CN110181483B - Cooperative sliding table and pressure calculation method thereof - Google Patents
Cooperative sliding table and pressure calculation method thereof Download PDFInfo
- Publication number
- CN110181483B CN110181483B CN201910529617.5A CN201910529617A CN110181483B CN 110181483 B CN110181483 B CN 110181483B CN 201910529617 A CN201910529617 A CN 201910529617A CN 110181483 B CN110181483 B CN 110181483B
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- sliding table
- sliding
- nut
- controller
- spring
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- 238000004364 calculation method Methods 0.000 title description 9
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 6
- 241000282414 Homo sapiens Species 0.000 description 5
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
Abstract
The invention relates to a cooperative sliding table, which comprises a sliding assembly, a transmission assembly, a measuring assembly and a controller, wherein the transmission assembly comprises a nut, a screw rod and a motor, the nut is sleeved on the screw rod, the motor drives the screw rod to rotate, the nut moves along the screw rod, the sliding assembly comprises a sliding table and a sliding rail, the sliding table is arranged on the sliding rail in a sliding manner, the sliding table is connected with the nut through a limiting assembly, the nut drives the sliding table to slide along the sliding rail, the measuring assembly comprises a ruler and a measuring head, the ruler is arranged on one side of the sliding rail, the measuring head is arranged on the sliding table and moves along with the sliding table, the motor and the measuring assembly are respectively and electrically connected with the controller, the motor transmits nut movement data to the controller, and the measuring assembly transmits the sliding table movement data to the controller so that the controller calculates a pressure value and displacement information received by the sliding table. The controller calculates the resistance born by the sliding table to control the starting and stopping of the sliding table, so that the safety of the cooperative sliding table is improved, and accidents are prevented.
Description
Technical Field
The invention relates to the field of cooperative robots, in particular to a cooperative sliding table and a pressure calculation method thereof.
Background
The collaborative robot (collaborative robot) is simply called cobot or co-robot, and is a robot designed to interact with human beings in close proximity in a common working space. By 2010, most industrial robots are designed to operate automatically or under limited guidance, so that they do not need to consider close interaction with human beings, nor do their actions need to consider safety protection for surrounding human beings, which are the functions that the collaborative robots need to consider.
When the traditional industrial robot works, the traditional industrial robot is limited by technical and historical reasons, certain measures are required to be taken to ensure safety and exclude human beings from the working area, and the aim of the cooperative robot is to combine the repetitive performance of the robot with the unique skill flexibility and capability of the human beings, so that the production efficiency is improved.
At present, a pressure sensor is additionally arranged below the sliding table and is electrically connected with a controller, when the sliding table receives pressure, pressure data are transmitted to the controller, the controller can judge whether the sliding table receives external resistance and resistance value according to the comparison of the pressure value and a preset value, so that the controller can stop the sliding table to move in time, the safety is ensured, but the pressure calculation method is accurate in pressure measurement and cannot measure displacement information, if the sliding table is driven by a screw rod, the displacement information of the sliding block can be measured by combining motor data, but the measured displacement information of the sliding block is inaccurate due to the fact that the screw rod is not high in accuracy, and the error is large.
Disclosure of Invention
The invention provides a cooperative sliding table capable of measuring pressure values and displacement information, accurate in measurement and simple in measurement mode and a pressure calculation method thereof.
The purpose of the invention is realized in the following way:
the utility model provides a cooperation formula slip table, includes slip subassembly, drive assembly, measurement subassembly and controller, drive assembly includes nut, lead screw and motor, and the nut cover is put on the lead screw, and the motor drives the lead screw rotation, and the nut removes along the lead screw, slip subassembly includes slip table and slide rail, the slip table sets up on the slide rail with the mode of sliding, is connected through spacing subassembly between slip table and the nut, and the nut drives the slip table and slides along the slide rail, measurement subassembly includes ruler and measuring head, the ruler sets up in slide rail one side, the measuring head sets up and removes along with the slip table on the slip table, motor, measurement subassembly are connected with the controller electricity respectively, and the motor is with nut removal data transfer controller, and measurement subassembly is with slip table removal data transfer controller to make the controller calculate the pressure value and the displacement information that the slip table received. The sliding table is connected with the nut through the limiting component, when the sliding table is not subjected to external resistance, the nut drives the sliding table to move, the nut moving distance is consistent with the sliding table moving distance, when the sliding table is subjected to external resistance, the nut extrudes the limiting component and drives the sliding table to move, the sliding table moving distance is inconsistent with the nut moving distance, and the controller calculates the resistance born by the sliding table and calculates whether the resistance is greater than a preset value through the sliding table moving distance and the nut moving distance, so that the sliding table is controlled to start and stop, the safety of the cooperative sliding table is greatly improved, and accidents are prevented.
The aim of the invention can be also solved by adopting the following technical measures:
further, the limiting assembly comprises a first spring, a second spring and a sliding shaft, the sliding shaft is arranged at the bottom of the sliding table, the first spring, the nut and the second spring are sequentially sleeved on the sliding shaft, one end of the first spring abuts against one end of the sliding shaft, the other end of the first spring abuts against the nut, one end of the second spring abuts against the other end of the sliding shaft, the other end of the second spring abuts against the nut, and the first spring and the second spring limit the nut to slide along the sliding shaft. When the sliding table receives external resistance, the nut compresses the spring in the sliding process of the screw rod until the screw rod pushes the sliding table to move, so that the sliding table and the nut generate displacement difference, and the controller calculates the pressure value born by the sliding table through the elastic coefficient of the spring and the displacement difference, so that whether the sliding table receives external resistance is judged, the sliding table is stopped in time, and the safety of the collaborative sliding table is improved.
Further, the first spring and the second spring are springs with the same elastic coefficient.
A pressure calculation method of a cooperative sliding table comprises the following steps:
step one, calculating the moving distance of the nut: the controller records that the rotation angle of the servo motor is a, the lead of the nut is d, and the controller calculates the displacement L1 of the nut, wherein L1=a×d;
step two, calculating the moving distance of the sliding table: the measuring assembly records displacement information of the measuring head on the ruler to the controller, so that the moving distance L2 of the sliding table is obtained;
step three, recording the elastic coefficients K of the first spring and the second spring to a controller;
step four, the controller calculates the pressure value F received by the sliding table: f=k (L1-L2);
and fifthly, if the pressure value F is equal to 0, the sliding table is not stressed, if the pressure value F is greater than 0, the sliding table is stressed, and if the pressure value F is greater than a pressure preset value of the controller, the controller can stop the operation of the motor, so that the sliding table is stopped.
According to the calculation method, the moving distance of the sliding table can be directly measured by the magnetic grid ruler and fed back to the controller, corresponding data are transmitted to the controller by the motor, the moving distance of the nut can be calculated by the controller, the pressure value of the sliding table is calculated by the controller through the moving distance of the sliding table and the moving distance of the nut, so that whether the sliding table is subjected to external resistance or not is judged, whether the pressure value exceeds a preset value or not is judged, the motor is controlled to start or stop, the sliding table is moved or stopped, the safety of the cooperative sliding table is improved, and accidents are avoided.
In addition, the first spring and the second spring are arranged, after the controller stops moving the sliding table, a user can start the motor again through the controller and change the rotation angle of the motor, the nut compresses the first spring or the second spring and continuously moves along the screw rod to change the displacement L1 of the nut, so that the pressure value is increased, when the pressure value is larger than the resistance of an obstacle sitting on the sliding table, the nut can drive the sliding table to continuously slide, and the cooperative sliding table is maintained to work normally.
The beneficial effects of the invention are as follows:
according to the invention, the sliding table is connected with the nut through the limiting component, when the sliding table is not subjected to external resistance, the nut drives the sliding table to move, the moving distance of the nut is consistent with the moving distance of the sliding table, when the sliding table is subjected to external resistance, the nut extrudes the limiting component and drives the sliding table to move, so that the moving distance of the sliding table is inconsistent with the moving distance of the nut, and the controller calculates the resistance born by the sliding table and calculates whether the resistance is greater than a preset value or not through the moving distance of the sliding table and the moving distance of the nut, so that the starting and stopping of the sliding table are controlled, the safety of the cooperative sliding table is greatly improved, and accidents are prevented.
According to the invention, when the sliding table receives external resistance, the nut compresses the spring in the sliding process of the screw rod until the screw rod pushes the sliding table to move, so that the sliding table and the nut generate displacement difference, and the controller calculates the pressure value born by the sliding table through the combination of the elastic coefficient of the spring and the displacement difference, so that whether the sliding table receives external resistance is judged, the sliding table is stopped in time, and the safety of the cooperative sliding table is improved.
According to the calculation method, the moving distance of the sliding table can be directly measured by the magnetic grid ruler and fed back to the controller, corresponding data are transmitted to the controller by the motor, the moving distance of the nut can be calculated by the controller, the pressure value of the sliding table is calculated by the controller through the moving distance of the sliding table and the moving distance of the nut, so that whether the sliding table is subjected to external resistance or not is judged, whether the pressure value exceeds a preset value or not is judged, the motor is controlled to start or stop, the sliding table is moved or stopped, the safety of the cooperative sliding table is improved, and accidents are avoided.
The invention is provided with the first spring and the second spring, when the controller stops the sliding table to move, a user can start the motor again through the controller and change the rotation angle of the motor, the nut compresses the first spring or the second spring and continuously moves along the screw rod to change the displacement L1 of the nut, so that the pressure value is increased, when the pressure value is larger than the resistance of an obstacle sitting on the sliding table, the nut can drive the sliding table to continuously slide, and the cooperative sliding table is maintained to normally work.
Drawings
Fig. 1 is a schematic view of a cooperative sliding table according to the present invention.
Fig. 2 is an exploded view of the cooperative sliding table of the present invention.
Fig. 3 is a front view (housing) of the cooperative sliding table of the present invention.
Fig. 4 is a schematic cross-sectional view of the cooperative sliding table of the present invention.
Fig. 5 is an assembly schematic diagram of a sliding table and a nut of the cooperative sliding table through a limiting assembly.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples:
the embodiment, with reference to fig. 1 to 5, shows a cooperative sliding table 11, including a sliding component 1, a transmission component 2, a measurement component, a limiting component 4 and a controller 5, where the sliding component 1 includes a sliding table 11 and a sliding rail 12, the measurement component includes a ruler and a measuring head, the measurement component is a magnetic grid ruler 3, and the ruler is
The magnetic scale 31 and the measuring head is a magnetic head 32.
The sliding table 11 is arranged on the sliding rail 12 in a sliding mode, the magnetic head 32 is arranged on the sliding table 11, the magnetic ruler 31 is arranged on one side of the sliding rail 12 and is parallel to the sliding rail 12, the magnetic grid ruler 3 is electrically connected with the controller 5, and when the sliding table 11 slides along the sliding rail 12, the magnetic grid ruler 3 records position data of the magnetic head 32, so that the sliding distance of the sliding table 11 along the sliding rail 12 is measured.
The transmission assembly 2 comprises a nut 21, a screw rod 22 and a motor 23, wherein the nut 21 is sleeved on the screw rod 22, the screw rod 22 is connected with the motor 23, the motor 23 drives the screw rod 22 to rotate, so that the nut 21 slides along the screw rod 22, the motor 23 is electrically connected with the controller 5, and the motor 23 transmits movement data of the nut 21 to the controller 5.
The limiting assembly 4 comprises a first spring 41, a second spring 42 and a sliding shaft 43, wherein the first spring 41 and the second spring 42 are springs with the same elastic coefficient. The sliding shaft 43 is arranged at the bottom of the sliding table 11, the first spring 41, the nut 21 and the second spring 42 are sequentially sleeved on the sliding shaft 43, one end of the first spring 41 is abutted against one end part of the sliding shaft 43, the other end of the first spring 41 is abutted against the nut 21, one end of the second spring 42 is abutted against the other end part of the sliding shaft 43, the other end of the second spring 42 is abutted against the nut 21, the first spring 41 and the second spring 42 limit the movement of the nut 21, the sliding table 11 and the nut 21 are connected, and accordingly the sliding table 11 moves along with the nut 21.
The pressure calculation method of the cooperative sliding table 11 comprises the following steps:
step one, calculating the moving distance of the nut 21: the controller 5 records that the rotation angle of the servomotor 23 is a, the lead of the nut 21 is d, and the controller 5 calculates the displacement L1 of the nut 21, l1=a×d.
Step two, calculating the moving distance of the sliding table 11: the magnetic grating ruler 3 records displacement information of the magnetic head 32 positioned on the magnetic ruler 31 to the controller 5, so that the moving distance L2 of the sliding table 11 is known.
Step three, the elastic coefficients K of the first spring 41 and the second spring 42 are recorded to the controller 5.
Step four, the controller 5 calculates the pressure value F to which the sliding table 11 is subjected: f=k (L1-L2).
And fifthly, if the pressure value F is equal to 0, the sliding table 11 is not stressed, if the pressure value F is greater than 0, the sliding table 11 is stressed, and if the pressure value F is greater than the pressure preset value of the controller 5, the controller 5 can stop the operation of the motor 23, so that the sliding table 11 is stopped.
When the controller 5 calculates that the pressure value F is greater than 0, it indicates that the sliding table 11 receives external resistance, and when the pressure value F is greater than a preset value, it indicates that the external resistance received by the sliding table 11 is greater than a set range, at this time, the controller 5 stops the motor 23, so as to stop the sliding table 11 from moving, prevent accidents, and improve the safety of the collaborative sliding table 11.
The invention is provided with the first spring 41 and the second spring 42, when the controller 5 stops moving the sliding table 11, a user can start the motor 23 again through the controller 5 and change the rotation angle of the motor 23, the nut 21 compresses the first spring 41 or the second spring 42 and continuously moves along the screw rod 22 to change the displacement L1 of the nut 21, so that the pressure value is increased, when the pressure value is larger than the resistance of an obstacle sitting on the sliding table 11, the nut 21 can drive the sliding table 11 to continuously slide, and the normal work of the cooperative sliding table is maintained.
The measuring component can also be a grating ruler, the ruler can also be a scale grating, the measuring head can also be a grating reading head, and accurate measurement of displacement information can also be realized by adopting the grating ruler.
Claims (5)
1. The utility model provides a cooperation slip table, includes sliding assembly, drive assembly, measurement assembly and controller, its characterized in that: the transmission assembly comprises a nut, a screw rod and a motor, the nut is sleeved on the screw rod, the motor drives the screw rod to rotate, the nut moves along the screw rod, the sliding assembly comprises a sliding table and a sliding rail, the sliding table is arranged on the sliding rail in a sliding mode, the sliding table is connected with the nut through a limiting assembly, the nut drives the sliding table to slide along the sliding rail, the measurement assembly comprises a ruler and a measurement head, the ruler is arranged on one side of the sliding rail, the measurement head is arranged on the sliding table and moves along with the sliding table, the motor and the measurement assembly are respectively and electrically connected with the controller, the motor transmits nut movement data to the controller, and the measurement assembly transmits the sliding table movement data to the controller so that the controller calculates the pressure value and the displacement information suffered by the sliding table;
the limiting assembly comprises a first spring, a second spring and a sliding shaft, the sliding shaft is arranged at the bottom of the sliding table, the first spring, the nut and the second spring are sequentially sleeved on the sliding shaft, one end of the first spring is propped against one end of the sliding shaft, the other end of the first spring is propped against the nut, one end of the second spring is propped against the other end of the sliding shaft, the other end of the second spring is propped against the nut, and the first spring and the second spring limit the nut to slide along the sliding shaft.
2. The collaborative slipway of claim 1, wherein: the first spring and the second spring are springs with the same elastic coefficient.
3. The collaborative slipway of claim 1, wherein: the measuring assembly is a magnetic grating ruler, the ruler is a magnetic ruler, and the measuring head is a magnetic head.
4. The collaborative slipway of claim 1, wherein: the measuring assembly is a grating ruler, the ruler is a scale grating, and the measuring head is a grating reading head.
5. A method of calculating pressure of a collaborative slipway according to any of claims 1-2:
step one, calculating the moving distance of the nut: the controller records that the rotation angle of the servo motor is a, the lead of the nut is d, and the controller calculates the displacement L1 of the nut, wherein L1=a×d;
step two, calculating the moving distance of the sliding table: the measuring assembly records displacement information of the measuring head on the ruler to the controller, so that the moving distance L2 of the sliding table is obtained;
step three, recording the elastic coefficients K of the first spring and the second spring to a controller;
step four, the controller calculates the pressure value F received by the sliding table: f=k (L1-L2);
and fifthly, if the pressure value F is equal to 0, the sliding table is not stressed, if the pressure value F is greater than 0, the sliding table is stressed, and if the pressure value F is greater than a pressure preset value of the controller, the controller can stop the operation of the motor, so that the sliding table is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910529617.5A CN110181483B (en) | 2019-06-19 | 2019-06-19 | Cooperative sliding table and pressure calculation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910529617.5A CN110181483B (en) | 2019-06-19 | 2019-06-19 | Cooperative sliding table and pressure calculation method thereof |
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| Publication Number | Publication Date |
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| CN110181483A CN110181483A (en) | 2019-08-30 |
| CN110181483B true CN110181483B (en) | 2024-03-19 |
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| CN201910529617.5A Active CN110181483B (en) | 2019-06-19 | 2019-06-19 | Cooperative sliding table and pressure calculation method thereof |
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| CN103411543A (en) * | 2013-08-07 | 2013-11-27 | 厦门大学 | Lead screw lead accuracy detection device and detection head device thereof |
| CN103551902A (en) * | 2013-08-23 | 2014-02-05 | 福鼎市金雄机车部件有限公司 | Device for automatically controlling linear movement and accurate stop position of sliding table by motor |
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| CN107860339A (en) * | 2017-12-19 | 2018-03-30 | 南京工程学院 | A kind of active bearing groove measurer for curvity radius and measuring method |
| CN107957245A (en) * | 2017-12-29 | 2018-04-24 | 江苏宏宝锻造股份有限公司 | Engine link dimension measuring device and its measuring method based on machine vision |
| CN207894371U (en) * | 2018-03-21 | 2018-09-21 | 东莞庆呈五金有限公司 | A kind of multi-faceted altimeter of precision workpiece |
| CN210061127U (en) * | 2019-06-19 | 2020-02-14 | 佛山市增广智能科技有限公司 | Cooperative sliding table |
-
2019
- 2019-06-19 CN CN201910529617.5A patent/CN110181483B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20010029053A (en) * | 1999-09-29 | 2001-04-06 | 이종훈 | Method for Determining Operability of Motor Operated Valves |
| CN201348846Y (en) * | 2009-01-14 | 2009-11-18 | 深圳市德普施科技有限公司 | Test bed for testing distance and displacement |
| CN101963538A (en) * | 2010-07-20 | 2011-02-02 | 南京工业大学 | Internal flow field pressure measuring device for hydraulic slide valve cavity body |
| CN103411543A (en) * | 2013-08-07 | 2013-11-27 | 厦门大学 | Lead screw lead accuracy detection device and detection head device thereof |
| CN103551902A (en) * | 2013-08-23 | 2014-02-05 | 福鼎市金雄机车部件有限公司 | Device for automatically controlling linear movement and accurate stop position of sliding table by motor |
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| Publication number | Publication date |
|---|---|
| CN110181483A (en) | 2019-08-30 |
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