CN115178478B - Workbench anti-collision assembly and anti-collision method - Google Patents
Workbench anti-collision assembly and anti-collision method Download PDFInfo
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- CN115178478B CN115178478B CN202211102223.XA CN202211102223A CN115178478B CN 115178478 B CN115178478 B CN 115178478B CN 202211102223 A CN202211102223 A CN 202211102223A CN 115178478 B CN115178478 B CN 115178478B
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- workbench
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention belongs to the technical field of sorting and carrying equipment, and particularly provides a workbench anti-collision assembly and an anti-collision method. The workbench anti-collision assembly mainly comprises a workbench distance measuring assembly, a workbench surface rotation judging assembly and a workbench surface lifting judging assembly; the working table anti-collision method comprises the following specific steps: reading feedback values of the workbench ranging assemblies, and measuring and calculating position coordinates of the two workbenches on the track; reading the feedback value of the worktable rotation judging component, and measuring and calculating the current rotation angles of the two worktops; and reading a feedback value of the lifting judgment component of the working table, measuring and calculating the current height difference of the two working tables, finally judging the height positions of the two working tables, and performing evasion treatment when a collision risk is found. The sensor is additionally arranged at the corresponding position of the existing equipment and is matched with the judgment logic, so that the collision prevention effect of the workbench is realized, and the collision of the workbench caused by factors such as sudden power failure during the operation of the equipment or the reduction of the aging and abrasion precision of the equipment is avoided.
Description
Technical Field
The invention belongs to the technical field of sorting and carrying equipment, and particularly provides an anti-collision assembly and an anti-collision method for a workbench.
Background
The material sorting machine on the market at present uses automated control as the owner, sets up a plurality of workstation units such as material workstation, blowing workstation simultaneously usually, considers under the logical correct condition that equipment operation is normal, software, can not bump between each workstation, so common many workstations material sorting machine does not do the relevant design of workstation anticollision on the market at present. However, when the factors such as sudden power failure during the operation of the equipment or degradation of the aging and wear precision of the equipment are considered, the situation that the coordinate positioning of the system is inaccurate may occur, and collision risks are brought to adjacent working tables.
Disclosure of Invention
In order to solve the problems, the invention provides a workbench anti-collision assembly and an anti-collision method.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a workstation anticollision subassembly, includes workstation range finding subassembly, table surface rotates and judges the subassembly, table surface goes up and down to judge the subassembly, workstation range finding subassembly sets up between track and workstation for detect the distance of workstation and track one end, table surface rotates and judges the subassembly and sets up between workstation base and table surface, is used for detecting table surface's turned angle, table surface goes up and down to judge the subassembly and sets up in the bottom of workstation, is used for detecting table surface's lift height.
Further, workstation range finding subassembly includes range finding sensor, separation blade one, assembly jig, and the assembly jig assembles between two tracks, and two range finding sensors assemble on the assembly jig, and two separation blades one assembles respectively in the inboard of two workstations, and the position of two separation blades one corresponds with two range finding sensor positions respectively.
Further, the workbench surface rotation judging assembly comprises a first photoelectric switch, a second blocking piece and a first absolute value encoder, wherein the two first photoelectric switches are assembled on the upper surface of the workbench base at an included angle of 90 degrees, the second blocking piece is fixedly installed at the bottom of the workbench surface and can rotate along with the workbench surface, and the first absolute value encoder is assembled on a control motor for controlling the rotation of the workbench surface.
Further, the working table top lifting judgment assembly comprises a second photoelectric switch, a third separation blade and a second absolute value encoder, the second photoelectric switch is assembled at the bottom of the working table, the third separation blade is assembled at the outer side of the working table lifting guide mechanism, and the second absolute value encoder is assembled on a control motor for controlling the lifting of the working table top.
A workbench anti-collision method comprises the following specific steps:
reading feedback values of the workbench distance measuring assemblies, measuring and calculating position coordinates of the two workbenches on the rail, and primarily judging whether the two workbenches have collision risks at the transverse positions;
reading feedback values of the worktable surface rotation judging components, measuring and calculating current rotation angles of the two worktable surfaces, and further judging the rotation states of the two worktable surfaces;
and step three, reading a feedback value of the lifting judgment component of the workbench surface, measuring and calculating the current height difference of the two workbenches, finally judging the height positions of the two workbenches, and performing evasion treatment when the collision risk is found.
Further, the specific way of determining whether the two work tables have collision risks at the lateral positions in the step one is as follows:
and when the coordinate difference value of the positions of the two working tables is less than or equal to k, the system judges that the two working tables have the possibility of collision and carries out the next judgment.
Further, the specific manner of determining the rotation states of the two work tables in the step two is as follows:
reading feedback values of the two photoelectric switches I, judging whether the current state of the workbench is in a transverse state or a longitudinal state, if the two photoelectric switches I do not feedback effective values, further judging the feedback values of the absolute value encoder I, calculating the longitudinal coordinate difference of the closest point of the two workbenches according to the feedback values, and judging whether the two workbenches have collision risks in the displacement under the current rotation state according to the coordinate difference.
Further, the specific manner of finally determining the height positions of the two work benches in the third step and performing avoidance processing when the collision risk is found is as follows:
and reading a feedback numerical value of the photoelectric switch II, judging that the corresponding worktable lifting control motor is in an initial state if an effective feedback numerical value is obtained, judging that the corresponding worktable lifting control motor is in a running state if an effective feedback numerical value cannot be read, further reading a feedback numerical value of the absolute value encoder II, calculating the current height coordinate of the corresponding worktable through the numerical value, controlling the worktable with a larger height coordinate value to further rise, controlling the worktable with a smaller height coordinate value to further fall, and judging that the two worktables can safely rotate and translate until a preset height difference is generated between the two worktables.
The beneficial effects of the invention are as follows:
the sensor is additionally arranged at the corresponding position of the existing equipment and is matched with the judgment logic, so that the collision prevention effect among multiple workbenches of the sorting machine is realized, and the collision of the workbenches caused by factors such as sudden power failure or equipment aging abrasion precision reduction during the operation of the equipment is avoided.
Drawings
FIG. 1 is a top view of a table and track incorporating the present invention;
FIG. 2 is a top view of a worktable and a track applied with the present invention in a tangent state within the rotation range of two worktable surfaces;
FIG. 3 is a front view of a table embodying the present invention;
fig. 4 is an isometric view of a table employing the present invention.
The reference numerals include: a-a track; b 1 -a first stage; b 2 -a second stage; c. C 1 -a first table top swivel range; c. C 2 -a second table top swivel range; 1-a table ranging assembly; 101-a ranging sensor; 102-a first baffle plate; 103-a mounting bracket; 2-a worktable surface rotation judging component; 201-photoelectric switch one; 202-baffle plate two; 203-absolute value encoder one; 3-a working table top lifting judgment component; 301-photoelectric switch two; 302-baffle III; 303-absolute value encoder two.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
Referring to fig. 1-4, a workstation anticollision subassembly, including workstation range finding subassembly 1, table surface rotates and judges subassembly 2, table surface goes up and down to judge subassembly 3, workstation range finding subassembly 1 sets up between track a and workstation for the distance of detection workstation and track a one end, table surface rotates and judges subassembly 2 and sets up between workstation base and table surface, is used for detecting table surface's turned angle, table surface goes up and down to judge subassembly 3 and sets up in the bottom of workstation, is used for detecting the lift height of workstation.
Workstation range finding subassembly 1 includes range sensor 101, separation blade 102, assembly jig 103, and assembly jig 103 assembles between two track a, and two range sensor 101 assemble on assembly jig 103, and two separation blade 102 assemble respectively in the inboard of two workstations, and the position of two separation blade 102 corresponds with two range sensor 101 positions respectively.
The worktable surface rotation judging component 2 comprises a first photoelectric switch 201, a second blocking piece 202 and a first absolute value encoder 203, wherein the first photoelectric switch 201 is assembled on the upper surface of the worktable base at an included angle of 90 degrees, the second blocking piece 202 is fixedly installed at the bottom of the worktable surface and can rotate along with the worktable surface, and the first absolute value encoder 203 is assembled on a control motor for controlling the worktable surface to rotate.
The working table top lifting judgment component 3 comprises a second photoelectric switch 301, a third blocking piece 302 and a second absolute value encoder 303, wherein the second photoelectric switch 301 is assembled at the bottom of the working table, the third blocking piece 302 is assembled at the outer side of the working table lifting guide mechanism, and the second absolute value encoder 303 is assembled on a control motor for controlling the lifting of the working table top.
A workbench anti-collision method comprises the following specific steps:
reading feedback values of the workbench ranging assembly 1, and measuring and calculating position coordinates of the two workbenches on the track;
the rotation ranges of the two working platforms are respectively the rotation range c of the first working platform 1 And a second range of table top rotation c 2 In a first working table rotation range c 1 And a second range of table top rotation c 2 When the two working tables are tangent, the difference k of the coordinates of the positions of the two working tables (the circle center of the rotation range of the working table is used as a coordinate position determination point) is used as a safety determination standard;
when the coordinate difference value of the positions of the two working tables is larger than k, the system judges that the two working tables are in relative safe positions, no collision risk exists, and the working table surface rotation or working table moving operation can be carried out;
and when the coordinate difference value of the positions of the two working tables is less than or equal to k, the system judges that the two working tables have the possibility of collision and carries out the next judgment.
Reading the feedback value of the worktable surface rotation judging component 2, and measuring and calculating the current rotation angles of the two worktable surfaces;
the positions of the two first photoelectric switches 201 correspond to two resident states of the workbench, namely, the workbench is in a transverse state and the workbench is in a longitudinal state (both the transverse state and the longitudinal state in the application are defined by taking a top view angle of fig. 1 as a reference), the workbench is in the two states in most cases, so that the current rotating state of the workbench can be quickly judged by judging feedback values of the two first photoelectric switches 201 (when the workbench is in the transverse state, the blocking piece two 202 is positioned at the transverse position corresponding to the first photoelectric switches 201, the first photoelectric switches 201 are blocked to enable the feedback values to be the same when the longitudinal state is adopted), namely, when the detection direction is parallel to the feedback values of the first photoelectric switches 201 of the track a, the workbench is in the transverse state, and when the detection direction is perpendicular to the feedback values of the first photoelectric switches 201 of the track a, the workbench is in the longitudinal state;
when the two working platforms are in a transverse state, the system judges that the two working platforms have no collision risk and can carry out the moving operation of the working platforms;
when the two working tables are in a longitudinal state or one of the two working tables is in the longitudinal state, the system judges that the two working tables have collision risks and carries out the next judgment;
when the effective feedback value of the first photoelectric switch 201 cannot be read, the feedback value of the first absolute value encoder 203 is further judged, the current angle of the worktable is converted through the feedback value, and the longitudinal coordinate difference j (j = the first worktable b) of the closest point of the two workbenches is calculated through the current angle 1 Longitudinal coordinate-second workbench b of foremost coordinate point 2 Ordinate of the rearmost coordinate point);
when the j value is positive, the system judges that the two working tables have no collision risk, and the working tables can be moved;
and when the value of j is negative or zero, the system judges that the two working tables have collision risks and carries out the next judgment.
Reading a feedback value of the lifting judgment component 3 of the worktable surface, and measuring and calculating the current height difference of the two worktables;
reading the feedback value of the second photoelectric switch 301 (when the worktable is at the lowest point, the third baffle sheet 302 shields the second photoelectric switch 301 and feeds back the value);
when the feedback value of the second photoelectric switch 301 is read, the corresponding lifting control motor of the working table is judged to be in an initial state, and the working table is located at the lowest point;
when the effective feedback numerical value of the second photoelectric switch 301 cannot be read, the corresponding lifting control motor of the working table is judged to be in the running state, and the feedback numerical value of the absolute value encoder 303 is further read;
reading a feedback value of the second absolute value encoder 303, converting a current height coordinate of the working table top through the feedback value, comparing the current heights of the two working table tops, controlling the working table with the higher height of the working table top to be further lifted, and controlling the working table with the lower height of the working table top to be further lowered until a preset height difference is generated between the two working table tops (the height difference value is set after the height difference value is comprehensively considered according to the thicknesses of the working table tops, the thicknesses of materials placed on the working table tops, and the heights of convex points such as screws), and judging that the two working tables can safely rotate and move.
When the method is applied specifically, the judgment logic is inserted into the system before the displacement instruction of the workbench is executed.
The above decision logic can be written by related technical personnel using conventional computer languages, so that the detailed description of specific codes is omitted.
The foregoing is only a preferred embodiment of the present invention, and many variations in the detailed description and the application range can be made by those skilled in the art without departing from the spirit of the present invention, and all changes that fall within the protective scope of the invention are therefore considered to be within the scope of the invention.
Claims (3)
1. A workbench anti-collision method is characterized in that: the anti-collision assembly comprises a workbench ranging assembly, a workbench surface rotation judging assembly and a workbench surface lifting judging assembly, wherein the workbench ranging assembly is arranged between the track and the workbench and used for detecting the distance between the workbench and one end of the track;
the worktable surface rotation judging assembly comprises a first photoelectric switch, a second blocking piece and a first absolute value encoder, wherein the two first photoelectric switches are assembled on the upper surface of the worktable base at an included angle of 90 degrees, the second blocking piece is fixedly arranged at the bottom of the worktable surface and can rotate along with the worktable surface, and the first absolute value encoder is assembled on a control motor for controlling the worktable surface to rotate;
the worktable lifting judging assembly comprises a photoelectric switch II, a blocking piece III and an absolute value encoder II, the photoelectric switch II is assembled at the bottom of the worktable, the blocking piece III is assembled at the outer side of the worktable lifting guide mechanism, and a control motor for controlling the lifting of the worktable is assembled with the absolute value encoder II;
the anti-collision method comprises the following specific steps:
reading feedback values of the workbench distance measuring assemblies, measuring and calculating position coordinates of the two workbenches on the rail, and primarily judging whether the two workbenches have collision risks at the transverse positions;
reading the feedback value of the worktable surface rotation judging component, measuring and calculating the current rotation angles of the two worktable surfaces, and further judging the rotation states of the two worktable surfaces;
reading feedback values of the two photoelectric switches I, judging whether the current state of the workbench is in a transverse state or a longitudinal state, if the two photoelectric switches I do not feedback effective values, further judging the feedback values of the absolute value encoder I, calculating the longitudinal coordinate difference of the closest point of the two workbenches according to the feedback values, and judging whether the two workbenches have collision risks in the displacement in the current rotating state according to the coordinate difference;
and step three, reading a feedback value of the lifting judgment component of the workbench surface, measuring and calculating the current height difference of the two workbenches, finally judging the height positions of the two workbenches, and performing evasion treatment when the collision risk is found.
2. A method of avoiding collision of a workbench as set forth in claim 1, wherein: the specific mode of judging whether the two workbenches have collision risks at the transverse positions in the first step is as follows:
when the rotation ranges of the two working tables are tangent, the coordinate difference value of the positions of the two working tables is k, when the coordinate difference value of the positions of the two working tables is larger than k, the system judges that the two working tables are in relative safe positions, when the coordinate difference value of the positions of the two working tables is smaller than or equal to k, the system judges that the two working tables have the possibility of collision, and the next step of judgment is carried out.
3. A method of crash avoidance for a workbench as set forth in claim 1, wherein: the height positions of the two workbenches are finally determined in the step three, and the specific mode of avoiding processing when the collision risk is found is as follows:
and reading a feedback numerical value of the photoelectric switch II, judging that the corresponding lifting control motor of the working table is in an initial state if an effective feedback numerical value is obtained, judging that the corresponding lifting control motor of the working table is in a running state if an effective feedback numerical value cannot be read, further reading a feedback numerical value of the absolute value encoder II, calculating the current height coordinate of the corresponding working table according to the numerical value, controlling the working table with a larger height coordinate value to be further lifted, controlling the working table with a smaller height coordinate value to be further lowered, and judging that the two working tables can safely rotate and move until a preset height difference is generated between the two working tables.
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| CN202211102223.XA CN115178478B (en) | 2022-09-09 | 2022-09-09 | Workbench anti-collision assembly and anti-collision method |
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| CN202211102223.XA CN115178478B (en) | 2022-09-09 | 2022-09-09 | Workbench anti-collision assembly and anti-collision method |
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| CN115178478B true CN115178478B (en) | 2022-11-22 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002259A (en) * | 2017-10-20 | 2018-05-08 | 扬戈科技股份有限公司 | A kind of Intelligent anti-collision control system |
| CN108049893A (en) * | 2017-12-26 | 2018-05-18 | 北京新能正源环境科技有限公司 | Bow member trolley working arm anti-collision system and bow member trolley |
| KR101981175B1 (en) * | 2017-11-29 | 2019-05-23 | 주식회사 무스마 | System for preventing collision of crane and method thereof |
| CN113204733A (en) * | 2021-05-24 | 2021-08-03 | 中冶南方工程技术有限公司 | Anti-collision method for same-track bucket-wheel stacker-reclaimer |
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2022
- 2022-09-09 CN CN202211102223.XA patent/CN115178478B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108002259A (en) * | 2017-10-20 | 2018-05-08 | 扬戈科技股份有限公司 | A kind of Intelligent anti-collision control system |
| KR101981175B1 (en) * | 2017-11-29 | 2019-05-23 | 주식회사 무스마 | System for preventing collision of crane and method thereof |
| CN108049893A (en) * | 2017-12-26 | 2018-05-18 | 北京新能正源环境科技有限公司 | Bow member trolley working arm anti-collision system and bow member trolley |
| CN113204733A (en) * | 2021-05-24 | 2021-08-03 | 中冶南方工程技术有限公司 | Anti-collision method for same-track bucket-wheel stacker-reclaimer |
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| CN115178478A (en) | 2022-10-14 |
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Address after: 110 000 No. 53 Buyunshan Road, Huanggu District, Shenyang City, Liaoning Province Patentee after: Shenyang Heyan Technology Co.,Ltd. Address before: 110 000 No. 53 Buyunshan Road, Huanggu District, Shenyang City, Liaoning Province Patentee before: SHENYANG HEYAN TECHNOLOGY CO.,LTD. |