CN104690736A - Mechanical arm as well as detection system and detection method of mechanical arm - Google Patents
Mechanical arm as well as detection system and detection method of mechanical arm Download PDFInfo
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- CN104690736A CN104690736A CN201510074993.1A CN201510074993A CN104690736A CN 104690736 A CN104690736 A CN 104690736A CN 201510074993 A CN201510074993 A CN 201510074993A CN 104690736 A CN104690736 A CN 104690736A
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Abstract
The invention provides a mechanical arm as well as a detection system and a detection method of the mechanical arm. The mechanical arm comprises at least one arm body. The detection system comprises at least one sensor set and a first communicator, wherein each sensor set comprises a plurality of sensors; the sensors are used for sensing whether the corresponding arm bodies moving in the preset direction are positioned in an induction zone; the first communicator is connected with the sensor sets and is used for sending sensing results of the sensors to the mechanical arm so as to enable the mechanical arm to judge whether the arm bodies are shifted according to the sensing results and correct the arm bodies when the arm bodies are shifted, thereby realizing detection and correction on the shifting condition of the arm bodies under the condition that the mechanical arm is not shut down, and not only saving a great quantity of labor, but also shortening detection time and improving production capacity.
Description
Technical field
The present invention relates to Display Technique field, more particularly, relate to a kind of mechanical arm and detection system thereof and detection method.
Background technology
In prior art; when needing to detect mechanical arm; mechanical arm must be shut down; then manual operation arm body moves; utilize the side-play amount of the survey tool such as level meter, scanner gage beam body, and judge arm body whether normal operation according to measurement data, and; when skew appears in arm body, also need the position of hand regulation arm body to correct it.The detection method of above-mentioned mechanical arm, needs manual measurement, record and analysis data, not only waste a large amount of manpower, and detection time is longer.
Summary of the invention
In view of this, the invention provides a kind of mechanical arm and detection system thereof and detection method, carry out detection arm body due to needs manual measurement, record and analysis data in prior art whether occur skew, and the problem wasting a large amount of manpower and time caused to solve.
For achieving the above object, the invention provides following technical scheme:
A detection system for mechanical arm, described mechanical arm comprises at least one arm body, and described detection system comprises:
At least one inductor group, described inductor group comprises multiple inductor, and whether described inductor is positioned at induction zone for responding to the described arm body moved along preset direction;
The first communicator be connected with described inductor group, for the induction result of described inductor is sent to described mechanical arm, to make described mechanical arm judge whether described arm body occurs skew according to described induction result, and when skew appears in described arm body, described arm body is corrected.
A detection method for mechanical arm, the detection system applying the mechanical arm as above described in any one detects, and described mechanical arm comprises at least one arm body, and described detection method comprises:
Whether the described arm body moved along preset direction by inductor induction is positioned at induction zone;
The induction result of described inductor is sent to described mechanical arm, to make described mechanical arm judge whether described arm body occurs skew according to described induction result, and when skew appears in described arm body, described arm body is corrected.
A kind of mechanical arm, described mechanical arm is used for being moved into by glass substrate or taking out of box type container, and described mechanical arm comprises at least one arm body, the master controller be connected with described arm body and the second communicator;
The induction result of the inductor that described second communicator sends for the detection system receiving the mechanical arm as above described in any one;
Described master controller is used for judging whether described arm body occurs skew according to described induction result, if so, then corrects described arm body according to the side-play amount of described arm body and offset direction.
Compared with prior art, technical scheme provided by the present invention has the following advantages:
Mechanical arm provided by the present invention and detection system thereof and detection method, whether the arm body moved along specific direction by inductor induction is positioned at induction zone, and the induction result of inductor is sent to mechanical arm, judge whether described arm body occurs skew to make mechanical arm according to induction result, if there is skew, then the master controller of described mechanical arm corrects described arm body according to the side-play amount of described arm body and offset direction, thus achieve in the non-stop-machine situation of mechanical arm, carry out detection and the correction of arm solid offsetting situation, both a large amount of manpower had been saved, shorten detection time again, improve production production capacity.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
The circuit diagram of the detection system of the mechanical arm that Fig. 1 provides for one embodiment of the present of invention;
The structure chart of the inductor group that Fig. 2 a and 2b provides for one embodiment of the present of invention;
The structural representation of the detection system of the mechanical arm that Fig. 3 provides for one embodiment of the present of invention and mechanical arm;
The flow chart of the detection method of the mechanical arm that Fig. 4 provides for an alternative embodiment of the invention;
The electrical block diagram of the mechanical arm that Fig. 5 provides for another embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
An embodiment provides a kind of detection system of mechanical arm, for the drift condition of inspecting manipuator arm, wherein, this mechanical arm comprises at least one arm body, the detection system of this mechanical arm as shown in Figure 1, the first communicator 20, power supply 30 and the switch 40 that comprise at least one inductor group 10 and be connected with inductor group 10.
Wherein, switch 40, for when detecting arm body, opens the detection system of this mechanical arm, power supply 30 is 24V dc source, for providing operating voltage for inductor group 10 and the first communicator 20, inductor group 10 comprises multiple inductor, and whether these inductors are positioned at induction zone for responding to the arm body moved along preset direction, first communicator 20 is PLC (Programmable Logic Controller, programmable logic controller (PLC)) wireless communication module, for the induction result of inductor group 10 is sent to mechanical arm, judge whether arm body occurs skew to make mechanical arm according to induction result, and when skew appears in arm body, arm body is corrected, based on this, one embodiment of the present of invention additionally provide a kind of mechanical arm, this mechanical arm comprises the second communicator and master controller, the induction result that second communicator sends for receiving the first communicator, master controller is used for judging whether arm body occurs skew according to induction result, and when there is skew, arm body is corrected.
In the present embodiment, mechanical arm can comprise an arm body, also can comprise two arm bodies.When mechanical arm comprises an arm body, detection system comprises an inductor group, and this inductor group comprises at least five inductors, wherein, the induction zone of at least one inductor is corresponding with the position stating arm body, and the induction zone of at least four inductors is positioned at the surrounding of described arm body.When mechanical arm comprises two arm bodies, when namely comprising the first arm body and the second arm body that are parallel to each other, detection system comprises two inductor groups, i.e. the first inductor group and the second inductor group, in first inductor group, the induction zone of at least one inductor is corresponding with the first arm body, and the induction zone of at least four inductors is positioned at the surrounding of the first arm body; In second inductor group, the induction zone of at least one inductor is corresponding with described second arm body, and the induction zone of at least four inductors is positioned at the surrounding of the second arm body.
In the present embodiment, comprise five inductors for inductor group 10 to be described, as shown in figures 2 a and 2b, X0, X1, X2, X3 and X4 represents five inductors respectively, R represents the arm body of mechanical arm, as can be seen from Fig. 2 a and 2b, the induction zone of sensors X 0 is overlapping namely corresponding with the position of arm body R with the cross section of arm body R, sensors X 1, X2, the induction zone of X3 and X4 lays respectively at four orientation up and down of arm body R, and sensors X 1, X2, distance D between the induction zone of X3 and X4 and arm body R is 1mm, certainly, the present invention is not limited to this, 1mm can be greater than or less than at other embodiment predeterminable ranges D, also can be unequal, its concrete numerical value can set as the case may be.
In the present embodiment, inductor is preferably fiber sensor, the adjustable distance of reaction of this fiber sensor is 0mm ~ 20mm, this fiber sensor comprises transmitter unit and receiving element, and transmitter unit is used for emission of light, and receiving element is used for detecting whether receive light, and judge whether arm body is positioned at induction zone according to testing result, the spot area of the light that described induction zone and transmitter unit are launched, as the circular shadow region in Fig. 2 a and 2b, the diameter of this spot area is preferably less than 1mm.
Further, Fibre Optical Sensor is arranged on the plane parallel with arm body cross section, and the light that Fibre Optical Sensor sends perpendicular to the cross section of arm body, and is parallel to the predetermined movement direction of arm body.When the induction zone of inductor and arm body weight are folded, arm knows from experience the light that reflection transmitter unit is launched, and now, corresponding receiving element just can receive light, and the induction result of this sensor is on; When the not overlapping i.e. arm body of induction zone and arm body does not reflect the light that transmitter unit launches, the receiving element of correspondence just cannot receive light, and the induction result of this sensor is off.
Based on this, as shown in Figure 2 a, when arm body R is only positioned at the induction zone of sensors X 0, the induction result of X0 is on, X1, the induction result of X2, X3 and X4 is off, and now, mechanical arm judges that arm body R moves along preset direction, does not occur skew; As shown in Figure 2 b, when arm body R is positioned at the induction zone of sensors X 0 and X1, the induction result of X0 and X1 is on, the induction result of X2, X3 and X4 is off, now, judge that skew appears in arm body R, and control arm body R moves to the direction of X3, until the induction result of X1 is after off, then control arm body R moves 1mm to the direction of X3; When arm body R be positioned at sensors X 0 and X2 induction zone, be positioned at sensors X 0 and X3 and be positioned at the induction zone of sensors X 0 and X4 time, the bearing calibration of arm body is identical therewith, does not repeat them here.
As shown in Figure 3, when mechanical arm is the mechanical arm moving into glass substrate or take out of box type container, and box type container is when comprising the base plate 301 that is parallel to each other and top board 302, side plate 303 between base plate 301 and top board 302, inductor group 10 can be arranged on the side of base plate 301, and this side is vertical with the default traffic direction of arm body R.The direction of motion of arm body R as shown by the dotted line in fig. 3, arm body R first moves along the direction of A to B, then the direction along C to D is moved into distance of reaction L, respond to avoid inductor mistake, and, the recovery movement locus of arm body R is contrary with detection movement locus, namely first moves along the direction of D to C, then moves along the direction of B to A.
In addition, the first communicator 20 can be arranged on side plate 303; Power supply 30 can be arranged on base plate 301; Switch 40 is arranged on side plate 303.Certainly, the present invention is not limited to this, and the setting position of the first communicator 20, power supply 30 and switch 40 etc. can be different in other embodiments, as long as it does not affect the carrying of glass substrate.Like this, when not detecting, mechanical arm performs carrying work, and the setting of the first communicator 20, power supply 30, switch 40 etc. does not affect the normal work of mechanical arm; When detecting, mechanical arm does not need to shut down, and only need move along preset direction.
Present embodiments provide a kind of detection system of mechanical arm, whether the arm body moved along specific direction by inductor induction is positioned at induction zone, and the induction result of inductor is sent to mechanical arm, judge whether described arm body occurs skew to make mechanical arm according to induction result, if there is skew, then the master controller of described mechanical arm corrects described arm body according to the side-play amount of described arm body and offset direction, thus achieve in the non-stop-machine situation of mechanical arm, carry out detection and the correction of arm solid offsetting situation, both a large amount of manpower had been saved, shorten detection time again, improve production production capacity.
An alternative embodiment of the invention provides a kind of detection method of mechanical arm, be applied to the detection system of the mechanical arm that any embodiment of the present invention provides, wherein, this mechanical arm comprises at least one arm body, the flow chart of this detection method as shown in Figure 4, comprising:
S401: whether the arm body moved along preset direction by inductor induction is positioned at induction zone;
As shown in Figure 2, X0, X1, X2, X3 and X4 represent five inductors respectively, R represents the arm body of mechanical arm, as can be seen from Figure 2, the induction zone of sensors X 0 is overlapping namely corresponding with the position of arm body R with the cross section of arm body R, the induction zone of sensors X 1, X2, X3 and X4 lays respectively at four orientation up and down of arm body R, and the distance between the induction zone of sensors X 1, X2, X3 and X4 and arm body R is 1mm, certainly, the present invention is not limited to this, can 1mm be greater than or less than at other embodiment predeterminable ranges, also can be unequal.
Wherein, when described inductor is the fiber sensor comprising transmitter unit and receiving element, the process whether being positioned at induction zone along the described arm body that specific direction moves by inductor induction comprises: described transmitter unit emission of light, the spot area of described light is described induction zone, namely as the circular shadow region in Fig. 2 a and 2b; Described receiving element detects whether receive described light, and judges whether described arm body is positioned at induction zone according to testing result.
When the induction zone of inductor and arm body weight are folded, arm knows from experience the light that reflection transmitter unit is launched, and now, corresponding receiving element just can receive light, and the induction result of this sensor is on; When the not overlapping i.e. arm body of induction zone and arm body does not reflect the light that transmitter unit launches, the receiving element of correspondence just cannot receive light, and the induction result of this sensor is off.
S402: the induction result of described inductor is sent to described mechanical arm, to make described mechanical arm judge whether described arm body occurs skew according to described induction result, and corrects described arm body when skew appears in described arm body.
When the induction result of X0 be on, X1, the induction result of X2, X3 and X4 be off time, this induction result is sent to mechanical arm by the first communicator, judges that arm body R moves along preset direction to make mechanical arm, do not occur skew; When the induction result of X0 and X1 is on, when the induction result of X2, X3 and X4 is off, this induction result is sent to mechanical arm by the first communicator, judge that to make mechanical arm skew appears in arm body R, and control arm body R moves to the direction of X3, until the induction result of X1 is after off, then control arm body R moves 1mm to the direction of X3, thus completes the correction of arm body; When arm body R be positioned at sensors X 0 and X2 induction zone, be positioned at sensors X 0 and X3 or be positioned at the induction zone of sensors X 0 and X4 time, the control method of mechanical arm is identical therewith, does not repeat them here.
The detection method of the mechanical arm that the present embodiment provides, whether the arm body moved along specific direction by inductor induction is positioned at induction zone, and the induction result of inductor is sent to mechanical arm, judge whether described arm body occurs skew to make mechanical arm according to induction result, if there is skew, then the master controller of described mechanical arm corrects described arm body according to the side-play amount of described arm body and offset direction, thus achieve in the non-stop-machine situation of mechanical arm, carry out detection and the correction of arm solid offsetting situation, both a large amount of manpower had been saved, shorten detection time again, improve production production capacity.
Another embodiment of the present invention provides a kind of mechanical arm, and this mechanical arm is used for being moved into by glass substrate or taking out of box type container, and this mechanical arm comprises at least one arm body, the master controller be connected with this arm body and the second communicator; Wherein, the second communicator is PLC wireless communication module, and the second communicator need match with the first communicator, to carry out the communication of signal, particularly, and the induction result of the inductor that the second communicator sends for the detection system receiving mechanical arm; Master controller is used for judging whether arm body occurs skew according to induction result, if offseting appears in arm body, then corrects arm body according to the side-play amount of arm body and offset direction.
In the present embodiment, mechanical arm comprises the first arm body and the second arm body, inductor group comprises the first inductor group and the second inductor group, whether the first inductor group there is skew for detecting the first arm body, whether the second inductor group there is skew for detecting the second arm body, and, as shown in Figure 3, first inductor group 10a and the second inductor group 10b is all arranged on the side of the base plate 301 of box type container, and this side is vertical with the default traffic direction of arm body R.
As shown in Figure 2, X0, X1, X2, X3 and X4 represent five inductors respectively, and R represents the arm body of mechanical arm.When the induction result of X0 is on, when the induction result of X1, X2, X3 and X4 is off, this induction result is sent to the second communicator by the first communicator, this induction result is sent to master controller by the second communicator again, according to this induction result, master controller judges that arm body R moves along preset direction again, do not occur skew; When the induction result of X0 and X1 is on, when the induction result of X2, X3 and X4 is off, this induction result is sent to the second communicator by the first communicator, this induction result is sent to master controller by the second communicator again, according to this induction result, master controller judges that skew appears in arm body R again, then main controller controls arm body R moves to the direction of X3, until the induction result of X1 is after off, control arm body R moves 1mm to the direction of X3 again, thus completes the correction of arm body.
In the present embodiment, mechanical arm also comprises alarm unit and display unit.As shown in Figure 5, display unit 501 and the second communicator and master controller 502 carry out the mutual of information to the circuit diagram of this mechanical arm, and master controller 502, to alarm unit 503 sending controling instruction, gives a warning with trigger alarm unit 503 or reports to the police.
Wherein, for there is skew at described arm body and give a warning or sending warning timing cannot be carried out to described arm body in alarm unit 503, namely after according to induction result, master controller judges that skew appears in arm body, master controller 502 can give a warning by trigger alarm unit, master controller 502 can correct arm body simultaneously, when master controller cannot carry out timing to arm body, master controller 502 can send warning, so that staff carries out manual operation by trigger alarm unit 503.Display unit is used for display alarm information or shows the information such as the offset information of described arm body and control information.
In addition, after arm body moves to assigned address along preset direction, X0 is off, and now, alarm unit gives a warning, and has detected to point out staff; When the induced signal of the inductor group of the first arm body and the second arm body is asynchronous, alarm unit also can give a warning; Or carry out timing to arm body, when the correcting value of arm body is greater than reasonable threshold value as 5mm, alarm unit also can give a warning.
The mechanical arm that the present embodiment provides; judge whether arm body occurs skew according to induction result; if there is skew; then automatically arm body is corrected according to the side-play amount of arm body and offset direction; thus achieve in the non-stop-machine situation of mechanical arm, carry out detection and the correction of arm solid offsetting situation, both save a large amount of manpower; shorten detection time again, improve production production capacity.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (14)
1. a detection system for mechanical arm, is characterized in that, described mechanical arm comprises at least one arm body, and described detection system comprises:
At least one inductor group, described inductor group comprises multiple inductor, and whether described inductor is positioned at induction zone for responding to the described arm body moved along preset direction;
The first communicator be connected with described inductor group, for the induction result of described inductor is sent to described mechanical arm, to make described mechanical arm judge whether described arm body occurs skew according to described induction result, and when skew appears in described arm body, described arm body is corrected.
2. the detection system of mechanical arm according to claim 1, it is characterized in that, described mechanical arm also comprises the second communicator and master controller that are connected with described arm body, described second communicator is for receiving the induction result of the inductor of described first communicator transmission, described master controller is used for judging whether described arm body occurs skew according to described induction result, and when skew appears in described arm body, described arm body is corrected.
3. the detection system of mechanical arm according to claim 2, it is characterized in that, described inductor group comprises at least five inductors, wherein, the induction zone of at least one inductor is corresponding with the position of described arm body, and the induction zone of at least four inductors is positioned at the surrounding of described arm body.
4. the detection system of mechanical arm according to claim 3, it is characterized in that, described inductor is fiber sensor, described fiber sensor comprises transmitter unit and receiving element, described transmitter unit is used for emission of light, described receiving element is used for detecting whether receive described light, and judges whether described arm body is positioned at induction zone according to testing result, and described induction zone is the spot area of described fiber sensor.
5. the detection system of mechanical arm according to claim 4, is characterized in that, the diameter of described spot area is less than 1mm.
6. the detection system of mechanical arm according to claim 5, is characterized in that, described detection system also comprises the power supply and switch that are connected with the first communicator with described inductor group.
7. the detection system of mechanical arm according to claim 6, it is characterized in that, when described mechanical arm comprises the first arm body and the second arm body that are parallel to each other, described detection system comprises the first inductor group and the second inductor group, in described first inductor group, the induction zone of at least one inductor is corresponding with described first arm body, and the induction zone of at least four inductors is positioned at the surrounding of described first arm body; In described second inductor group, the induction zone of at least one inductor is corresponding with described second arm body, and the induction zone of at least four inductors is positioned at the surrounding of described second arm body.
8. the detection system of the mechanical arm according to any one of claim 1-7, it is characterized in that, when described mechanical arm is the mechanical arm moving into glass substrate or take out of box type container, and described box type container is when comprising the base plate that is parallel to each other and top board, side plate between described base plate and top board, described inductor group is arranged on the side of described base plate, and described side is vertical with the traffic direction of described arm body.
9. the detection system of mechanical arm according to claim 8, is characterized in that, described first communicator is arranged on described side plate; Described power supply is arranged on described base plate; Described switch-linear hybrid is on described side plate.
10. a detection method for mechanical arm, is characterized in that, application rights requires that the detection system of the mechanical arm described in any one of 1-9 detects, and described mechanical arm comprises at least one arm body, and described detection method comprises:
Whether the described arm body moved along preset direction by inductor induction is positioned at induction zone;
The induction result of described inductor is sent to described mechanical arm, to make described mechanical arm judge whether described arm body occurs skew according to described induction result, and when skew appears in described arm body, described arm body is corrected.
11. detection methods according to claim 10, is characterized in that, when described inductor is the fiber sensor comprising transmitter unit and receiving element, the process whether being positioned at induction zone along the described arm body that specific direction moves by inductor induction comprises:
Described transmitter unit emission of light, the spot area of described light is described induction zone;
Described receiving element detects whether receive described light, and judges whether described arm body is positioned at induction zone according to testing result.
12. 1 kinds of mechanical arms, described mechanical arm is used for being moved into by glass substrate or taking out of box type container, and it is characterized in that, described mechanical arm comprises at least one arm body, the master controller be connected with described arm body and the second communicator;
The induction result of the inductor that described second communicator sends for the first communicator received in the detection system of the mechanical arm described in any one of claim 1-9;
Described master controller is used for judging whether described arm body occurs skew according to described induction result, if so, then corrects described arm body according to the side-play amount of described arm body and offset direction.
13. mechanical arms according to claim 12, is characterized in that, described mechanical arm also comprises alarm unit, for occurring that at described arm body skew gives a warning or sends warning cannot carry out timing to described arm body.
14. mechanical arms according to claim 13, is characterized in that, also comprise display unit, and described display unit is used for display alarm information or shows offset information and the control information of described arm body.
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| CN104690736B (en) | 2017-03-08 |
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