CN203887864U - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN203887864U CN203887864U CN201420258958.6U CN201420258958U CN203887864U CN 203887864 U CN203887864 U CN 203887864U CN 201420258958 U CN201420258958 U CN 201420258958U CN 203887864 U CN203887864 U CN 203887864U
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- photoelectric sensor
- manipulator
- light
- receiver
- manipulator body
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Abstract
The utility model discloses a manipulator comprising a manipulator body. The manipulator body is provided with a photoelectric sensor comprising an emitter and a receiver, the emitter is used for emitting lights, and the receiver is used for receiving lights. The light path of the light is located on the periphery of the manipulator body. The receiver is electrically connected to a control circuit controlling the manipulator body to start or stop. According to the manipulator, the photoelectric sensor is arranged on the manipulator body, when an obstacle gets close to the manipulator body and shades or reflects the light emitted by the emitter, the receiver cannot receive or receives the light accordingly, the control circuit controls the manipulator to stop or start acting, unnecessary collision can be avoided, and accident occurrence can be reduced.
Description
Technical field
The utility model relates to a kind of manipulator, particularly relates to a kind of manipulator with safety protection function.
Background technology
The manipulator being arranged on three-dimensional motion mechanism need to move in three dimensions, and its motion not only comprises and movement also comprises rotation.In shifting object, generally all can there are some barriers in manipulator, in the time of exploitation motion control program, conventionally can take into account these barriers in its space, gets around barrier while making robot movement, avoids collision.
But in equipment research and development and debug process, there is defect in motion control program unavoidably; Or in robot movement process, owing to disturbing or other reason causes misoperation, bump with external object and damage manipulator, when serious, major accident can occur.
Existing manipulator, in the time bumping with the external world, can cause motor driver overload-alarm and then control manipulator and shut down.But this warning must be just can carry out stoppage protection after collision occurs, and can only play the effect that alleviates damage, can not avoid the generation of collision.
Utility model content
Based on this, the utility model provides a kind of safety protection function that has, and can avoid the manipulator of collision.
A kind of manipulator comprises manipulator body, on described manipulator body, be provided with photoelectric sensor, described photoelectric sensor comprises transmitter and receiver, described transmitter is in order to emission of light, described receiver is in order to receive light, the light path of described light is in manipulator body periphery, and described receiver is electrically connected control circuit, the start and stop of control circuit control manipulator body.
Therein in an embodiment, described photoelectric sensor is correlation type photoelectric sensor, described correlation type photoelectric sensor is arranged at the surperficial planar section of described manipulator body, described correlation type photoelectric sensor comprises transmitter and receiver, described transmitter emission of light, described receiver receives described light, and the light path of described light is in manipulator body periphery.
Therein in an embodiment, also comprise reflective photoelectric sensor, transmitter and receiver are placed in one by described reflective photoelectric sensor, described reflective photoelectric sensor and the adjacent setting of described correlation type photoelectric sensor, and the light path of not blocking described correlation type photoelectric sensor.
Therein in an embodiment, described photoelectric sensor is correlation type photoelectric sensor, described correlation type photoelectric sensor is arranged at the surperficial concave surface of described manipulator body, described concave part is also provided with reflection unit, described reflection unit reflects the light of described transmitter transmitting, makes described receiver receive described light.
In an embodiment, described reflection unit is mirror surface or reflecting plate therein.
In an embodiment, described photoelectric sensor is reflective photoelectric sensor therein, and described reflective photoelectric sensor is arranged at the surperficial convex surface of described manipulator body, and transmitter and receiver are placed in one by described reflective photoelectric sensor.
In an embodiment, the light of described transmitter transmitting is vertical with the surface of manipulator body therein.
Therein in an embodiment, described control circuit comprises relay, control circuit power supply, described photoelectric sensor is provided with output switch, described output switch is electrically connected described relay and described control circuit power supply, when described output switch disconnects, described relay power-off, normally closed switch is connected motor power and motor, described motor power is given described motor power supply, and described motor driving device hand body moves; When described output switch is closed, described relay power, described relay adhesive normally closed switch, disconnects between described motor and motor power.
In an embodiment, described each photoelectric sensor is screwed in manipulator body therein.
Above-mentioned manipulator, on manipulator body, be provided with photoelectric sensor, barrier is near manipulator body, while blocking or reflect the light that transmitter launches, cause corresponding receiver not receive or receive above-mentioned light, control circuit is controlled manipulator start and stop action in time, avoids occurring unnecessary collision, the generation of minimizing accident.
Reflective photoelectric sensor setting adjacent with correlation type photoelectric sensor, in correlation type photoelectric sensor cannot detection range, protection correlation type photoelectric sensor is not collided by barrier, and has the function that prevents barrier collision machine hand body yet.
Brief description of the drawings
Fig. 1 is the top view of the manipulator of detailed description of the invention;
Fig. 2 is the schematic diagram of control circuit in detailed description of the invention.
Wherein: 100. manipulator bodies, 101. upper surfaces, 102. concave surfaces, 103. convex surfaces, 200. correlation type photoelectric sensors, 201. transmitters, 202. receivers, 203. reflective photoelectric sensors, 204. reflection units, 300. light paths, 400. control circuits, 401. motor powers, 402. motor, 411. relays, 412. normally closed switch, 413. output switchs.
Detailed description of the invention
Manipulator is according to the difference of its application or effect, and its shape is also different, so the installation site of photoelectric sensor also needs to determine according to actual conditions.
Now please refer to Fig. 1, Fig. 1 is the top view of manipulator, manipulator body 100 disclosed here be shaped as U font, the upper surface 101 of manipulator body 100 is loading surface, in order to carrying object, whether other surfaces of manipulator body 100 all can arrange photoelectric sensor, have barrier close near being used for detecting manipulator body 100.
The part (except loading surface) that manipulator body 100 is plane is provided with correlation type photoelectric sensor 200.Correlation type photoelectric sensor 200 comprises transmitter 201 and receiver 202, transmitter 201 emission of lights, the light that 202 reception transmitters 201 of receiver are launched.Be arranged on the periphery that light path 300 that the correlation type photoelectric sensor 200 of plane produces is positioned at manipulator body 100, according to the appearance profile of manipulator body 100, light path 300 is shrouded manipulator body 100.Like this, thus manipulator body 100 can not block light path 300 disturbs the work of correlation type photoelectric sensors 200.In the time that barrier approaches manipulator body 100, and light blocked by barrier, and light path 300 is cut off, receiver 202 does not receive the light that transmitter 201 is launched, receiver 202 sends signal, and signal is transferred to control circuit, and control circuit control manipulator body 100 quits work.
But due to manipulator body 100 self features of shape, some surface is curved surface.As shown in Figure 1, having part surface is concave surface 102, and concave surface 102 is a curved surface towards 100 bendings of manipulator body.When in the time that 102 of concave surfaces arrange transmitter 201 and receiver 202, although the still periphery in manipulator body 100 of the light path 300 that it produces.But described light path 300 is due to its direction of propagation, and the scope of its encirclement is excessive.Even when barrier and manipulator body 100 may also have larger distance, barrier just cuts off light path 300, manipulator body 100 may just quit work.It may be unnecessary that the work of such manipulator body 100 stops.So,, between transmitter 201 and receiver 202, being also provided with reflection unit 204, reflection unit 204 can be reflecting plate or mirror surface.Transmitter 201 emission of light at a certain angle, light, via reflection unit 204, is received by receiver 202.Like this, the scope that light path 300 is enclosed is less, and its detection range is also relatively accurate.
Like this, many light paths 300, just according to the profile of manipulator body 100, are shrouded the non-loading surface of manipulator body 100 in light path 300 substantially, when barrier is during near manipulator body 100, light path 300 is just blocked, thereby is quit work by control circuit control manipulator body 100.
In the time that the curved surface of manipulator body 100 is convex surface 103, convex surface 103 is the curved surface towards manipulator body 100 outside curve.On convex surface 103, be provided with reflective photoelectric sensor 203, transmitter and receiver are placed in one by reflective photoelectric sensor 203.Same, transmitter is in order to emission of light, and receiver is in order to receive light.Reflective photoelectric sensor 203 is towards the outside of manipulator body 100 emission of light, and the light path 300 of transmitting is vertical with the surface of manipulator body 100, and reflective light electric transducer 203 limits its rational limited range.When in the limited range of barrier in reflective photoelectric sensor 203, the light that reflective photoelectric sensor 203 is launched is reflected by barrier and is received by reflective photoelectric sensor 203, can trigger reflective photoelectric sensor 203 and move.And can control control circuit control manipulator body 100 and quit work.
Due to the reason of manipulator body 100 self shape and correlation type photoelectric sensor 200 setting positions, barrier may itself bump with correlation type photoelectric sensor 200, and the adjacent position of correlation type photoelectric sensor 200 arranges emission type photoelectric sensor 203 again.Generally, be provided with reflective photoelectric sensor 203 in transmitter 201 and receiver 202 adjacent positions of correlation type photoelectric sensor 200, and reflective photoelectric sensor 203 does not block the light path 300 of correlation type photoelectric sensor 200.Certainly; also likely there is such situation; the correlation type photoelectric sensor 200 of adjacent setting; wherein between transmitter 201 to correlation type photoelectric sensor 200 of the transmitter 201 of a pair of correlation type photoelectric sensor 200 or receiver 202 and another or receiver 202, interval is apart less, a reflective photoelectric sensor 203 only need to be set can meet the requirement of protection correlation type photoelectric sensor 200 between it.Set-up mode and the operation principle of reflective photoelectric sensor 203 at this can be with reference to the set-up mode of above-mentioned reflective photoelectric sensor 203.When barrier is in the limited range of reflective photoelectric sensor 203, manipulator body 100 quits work, and reaches the effect of protection correlation type photoelectric sensor 200.
Certainly the mounting means of the sensor of the above manipulator that just to have disclosed at U font, upper surface be loading surface.Other shapes, the manipulator of different loading surfaces, those skilled in the art can arrange according to actual conditions kind and the position of photoelectric sensor.On the face that may bump with barrier at manipulator body, photoelectric sensor is installed, in order to whether to detect barrier near manipulator body.Due to the difference of the shape of manipulator body, in its plane, correlation type photoelectric sensor can be set; At concave surface, correlation type photoelectric sensor and reflection unit can be set; At convex surface, reflective photoelectric sensor can be set.Arranging like this can detect barrier in detection range.Adjacent position at correlation type photoelectric sensor arranges reflective photoelectric sensor, is used for protecting correlation type photoelectric sensor not collided by barrier.
Please refer to Fig. 2, the schematic diagram that Fig. 2 is control circuit.Control circuit 400 may comprise relay 411, normally closed switch 412 and control circuit power supply, and wherein control circuit power supply can be the low-tension supply of a 12V.Above-mentioned each photoelectric sensor is provided with output switch 413, and photoelectric sensor is according to the switching of the corresponding output switch 413 of different action controls.Each output switch 413 is connected in parallel, and an one parallel connected end is electrically connected with relay 411, and its another parallel connected end connects control circuit power supply.Between motor power 401 and motor 402, normally closed switch 412 is set, motor power 401 provides electric power, motor 402 these body runnings of driving device hand to motor 402.In the time that corresponding photoelectric sensor detects barrier near manipulator body, photoelectric sensor sends signal, corresponding output switch 413 closures, relay 411 obtains electric adhesive normally closed switch 412, between motor power 401 and motor 402, disconnect, motor 402 dead electricity, manipulator body quits work, thereby has avoided the generation of collision.
The working method of the manipulator of disclosure is described in conjunction with Fig. 1 by Fig. 2 according to different photoelectric sensors now.
For correlation type photoelectric sensor 200, transmitter 201 emission of lights, receiver 202 receives light, and receiver 202 is electrically connected with control circuit 400.In the time not having barrier to cut off light path 300, receiver 202 can receive light, and output switch 413 disconnects, and normally closed switch 412 is in closure state, and motor power 401 is connected with motor 402, and manipulator body 100 is normally worked.When barrier is near manipulator body 100, and cut off light path 300, receiver 202 can not receive corresponding light, receiver 202 sends signal, corresponding output switch 413 closures, and relay 411 obtains electric, adhesive normally closed switch 412, between motor power 401 and motor 402, disconnect, motor 402 dead electricity, manipulator body 100 quits work.
For reflective photoelectric sensor 203, first limit its suitable range of receiving.In the time not having barrier to enter in its range of receiving, even if the light that reflective photoelectric sensor 203 is launched can reflect, it does not receive yet, output switch 413 disconnects, normally closed switch 412 is in closure state, and motor power 401 is connected with motor 402, and manipulator body 100 is normally worked.In barrier enters range of receiving time, barrier reflection ray, reflective photoelectric sensor 203 receives reflection ray, send signal, corresponding output switch 413 closures, relay 411 obtains electric, adhesive normally closed switch 412, between motor power 401 and motor 402, disconnect, motor 402 dead electricity, manipulator body 100 quits work.
The above embodiment has only expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (9)
1. a manipulator, comprise manipulator body, it is characterized in that, on described manipulator body, be provided with photoelectric sensor, described photoelectric sensor comprises transmitter and receiver, and described transmitter is in order to emission of light, described receiver is in order to receive light, the light path of described light is in manipulator body periphery, and described receiver is electrically connected control circuit, the start and stop of control circuit control manipulator body.
2. manipulator according to claim 1, it is characterized in that, described photoelectric sensor is correlation type photoelectric sensor, described correlation type photoelectric sensor is arranged at the surperficial planar section of described manipulator body, described correlation type photoelectric sensor comprises transmitter and receiver, described transmitter emission of light, described receiver receives described light, and the light path of described light is in manipulator body periphery.
3. manipulator according to claim 2, it is characterized in that, also comprise reflective photoelectric sensor, transmitter and receiver are placed in one by described reflective photoelectric sensor, described reflective photoelectric sensor and the adjacent setting of described correlation type photoelectric sensor, and the light path of not blocking described correlation type photoelectric sensor.
4. manipulator according to claim 1, it is characterized in that, described photoelectric sensor is correlation type photoelectric sensor, described correlation type photoelectric sensor is arranged at the surperficial concave surface of described manipulator body, described concave part is also provided with reflection unit, described reflection unit reflects the light of described transmitter transmitting, makes described receiver receive described light.
5. manipulator according to claim 4, is characterized in that, described reflection unit is mirror surface or reflecting plate.
6. manipulator according to claim 1, it is characterized in that, described photoelectric sensor is reflective photoelectric sensor, and described reflective photoelectric sensor is arranged at the surperficial convex surface of described manipulator body, and transmitter and receiver are placed in one by described reflective photoelectric sensor.
7. according to the manipulator described in claim 3 or 6, it is characterized in that, the light of described transmitter transmitting is vertical with the surface of manipulator body.
8. according to the manipulator described in any one in claim 1 to 6, it is characterized in that, described control circuit comprises relay, control circuit power supply, described photoelectric sensor is provided with output switch, and described output switch is electrically connected described relay and described control circuit power supply, when described output switch disconnects, described relay power-off, normally closed switch is connected motor power and motor, and described motor power is given described motor power supply, and described motor driving device hand body moves; When described output switch is closed, described relay power, described relay adhesive normally closed switch, disconnects between described motor and motor power.
9. according to the manipulator described in any one in claim 1 to 6, it is characterized in that, described each photoelectric sensor is screwed in manipulator body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420258958.6U CN203887864U (en) | 2014-05-20 | 2014-05-20 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420258958.6U CN203887864U (en) | 2014-05-20 | 2014-05-20 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203887864U true CN203887864U (en) | 2014-10-22 |
Family
ID=51714310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420258958.6U Expired - Fee Related CN203887864U (en) | 2014-05-20 | 2014-05-20 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203887864U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041983A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Mechanical gripper for reaction cup |
| CN109322047A (en) * | 2018-10-19 | 2019-02-12 | 江阴市强力化纤有限公司 | The textile of chemical fibre machine of braking can be facilitated |
-
2014
- 2014-05-20 CN CN201420258958.6U patent/CN203887864U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041983A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Mechanical gripper for reaction cup |
| CN109322047A (en) * | 2018-10-19 | 2019-02-12 | 江阴市强力化纤有限公司 | The textile of chemical fibre machine of braking can be facilitated |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141022 Termination date: 20160520 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |