CN116494207A - Truss type mechanical arm anti-falling device and working method thereof - Google Patents
Truss type mechanical arm anti-falling device and working method thereof Download PDFInfo
- Publication number
- CN116494207A CN116494207A CN202310337547.XA CN202310337547A CN116494207A CN 116494207 A CN116494207 A CN 116494207A CN 202310337547 A CN202310337547 A CN 202310337547A CN 116494207 A CN116494207 A CN 116494207A
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- China
- Prior art keywords
- gear
- brake shaft
- system controller
- electromagnetic valve
- truss type
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 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
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mechanically-Actuated Valves (AREA)
- Braking Arrangements (AREA)
Abstract
A truss type mechanical arm anti-falling device and a working method thereof belong to the technical field of industrial automation. The Z-direction driving rack is meshed with a gear with a rotary encoder, the air cylinder is connected with the electromagnetic valve and a brake shaft arranged in a brake shaft mounting seat, a reset spring is arranged outside the brake shaft and matched with the gear, and the reset spring is propped against the brake shaft mounting seat and the brake shaft; the proximity switch is used for detecting the brake shaft. The method comprises the following steps: when the electromagnetic valve works normally, the electromagnetic valve is opened, the air cylinder drives the brake shaft to be far away from the gear, the gear drives the Z-direction drive rack to move, and the proximity switch cannot detect the brake shaft; when an abnormal condition occurs, after the rotary encoder detects that the gear signals are inconsistent, the electromagnetic valve cuts off an air source, and the air cylinder is reset; the brake shaft pops out to be meshed with the gear; the proximity switch detects the brake shaft, and the system controller controls the mechanical arm to stop operating. The invention avoids abnormal falling of the truss type manipulator, avoids cost loss of spare parts and long-time shutdown, and has wide popularization prospect.
Description
Technical Field
The invention relates to a truss type mechanical arm anti-falling device and a working method thereof, and belongs to the technical field of industrial automation.
Background
Truss type robots are one of the important fundamental components of automated machinery.
The existing truss type manipulator has one defect that: when abnormal conditions such as abnormal power failure, gas interruption, abnormal hydraulic pressure drop, PLC control loss, damage to a vertical (Z-axis direction) speed reducer and the like of the machine tool occur and control is lost, the truss type mechanical arm can fall due to the action of gravity, so that important spare parts of equipment are damaged, or potential safety hazards are caused to personnel.
In view of the foregoing, there is a need for a fall protection device for a truss type manipulator, so as to ensure that the truss type manipulator can form self-protection in case of abnormal conditions, and avoid equipment loss and personal injury accidents.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a truss type mechanical arm anti-falling device and a working method thereof.
The invention adopts the following technical scheme: a truss type mechanical arm anti-falling device comprises a gear, a Z-direction driving rack, a rotary encoder, a brake shaft mounting seat, a reset spring, a cylinder, an electromagnetic valve, a proximity switch and a system controller; the gear, the rotary encoder, the electromagnetic valve and the proximity switch are all connected with the data transmission of the system controller, the Z-direction driving rack is fixedly connected with the truss type manipulator, the Z-direction driving rack is meshed and connected with the gear, the rotary encoder is arranged on the end face of the gear, the electromagnetic valve is communicated with the cylinder body of the air cylinder, the movable end of the air cylinder is fixedly connected with one end of the brake shaft, the other end of the brake shaft is provided with teeth, and the teeth are meshed with the gear in a matched manner; the brake shaft is horizontally and slidably arranged in the brake shaft mounting seat, a reset spring is sleeved on the outer side of the brake shaft, the reset spring is arranged in the brake shaft mounting seat, one end of the reset spring is abutted against the inner wall of the brake shaft mounting seat, and the other end of the reset spring is abutted against a limiting plate at the tooth end of the brake shaft; the proximity switch is used for detecting a brake shaft.
The invention relates to a working method of a truss type mechanical arm anti-falling device, which comprises the following steps:
s1: when the truss type mechanical arm works normally, the system controller controls the electromagnetic valve to be electrified and opened, compressed air enters the air cylinder, the movable end of the air cylinder moves to drive the brake shaft to be far away from the gear, teeth of the brake shaft are separated from the gear, the reset spring is compressed, the system controller controls the gear to rotate to drive the Z-direction driving rack to move, and at the moment, the proximity switch cannot detect the brake shaft;
s2: when the truss type manipulator is abnormal, the rotary encoder detects that the rotation signal of the gear is inconsistent with the rotation signal of the driving gear of the system controller, and then the abnormal information signal is transmitted to the system controller, and the system controller closes the electromagnetic valve to cut off the air source;
s3: the movable end of the air cylinder is reset, the braking shaft loses traction force, and the braking shaft pops up under the action of a reset spring;
s4: the teeth of the brake shaft are meshed with the gears to realize braking, so that the Z-direction driving rack is prevented from falling uncontrollably, and the anti-falling function is realized;
s5: the proximity switch detects the brake shaft and transmits an abnormal information signal to the system controller, and the system controller controls the mechanical arm to stop operating.
Compared with the prior art, the invention has the beneficial effects that:
the invention has simple structure, strong adaptability, low cost, long service life and stable work, can avoid abnormal falling of the truss type mechanical arm, avoid cost loss of spare parts and long-time shutdown, has wide popularization prospect, and can be applied to reconstruction of old machine tools.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present invention are all within the protection scope of the present invention.
A truss type mechanical arm anti-falling device comprises a gear 1, a Z-direction driving rack 2, a rotary encoder 3, a brake shaft 4, a brake shaft mounting seat 5, a return spring 6, a cylinder 7, an electromagnetic valve 8, a proximity switch 9 and a system controller; the gear 1, the rotary encoder 3, the electromagnetic valve 8 and the proximity switch 9 are all connected with a system controller in a data transmission way, the Z-direction driving rack 2 is fixedly connected with the truss type manipulator, the Z-direction driving rack 2 is meshed and connected with the vertically arranged gear 1, the middle part of the gear 1 is rotatably connected with the rack through a bearing, the rotary encoder 3 is arranged on the end face of the gear 1, and the rotary encoder 3 is used for detecting a rotary signal of the gear 1 and comprises a rotary direction and a rotary speed; the electromagnetic valve 8 is communicated with the cylinder body of the air cylinder 7, the movable end of the air cylinder 7 is fixedly connected with one end of the brake shaft 4, the other end of the brake shaft 4 is provided with teeth, and the teeth are meshed with the gear 1 in a matching way; the brake shaft 4 is horizontally and slidably arranged in the brake shaft mounting seat 5, a return spring 6 is sleeved outside the brake shaft 4, the return spring 6 is arranged in the brake shaft mounting seat 5, one end of the return spring 6 is abutted against the inner wall of the brake shaft mounting seat 5, and the other end of the return spring 6 is abutted against a limiting plate at the tooth end of the brake shaft 4; the proximity switch 9 is used to detect the brake shaft 4.
The invention relates to a working method of a truss type mechanical arm anti-falling device, which comprises the following steps:
s1: when the truss type manipulator works normally, the system controller controls the electromagnetic valve 8 to be electrified and opened, compressed air enters the air cylinder 7, the movable end of the air cylinder 7 moves to drive the brake shaft 4 to be far away from the gear 1, teeth of the brake shaft 4 are separated from the gear 1, the reset spring 6 is compressed, the system controller controls the gear 1 to rotate to drive the Z-direction drive rack 2 to move, and at the moment, the proximity switch 9 cannot detect the brake shaft 4;
s2: when the truss type manipulator is abnormal, the rotary encoder 3 detects that the rotary signal of the gear 1 is inconsistent with the rotary signal of the system controller driving gear 1, and then transmits an abnormal information signal to the system controller, and the system controller closes the electromagnetic valve 8 to cut off an air source;
s201: when the truss type manipulator is static, the equipment does not send out an action command at the moment, a system controller does not have a signal for driving the gear 1 to rotate, and if the rotary encoder 3 detects the signal for driving the gear 1 to rotate, the abnormal action of the equipment is determined;
s202: when the truss type manipulator rises dynamically, the rotary encoder 3 detects that the signal of the rotation direction of the gear 1 is opposite to the signal of the rotation direction of the system controller driving the gear 1, namely, the abnormal action of the equipment is determined;
s203: when the truss type manipulator is dynamically lowered, the rotary encoder 3 detects that the difference exists between the rotation speed signal of the gear 1 and the rotation speed signal of the system controller driving the gear 1, namely, the abnormal action of the equipment is considered, such as: falling down.
S3: the movable end of the air cylinder 7 is reset, the braking shaft 4 loses traction, and the braking shaft pops up under the action of the reset spring 6;
s4: the teeth of the brake shaft 4 are meshed with the gear 1 to realize braking, so that the Z-direction driving rack 2 is prevented from falling uncontrollably, and the anti-falling function is realized;
s5: the proximity switch 9 detects the brake shaft 4 and transmits an abnormal information signal to the system controller, and the system controller controls the mechanical arm to stop operating.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (3)
1. The utility model provides a truss-like manipulator anti-falling device which characterized in that: the device comprises a gear (1), a Z-direction driving rack (2), a rotary encoder (3), a brake shaft (4), a brake shaft mounting seat (5), a reset spring (6), a cylinder (7), an electromagnetic valve (8), a proximity switch (9) and a system controller; the gear (1), the rotary encoder (3), the electromagnetic valve (8) and the proximity switch (9) are all connected with the data transmission of the system controller, the Z-direction driving rack (2) is fixedly connected with the truss type manipulator, the Z-direction driving rack (2) is meshed with the gear (1), and the rotary encoder (3) is arranged on the end face of the gear (1); the electromagnetic valve (8) is communicated with the cylinder body of the air cylinder (7), the movable end of the air cylinder (7) is fixedly connected with one end of the brake shaft (4), the other end of the brake shaft (4) is provided with teeth, and the teeth are meshed with the gear (1) in a matching way; the brake shaft (4) is horizontally and slidably arranged in the brake shaft mounting seat (5), a return spring (6) is sleeved on the outer side of the brake shaft (4), the return spring (6) is arranged in the brake shaft mounting seat (5), one end of the return spring (6) is abutted against the inner wall of the brake shaft mounting seat (5), and the other end of the return spring (6) is abutted against a limiting plate at the tooth end of the brake shaft (4); the proximity switch (9) is used for detecting the brake shaft (4).
2. A method of operating a truss work manipulator fall arrest device according to claim 1, wherein: the method comprises the following steps:
s1: when the truss type manipulator works normally, the system controller controls the electromagnetic valve (8) to be electrified and opened, compressed air enters the air cylinder (7), the movable end of the air cylinder (7) moves to drive the brake shaft (4) to be far away from the gear (1), teeth of the brake shaft (4) are separated from the gear (1), the reset spring (6) is compressed, the system controller controls the gear (1) to rotate to drive the Z-direction driving rack (2) to move, and at the moment, the proximity switch (9) cannot detect the brake shaft (4);
s2: when the truss type manipulator is abnormal, the rotary encoder (3) transmits an abnormal information signal to the system controller after detecting that the rotary signal of the gear (1) is inconsistent with the rotary signal of the system controller driving gear (1), and the system controller closes the electromagnetic valve (8) to cut off an air source;
s3: the movable end of the air cylinder (7) is reset, the braking shaft (4) loses traction, and the braking shaft pops up under the action of the reset spring (6);
s4: the teeth of the brake shaft (4) are meshed with the gear (1) to realize braking, so as to prevent the Z-direction driving rack (2) from falling uncontrollably, thereby realizing the anti-falling function;
s5: the proximity switch (9) detects the brake shaft (4) and transmits an abnormal information signal to the system controller, and the system controller controls the mechanical arm to stop operating.
3. The method according to claim 2, characterized in that: the signal inconsistency in S2 includes three cases, respectively:
s201: when the truss type manipulator is static, the equipment does not send out an action command at the moment, a system controller does not drive a signal for rotating the gear (1), and if the rotary encoder (3) detects the signal for rotating the gear (1), the abnormal action of the equipment is determined;
s202: when the truss type manipulator rises dynamically, the rotary encoder (3) detects that the rotation direction signal of the gear (1) is opposite to the rotation direction signal of the system controller driving the gear (1), namely, the abnormal action of the equipment is determined;
s203: when the truss type manipulator is dynamically lowered, the rotary encoder (3) detects that a difference exists between a rotating speed signal of the gear (1) and a rotating speed signal of the system controller driving the gear (1), namely, abnormal actions of equipment are determined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310337547.XA CN116494207A (en) | 2023-03-31 | 2023-03-31 | Truss type mechanical arm anti-falling device and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310337547.XA CN116494207A (en) | 2023-03-31 | 2023-03-31 | Truss type mechanical arm anti-falling device and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116494207A true CN116494207A (en) | 2023-07-28 |
Family
ID=87323872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310337547.XA Pending CN116494207A (en) | 2023-03-31 | 2023-03-31 | Truss type mechanical arm anti-falling device and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116494207A (en) |
-
2023
- 2023-03-31 CN CN202310337547.XA patent/CN116494207A/en active Pending
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