CN209289330U - A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system - Google Patents
A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system Download PDFInfo
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- CN209289330U CN209289330U CN201821965700.4U CN201821965700U CN209289330U CN 209289330 U CN209289330 U CN 209289330U CN 201821965700 U CN201821965700 U CN 201821965700U CN 209289330 U CN209289330 U CN 209289330U
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- aluminium alloy
- collision
- microprocessor
- mechanical hand
- alloy extrusions
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Abstract
The utility model relates to manipulator anti-collision system technical fields, especially a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system, including isolated power supply module, sensor electrode, microprocessor, and output module, the isolated power supply module is used for sensor electrode, microprocessor and output module provide power supply, the sensor electrode installation is on a robotic arm, for signal detection in the collision cabinet to manipulator, the microprocessor is connect with sensor electrode, for the acquisition and processing to collision alarm, the output module is connect with microprocessor, for being exported to the received collision alarm of microprocessor, the utility model has small in size, high reliablity, the advantage of strong antijamming capability.
Description
Technical field
The utility model relates to manipulator anti-collision system technical field, specific field is a kind of aluminium alloy extrusions feeding mechanical
Hand anti-collision system.
Background technique
Aluminium alloy sawing machine production line feeding mechanical hand pawl grab aluminium alloy extrusions during, when and mechanical paw occurs
The phenomenon that supporting beam on aluminium profile end face to be processed cannot accurately be grabbed, and collided with it.To solve the above-mentioned problems,
It is necessary for installing suitable anti-collision system additional on the basis of originally production lane controller.
There are three big technical problems in aluminium alloy feeding mechanical hand anti-collision system: " collision " signal acquisition, data processing and
Real time communication.Currently, aluminium alloy extrusions feeding mechanical hand anti-collision system mainly realizes anticollision using calculating is estimated, in order to
Accurate crawl profile, needs that the position of profile and length are inputted sawing machine system in advance every time, more time-consuming and right
Equipment operator requires relatively high, and happening occasionally in daily production leads to feeding due to position or linear measure longimetry data are inaccurate
The accident of manipulator and the collision of profile end.It is horizontal in order to improve aluminium alloy sawing machine production line automation, while mitigating operation
The amount of labour of personnel, there is an urgent need to study a kind of reliable manipulator anti-collision system to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system, to solve existing skill
It is to preset valuation for mechanical anti-collision system in art, so that waste efficiency, the low problem of personnel's operating efficiency.
To achieve the above object, the utility model provides the following technical solutions: a kind of aluminium alloy extrusions feeding mechanical hand is anti-
System, including isolated power supply module, sensor electrode, microprocessor and output module are hit, the isolated power supply module is used for
Power supply is provided to sensor electrode, microprocessor and output module, the sensor electrode installation on a robotic arm, is used for machine
Signal detection in the collision cabinet of tool hand, the microprocessor are connect with sensor electrode, for collision alarm acquisition and
Processing, the output module is connect with microprocessor, for exporting to the received collision alarm of microprocessor.
Preferably, the isolated power supply module is isolated form DC-DC voltage reduction module.
Preferably, the sensor electrode includes iron plate and filter circuit, and the iron plate is inlayed on a robotic arm, the filter
Wave circuit is connect with iron plate, and filter circuit is connect with isolated power supply modular power source, realizes manipulator collision by filter circuit
The acquisition of signal.
Preferably, the microprocessor is ARM controller.
Preferably, the output module includes RS485 telecommunication circuit and I/O output circuit, the RS485 telecommunication circuit
It is connect with the output end of microprocessor with I/O output circuit, and RS485 telecommunication circuit and I/O output circuit can connect
External Manipulator Controller.
Preferably, the external circuit Phototube Coupling of the output module and manipulator is arranged.
Preferably, the iron plate is located at the end of manipulator.
Preferably, inlaying between the iron plate and manipulator is fixed as being electrically isolated connection.
Compared with prior art, the utility model has the beneficial effects that this anti-collision system has small in size, high reliablity,
The advantage of strong antijamming capability；
Small and exquisite irony electrode can be mounted to the end of mechanical paw, electric response using touch sensor
Fastly, and irony electrode also has certain intensity, is hardly damaged；It is adopted in real time using high-performance ARM microprocessor (STM32F103)
Collect and handles the electric signal from sensor；It uses isolated supplies module for system power supply, while the dry of external circuit is isolated
It disturbs；System is exported using I/O switching value and 485 buses, to adapt to different peripheral control units.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the total system schematic diagram of the utility model；
Fig. 3 is the control flow schematic diagram of the utility model.
In figure: 1, isolated power supply module；2, sensor electrode；3, microprocessor；4, output module.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 to 2 is please referred to, the utility model provides a kind of technical solution: a kind of aluminium alloy extrusions feeding mechanical hand anticollision
System, including isolated power supply module 1, sensor electrode 2, microprocessor 3 and output module 4, the isolated power supply module 1
For providing power supply to sensor electrode 2, microprocessor 3 and output module 4, the sensor electrode 2 is installed on a robotic arm,
For signal detection in the collision cabinet to manipulator, the microprocessor 3 is connect with sensor electrode 2, for believing collision
Number acquisition and processing, the output module 4 connect with microprocessor 3, for carrying out to the received collision alarm of microprocessor 3
Output.
The isolated power supply module 1 is isolated form DC-DC voltage reduction module.
The sensor electrode 2 includes iron plate and filter circuit, and the iron plate is inlayed on a robotic arm, the filter circuit
It is connect with iron plate, and filter circuit is connect with 1 power supply of isolated power supply module, manipulator collision alarm is realized by filter circuit
Acquisition.
The microprocessor 3 is ARM controller.
The output module 4 includes RS485 telecommunication circuit and I/O output circuit, the RS485 telecommunication circuit and I/O
Output circuit is connect with the output end of microprocessor 3, and RS485 telecommunication circuit and I/O output circuit can connect outside
Manipulator Controller.
The external circuit Phototube Coupling of the output module 4 and manipulator is arranged.
The iron plate is located at the end of manipulator.
Inlaying between the iron plate and manipulator is fixed as being electrically isolated connection.
The end face for passing through crawl aluminium alloy extrusions (by taking I-shaped profile as an example) by the technical program, feeding mechanical hand
On supporting beam position, push aluminium alloy extrusions enters cutting inside sawing machine, and sensor electrode 2 mainly completes " collision " signal
Acquisition and filtering, microprocessor 3 mainly complete data processing, output module 4 be mainly used for the processing signal of microprocessor 3 into
The capable communication with peripheral control unit；Isolated power supply module 1 is made of isolated form DC-DC voltage reduction module and anti-jamming circuit, is micro-
Controller provides 3.3V power supply, provides 5V power supply for contact electrode and output module 4.
Contact sensor is connected by conducting wire with 3 input pin of microprocessor, and aluminium alloy extrusions is also by conducting wire anticollision system
" ground " signal of uniting is connected, and mechanical paw does not catch supporting beam correctly, but is collided with it, and contact electrode will export one
A low level is to microcontroller.
It is a kind of control flow of aluminium alloy extrusions feeding mechanical hand anti-collision system of the present invention, firstly, being as shown in 3 figures
System first initializes after powering on, check each component whether normal operation, errors excepted police instruction do not enter into master and follows
Ring.Secondly, first acquire contact sensor into after major cycle and be transmitted through the electric signal come, after carrying out corresponding software filtering processing, from
Output module 4 exports, and according to the type of peripheral control unit, can choose I/O output or the output of RS485 bus.
The irony electrode of mechanical paw end is collected switched electrical signal by technical characteristic system of the invention, is filtered by hardware
It send microprocessor 3 resume module after wave, most sends external sawing machine controller to through I/O interface or RS485 bus afterwards.Using strong
Spending higher irony electrode can be improved manipulator and when profile collides, and the electric signal of the switch of triggering can be by reliably timely
Acquisition, microprocessor 3 can ensure that real time data acquisition, internal included communication module using high-performance ARM microprocessor 3
It can be convenient and communicated with peripheral control unit.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (8)
1. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system, it is characterised in that: including isolated power supply module, sensor electricity
Pole, microprocessor and output module, the isolated power supply module are used for sensor electrode, microprocessor and output module
Power supply is provided, the sensor electrode installation is on a robotic arm, described micro- for signal detection in the collision cabinet to manipulator
Processor is connect with sensor electrode, and for the acquisition and processing to collision alarm, the output module is connect with microprocessor,
For being exported to the received collision alarm of microprocessor.
2. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 1, it is characterised in that: the isolation
Power module is isolated form DC-DC voltage reduction module.
3. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 1, it is characterised in that: the sensing
Device electrode includes iron plate and filter circuit, and the iron plate is inlayed on a robotic arm, and the filter circuit is connect with iron plate, and is filtered
Circuit is connect with isolated power supply modular power source, and the acquisition of manipulator collision alarm is realized by filter circuit.
4. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 1, it is characterised in that: micro- place
Reason device is ARM controller.
5. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 1, it is characterised in that: the output
Module includes RS485 telecommunication circuit and I/O output circuit, and the RS485 telecommunication circuit and I/O output circuit are and micro process
The output end of device connects, and RS485 telecommunication circuit and I/O output circuit can connect external Manipulator Controller.
6. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 1, it is characterised in that: the output
The setting of the external circuit Phototube Coupling of module and manipulator.
7. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 3, it is characterised in that: the iron plate
Positioned at the end of manipulator.
8. a kind of aluminium alloy extrusions feeding mechanical hand anti-collision system according to claim 7, it is characterised in that: the iron plate
Inlaying between manipulator is fixed as being electrically isolated connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821965700.4U CN209289330U (en) | 2018-11-27 | 2018-11-27 | A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821965700.4U CN209289330U (en) | 2018-11-27 | 2018-11-27 | A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system |
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| Publication Number | Publication Date |
|---|---|
| CN209289330U true CN209289330U (en) | 2019-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821965700.4U Active CN209289330U (en) | 2018-11-27 | 2018-11-27 | A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382850A (en) * | 2018-11-27 | 2019-02-26 | 中国科学院合肥物质科学研究院 | A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system |
-
2018
- 2018-11-27 CN CN201821965700.4U patent/CN209289330U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109382850A (en) * | 2018-11-27 | 2019-02-26 | 中国科学院合肥物质科学研究院 | A kind of aluminium alloy extrusions feeding mechanical hand anti-collision system |
| CN109382850B (en) * | 2018-11-27 | 2024-03-29 | 中国科学院合肥物质科学研究院 | Anti-collision system for aluminum alloy profile feeding manipulator |
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