88521A 2000.03.31 |
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