CN208841416U - A kind of industrial robot man-machine safety intelligence system - Google Patents
A kind of industrial robot man-machine safety intelligence system Download PDFInfo
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- CN208841416U CN208841416U CN201821639839.XU CN201821639839U CN208841416U CN 208841416 U CN208841416 U CN 208841416U CN 201821639839 U CN201821639839 U CN 201821639839U CN 208841416 U CN208841416 U CN 208841416U
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Abstract
The utility model discloses a kind of industrial robot man-machine safety intelligence systems, including robot controller, size arm sensor and teaching machine, driver and joint motor module, wherein size arm sensor output signal need to be after circuit for signal conditioning be handled, it can just be transported in robot controller, the circuit for signal conditioning includes signal receiving circuit, amplitude modulation switching circuit and signal output apparatus, the signal receiving circuit receives size arm sensor output signal, the amplitude modulation switching circuit receives signal receiving circuit output signal, with transport and placing device AR1, the modulation circuit of resistance R2- resistance R4 and variable resistance R5 composition is to signal amplitude modulation, double T frequency selection circuits that the last signal output apparatus devises resistance R14- resistance R16 and capacitor C5- capacitor C7 composition filter out single-frequency letter Number output, that is to say input robot controller in, play the effect of automatic calibration signal amplitude, improve the reliability of the system.
Description
Technical field
The utility model relates to field of circuit technology, more particularly to a kind of industrial robot man-machine safety intelligence system.
Background technique
In today of industrial robot science and technology high speed development, people there has been safely requirements at the higher level to man-machine operation, with
Universal, the safety accident emergence of industrial robot application, therefore just need industrial robot that there is enough security protections
Function.At present in terms of industrial robot man-machine safety, there are following measures: one, electronic grille fence.Using optoelectronic switch, in machine
The fence that one circle human eye of setting can't see around people, will trigger optoelectronic switch when the moment that people enters fence, to make robot
It shuts down.The disadvantages of this method is that fence is arranged around robot, and range is larger, is not easy to artificial short distance Manipulation of the machine
People.Two, moment inspecting.According to the size of current of each joint motor feedback of robot, judge whether to encounter the object unrelated with processing
Body.The disadvantages of this method is that judgement excessively lags, and can only can just make a response meeting people or object lag, there are certain
Risk.And program of most systems before it cannot be continued to execute after accident occurs to make robot shutdown, cause to be worked into half
Workpiece cancel.
So the utility model provides the new scheme of one kind to solve the problems, such as this.
Utility model content
For above situation, for the defect for overcoming the prior art, the utility model is designed to provide a kind of industrial machine
Everybody machine safe and intelligent system of device, have be skillfully constructed, the characteristic of human oriented design, barrier can be detected in advance, and directly
It controls robot to stop, and devises signal processing circuit, improve the reliability of the system.
Its technical solution solved is a kind of industrial robot man-machine safety intelligence system, including robot controller, big
Small arm sensor and teaching machine, driver and joint motor module, the robot controller select model AT89C51's
Single-chip microcontroller is the controller of core, and the size arm sensor includes big arm sensor and small arm sensor, and big arm sensor is adopted
Displacement signal is acquired with digital diffusing reflection laser sensor, when having detected that object distance large arm surface is less than 1cm, is just sent out
In the number of delivering letters to robot controller, robot controller drives joint motor module to work by driver, stops robot
Only, small arm sensor uses TOF simulated laser sensor, when there is object distance forearm surface to be less than 1cm, robot controller
By driver drive joint motor module work, then control robot stopping, wherein size arm sensor output signal need through
After crossing circuit for signal conditioning processing, can just it be transported in robot controller；
The circuit for signal conditioning includes signal receiving circuit, amplitude modulation switching circuit and signal output apparatus, the signal
It receives circuit and receives size arm sensor output signal, through inductance L1, polar capacitor C1, polar capacitor C2, resistance R1 and inductance
The duplexing filter circuit of L2, capacitor C3 composition filters out High-frequency Interference and low-frequency disturbance, and the amplitude modulation switching circuit receives signal and connects
Circuit output signal is received, the modulation circuit formed with transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5 is to signal tune
Width, while transport and placing device AR2 is devised with phase amplified signal, play the role of amplified signal power, most afterwards through triode Q1, three poles
The switching circuit of pipe Q2 composition filters out abnormal signal, and wherein triode Q3 plays feedback regulation transport and placing device AR1 output signal current potential
Effect, the last signal output apparatus, with mutually amplification amplitude modulation switching circuit output signal, designs simultaneously with transport and placing device AR3
The double T frequency selection circuits of resistance R14- resistance R16 and capacitor C5- capacitor C7 composition filter out single-frequency signals and export, namely
It is in input robot controller；
The amplitude modulation switching circuit includes transport and placing device AR1, the current collection of the homophase input termination triode Q3 of transport and placing device AR1
Pole, one end of variable resistance R5 and resistance R2 one end, one end of the anti-phase input terminating resistor R3 of transport and placing device AR1, resistance R4
It is grounded with the other end of the non-inverting input terminal of transport and placing device AR2, resistance R4, the output termination variable resistance R5's of transport and placing device AR1 is another
One end of one end and capacitor C4, one end of another terminating resistor R8 of capacitor C4, the base of another termination triode Q1 of resistance R8
Pole, the output end of the base stage of triode Q3 and transport and placing device AR2 and resistance R6 one end, transport and placing device AR2 anti-phase input termination
The other end of resistance R6 and one end of resistance R7, the other end ground connection of resistance R7, emitter connecting resistance R10, the electricity of triode Q3
Hinder one end of R11 and the collector of triode Q2, the other end of the base stage connecting resistance R10 of triode Q2 and the current collection of triode Q1
Pole, another termination power+15V of resistance R11, the emitter of triode Q1 connect triode Q2 emitter and resistance R9 one
End, the other end ground connection of resistance R9.
Due to the use of above technical scheme, the utility model has the following advantages that compared with prior art；
1. the modulation circuit formed with transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5 is to signal amplitude modulation, electricity
Resistance R2- resistance R4 is divider resistance, by the resistance value adjustable transport and placing device AR1 output signal current potential for adjusting variable resistance R5
Size plays the effect of calibration signal current potential, and in order to compensate for current potential loss of the signal in adjusting, it is same to devise transport and placing device AR2
Phase amplified signal plays the role of amplified signal power.
2. improving signal accuracy in order to further ensure the stabilization of signal, triode Q1, triode Q2 composition are devised
Switching circuit filter out abnormal signal, when transport and placing device AR1, transport and placing device AR2 output signal current potential are abnormal high level signal, this
When triode Q1, triode Q2 conducting, after resistance R9 partial pressure in input signal output circuit, as transport and placing device AR1, transport and placing device
When AR2 output signal current potential is abnormal low level signal, triode Q3 is connected at this time, and feedback signal to transport and placing device AR1 is the same as mutually defeated
Enter in end, improve transport and placing device AR1 output signal current potential, play the effect of automatic calibration signal amplitude, improve the system can
By property.
Detailed description of the invention
Fig. 1 is a kind of module map of industrial robot man-machine safety intelligence system of the utility model.
Fig. 2 is the module map of circuit for signal conditioning in a kind of industrial robot man-machine safety intelligence system of the utility model.
Fig. 3 is the schematic diagram of circuit for signal conditioning in a kind of industrial robot man-machine safety intelligence system of the utility model.
Specific embodiment
Aforementioned and other technology contents, feature and effect in relation to the utility model, in following cooperation with reference to figures 1 through attached
Fig. 3 can be clearly presented in the detailed description of embodiment.The structure content being previously mentioned in following embodiment is to say
Bright book attached drawing is reference.
Embodiment one, a kind of industrial robot man-machine safety intelligence system, including robot controller, size arm sensor
With teaching machine, driver and joint motor module, it is core that the robot controller, which selects the single-chip microcontroller of model AT89C51,
The controller of the heart, the size arm sensor include big arm sensor and small arm sensor, and big arm sensor is using digital unrestrained
Reflection laser sensor acquires displacement signal, when having detected that object distance large arm surface is less than 1cm, just sends a signal to machine
In device people's controller, robot controller drives joint motor module to work by driver, stops robot, forearm sensing
Device uses TOF simulated laser sensor, and when there is object distance forearm surface to be less than 1cm, robot controller passes through driver
The work of joint motor module is driven, then controls robot stopping, wherein size arm sensor output signal need to pass through Signal Regulation
After processing of circuit, can just it be transported in robot controller；
The circuit for signal conditioning includes signal receiving circuit, amplitude modulation switching circuit and signal output apparatus, the signal
It receives circuit and receives size arm sensor output signal, through inductance L1, polar capacitor C1, polar capacitor C2, resistance R1 and inductance
The duplexing filter circuit of L2, capacitor C3 composition filters out High-frequency Interference and low-frequency disturbance, and the amplitude modulation switching circuit receives signal and connects
Circuit output signal is received, the modulation circuit formed with transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5 is to signal tune
Width, while transport and placing device AR2 is devised with phase amplified signal, play the role of amplified signal power, most afterwards through triode Q1, three poles
The switching circuit of pipe Q2 composition filters out abnormal signal, and wherein triode Q3 plays feedback regulation transport and placing device AR1 output signal current potential
Effect, the last signal output apparatus, with mutually amplification amplitude modulation switching circuit output signal, designs simultaneously with transport and placing device AR3
The double T frequency selection circuits of resistance R14- resistance R16 and capacitor C5- capacitor C7 composition filter out single-frequency signals and export, namely
It is in input robot controller；
The modulation circuit that the amplitude modulation switching circuit is formed with transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5
To signal amplitude modulation, resistance R2- resistance R4 is divider resistance, by the adjustable transport and placing device AR1 of resistance value for adjusting variable resistance R5
The size of output signal current potential plays the effect of calibration signal current potential, and capacitor C4 plays the effect for filtering out direct current signal, in order to mend
Current potential loss of the signal in adjusting is repaid, transport and placing device AR2 is devised with phase amplified signal, plays the role of amplified signal power,
In order to further ensure the stabilization of signal, signal accuracy is improved, devises the switching circuit filter of triode Q1, triode Q2 composition
Except abnormal signal, when transport and placing device AR1, transport and placing device AR2 output signal current potential are abnormal high level signal, at this time triode Q1,
Triode Q2 conducting, after resistance R9 partial pressure in input signal output circuit, as transport and placing device AR1, transport and placing device AR2 output signal electricity
When position is abnormal low level signal, triode Q3 is connected at this time, in feedback signal to transport and placing device AR1 non-inverting input terminal, improves fortune
Device AR1 output signal current potential is put, the effect of automatic calibration signal amplitude is played, the homophase input of transport and placing device AR1 terminates triode
The collector of Q3, one end of variable resistance R5 and resistance R2 one end, anti-phase input terminating resistor R3, the resistance of transport and placing device AR1
One end of R4 and the non-inverting input terminal of transport and placing device AR2, the other end ground connection of resistance R4, the variable electricity of output termination of transport and placing device AR1
Hinder the other end of R5 and one end of capacitor C4, one end of another terminating resistor R8 of capacitor C4, three pole of another termination of resistance R8
One end of the base stage of pipe Q1, the output end of the base stage of triode Q3 and transport and placing device AR2 and resistance R6, the reverse phase of transport and placing device AR2
The other end of terminating resistor R6 and one end of resistance R7, the other end ground connection of resistance R7 are inputted, the emitter of triode Q3 connects electricity
Hinder R10, one end of resistance R11 and the collector of triode Q2, the other end and triode of the base stage connecting resistance R10 of triode Q2
The collector of Q1, another termination power+15V of resistance R11, the emitter of triode Q1 connect the emitter and resistance of triode Q2
One end of R9, the other end ground connection of resistance R9.
Embodiment two, on the basis of example 1, the signal output apparatus is with transport and placing device AR3 with mutually amplification amplitude modulation
Switching circuit output signal, while devising double T frequency selection circuits sieve of resistance R14- resistance R16 and capacitor C5- capacitor C7 composition
Single-frequency signals output is selected, that is to say in input robot controller, further increase the stability of signal, transport and placing device
The emitter of the homophase input termination triode Q2 of AR3, the one of the anti-phase input terminating resistor R12 of transport and placing device AR3, resistance R13
End, resistance R12 the other end ground connection, transport and placing device AR3 output terminating resistor R13 the other end and resistance R14 one end and
One end of capacitor C5, one end of another terminating resistor R16 of resistance R14 and one end of capacitor C6, another termination electricity of capacitor C5
Hold one end of C7 and one end of resistance R15, the other end of resistance R15 and the other end ground connection of capacitor C6, resistance R16, capacitor C7
Another termination signal output port.
Embodiment three, on the basis of example 1, the signal receiving circuit is through inductance L1, polar capacitor C1, polarity
The duplexing filter circuit that capacitor C2, resistance R1 and inductance L2, capacitor C3 are formed filters out High-frequency Interference and low-frequency disturbance, inductance L2's
The anode and signal input port of one termination polar capacitor C1, the cathode of polar capacitor C1 connect the anode and inductance of polar capacitor C2
One end of L1, one end of the cathode connecting resistance R1 of polar capacitor C2, the other end of resistance R1 and the other end ground connection of inductance L1.
When the utility model is specifically used, a kind of industrial robot man-machine safety intelligence system, including robot controller,
Size arm sensor and teaching machine, driver and joint motor module, the robot controller select model AT89C51
Single-chip microcontroller be core controller, the size arm sensor includes big arm sensor and small arm sensor, big arm sensor
Displacement signal is acquired using digital diffusing reflection laser sensor, when having detected that object distance large arm surface is less than 1cm, just
It sends a signal in robot controller, robot controller drives joint motor module to work by driver, makes robot
Stopping, small arm sensor uses TOF simulated laser sensor, when there is object distance forearm surface to be less than 1cm, robot control
Device drives the work of joint motor module by driver, then controls robot stopping, wherein size arm sensor output signal needs
After circuit for signal conditioning is handled, can just it be transported in robot controller；The circuit for signal conditioning includes that signal receives
Circuit, amplitude modulation switching circuit and signal output apparatus, the signal receiving circuit receives size arm sensor output signal, through electricity
It is dry that the duplexing filter circuit that sense L1, polar capacitor C1, polar capacitor C2, resistance R1 and inductance L2, capacitor C3 are formed filters out high frequency
It disturbs and low-frequency disturbance, the amplitude modulation switching circuit uses the tune of transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5 composition
For width circuit to signal amplitude modulation, resistance R2- resistance R4 is divider resistance, by the adjustable amplifier of resistance value for adjusting variable resistance R5
The size of device AR1 output signal current potential, plays the effect of calibration signal current potential, and capacitor C4 plays the effect for filtering out direct current signal,
In order to compensate for current potential loss of the signal in adjusting, transport and placing device AR2 is devised with phase amplified signal, plays amplified signal power
Effect improves signal accuracy in order to further ensure the stabilization of signal, devises the switch of triode Q1, triode Q2 composition
Circuit filters out abnormal signal, when transport and placing device AR1, transport and placing device AR2 output signal current potential are abnormal high level signal, three pole at this time
Pipe Q1, triode Q2 conducting, after resistance R9 partial pressure in input signal output circuit, when transport and placing device AR1, transport and placing device AR2 are exported
When signal potential is abnormal low level signal, triode Q3 is connected at this time, in feedback signal to transport and placing device AR1 non-inverting input terminal,
Transport and placing device AR1 output signal current potential is improved, the effect of automatic calibration signal amplitude is played, the last signal output apparatus uses
Transport and placing device AR3 devises resistance R14- resistance R16 and capacitor C5- capacitor with mutually amplification amplitude modulation switching circuit output signal
Double T frequency selection circuits of C7 composition filter out single-frequency signals output, that is to say in input robot controller.
The above is to combine specific embodiment further detailed description of the utility model, and it cannot be said that originally
Utility model specific implementation is limited only to this；Belonging to the utility model and for those skilled in the technology concerned,
Under the premise of technical solutions of the utility model thinking, made expansion and the replacement of operating method, data should all be fallen in
Within scope of protection of the utility model.
Claims (3)
1. a kind of industrial robot man-machine safety intelligence system, including robot controller, size arm sensor and teaching machine, drive
Dynamic device and joint motor module, which is characterized in that it is core that the robot controller, which selects the single-chip microcontroller of model AT89C51,
The controller of the heart, the size arm sensor include big arm sensor and small arm sensor, and big arm sensor is using digital unrestrained
Reflection laser sensor acquires displacement signal, when having detected that object distance large arm surface is less than 1cm, just sends a signal to machine
In device people's controller, robot controller drives joint motor module to work by driver, stops robot, forearm sensing
Device uses TOF simulated laser sensor, and when there is object distance forearm surface to be less than 1cm, robot controller passes through driver
The work of joint motor module is driven, then controls robot stopping, wherein size arm sensor output signal need to pass through Signal Regulation
After processing of circuit, can just it be transported in robot controller；
The circuit for signal conditioning includes signal receiving circuit, amplitude modulation switching circuit and signal output apparatus, and the signal receives
Circuit receives size arm sensor output signal, through inductance L1, polar capacitor C1, polar capacitor C2, resistance R1 and inductance L2, electricity
The duplexing filter circuit for holding C3 composition filters out High-frequency Interference and low-frequency disturbance, and the amplitude modulation switching circuit receives signal receiving circuit
Output signal, the modulation circuit formed with transport and placing device AR1, resistance R2- resistance R4 and variable resistance R5 is to signal amplitude modulation, simultaneously
Transport and placing device AR2 is devised with phase amplified signal, plays the role of amplified signal power, most afterwards through triode Q1, triode Q2 group
At switching circuit filter out abnormal signal, wherein triode Q3 plays the effect of feedback regulation transport and placing device AR1 output signal current potential,
The last signal output apparatus amplifies amplitude modulation switching circuit output signal with phase with transport and placing device AR3, while devising resistance
Double T frequency selection circuits of R14- resistance R16 and capacitor C5- capacitor C7 composition filter out single-frequency signals output, that is to say input
In robot controller；
The amplitude modulation switching circuit includes transport and placing device AR1, the collector of the homophase input termination triode Q3 of transport and placing device AR1, can
Power transformation hinders one end of R5 and one end of resistance R2, the anti-phase input terminating resistor R3 of transport and placing device AR1, one end of resistance R4 and amplifier
The non-inverting input terminal of device AR2, resistance R4 the other end ground connection, transport and placing device AR1 output termination variable resistance R5 the other end and
One end of capacitor C4, one end of another terminating resistor R8 of capacitor C4, the base stage of another termination triode Q1 of resistance R8, three poles
One end of the base stage of pipe Q3 and the output end of transport and placing device AR2 and resistance R6, the anti-phase input terminating resistor R6 of transport and placing device AR2
The other end and resistance R7 one end, the other end ground connection of resistance R7, the emitter connecting resistance R10 of triode Q3, resistance R11
The collector of one end and triode Q2, the other end of the base stage connecting resistance R10 of triode Q2 and the collector of triode Q1, resistance
Another termination power+15V of R11, the emitter of triode Q1 meet the emitter of triode Q2 and one end of resistance R9, resistance R9
The other end ground connection.
2. a kind of industrial robot man-machine safety intelligence system as described in claim 1, which is characterized in that the signal output electricity
Road includes transport and placing device AR3, the emitter of the homophase input termination triode Q2 of transport and placing device AR3, the inverting input terminal of transport and placing device AR3
One end of connecting resistance R12, resistance R13, the other end ground connection of resistance R12, the output terminating resistor R13's of transport and placing device AR3 is another
The one of end and one end of resistance R14 and one end of capacitor C5, one end of another terminating resistor R16 of resistance R14 and capacitor C6
End, one end of another termination capacitor C7 of capacitor C5 and one end of resistance R15, the other end of resistance R15 and capacitor C6's is another
End ground connection, another termination signal output port of resistance R16, capacitor C7.
3. a kind of industrial robot man-machine safety intelligence system as claimed in claim 1 or 2, which is characterized in that the signal connects
Receiving circuit includes inductance L2, and the anode and signal input port of a termination polar capacitor C1 of inductance L2, polar capacitor C1's is negative
Pole connects anode and one end of inductance L1 of polar capacitor C2, and one end of the cathode connecting resistance R1 of polar capacitor C2, resistance R1's is another
The other end of one end and inductance L1 ground connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821639839.XU CN208841416U (en) | 2018-10-10 | 2018-10-10 | A kind of industrial robot man-machine safety intelligence system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821639839.XU CN208841416U (en) | 2018-10-10 | 2018-10-10 | A kind of industrial robot man-machine safety intelligence system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208841416U true CN208841416U (en) | 2019-05-10 |
Family
ID=66375168
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821639839.XU Expired - Fee Related CN208841416U (en) | 2018-10-10 | 2018-10-10 | A kind of industrial robot man-machine safety intelligence system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002316A (en) * | 2019-12-30 | 2020-04-14 | 郑州工程技术学院 | Robot driving signal compensation system |
-
2018
- 2018-10-10 CN CN201821639839.XU patent/CN208841416U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002316A (en) * | 2019-12-30 | 2020-04-14 | 郑州工程技术学院 | Robot driving signal compensation system |
| CN111002316B (en) * | 2019-12-30 | 2020-10-30 | 郑州工程技术学院 | Robot driving signal compensation system |
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