CN214560979U - Position detection device for articulated mechanism and articulated equipment - Google Patents
Position detection device for articulated mechanism and articulated equipment Download PDFInfo
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- CN214560979U CN214560979U CN202120491977.3U CN202120491977U CN214560979U CN 214560979 U CN214560979 U CN 214560979U CN 202120491977 U CN202120491977 U CN 202120491977U CN 214560979 U CN214560979 U CN 214560979U
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Abstract
The present disclosure provides a position detection device for a multi-joint movement mechanism and a multi-joint movement mechanism, the position detection device for the multi-joint movement mechanism including: the position sensor is arranged at each motion joint, the position sensor is connected with the circuit controller through a first cable, the circuit controller is connected with the alarm through a second cable, and the circuit controller is further connected with the motion joints through a third cable. The position detection device of the multi-joint movement mechanism and the multi-joint movement equipment can solve the problems that the multi-joint movement mechanism is inaccurate in positioning and needs to be adjusted for a long time for being accurately positioned after running to a target position; the time of using equipment is saved, and the working efficiency of operators is improved.
Description
Technical Field
The utility model relates to a multi-joint movement equipment technical field especially relates to a multi-joint movement mechanism's position detection device and multi-joint movement equipment.
Background
With the continuous progress of society, most of the work done by human in the past will be replaced by machines to relieve the physical labor of people. The higher the automation degree of the equipment is, the higher the corresponding equipment cost is, and meanwhile, the excessive automation of the equipment restricts the aspects of investment budget of a factory, later maintenance and the like of the equipment, and the electric and mechanical principles are skillfully applied, so that a certain cost is slightly increased to meet the controllable and acceptable functional requirements, and the use effect of the equipment is improved and is usually more acceptable to the factory.
The multi-joint movement mechanism comprises a rotary first rotary arm, a rotary second rotary arm, an electric hoist lifting mechanism and a hardware control circuit, and because the mechanism is not provided with control systems such as a Programmable Logic Controller (PLC) and the like and adopts a circuit control mode, the operation of the mechanism completely depends on the control of an operator. In accordance with the needs, there is a need for a method for improving problems such as a large positional deviation of an article to be conveyed per time or a complicated position adjustment and a long time consumption in a multi-joint movement mechanism.
SUMMERY OF THE UTILITY MODEL
The embodiment of the disclosure provides a position detection device of a multi-joint movement mechanism, which can realize the in-place operation reminding function of the mechanism through circuit control, and simultaneously control a motor to stop running continuously.
The technical scheme provided by the embodiment of the disclosure is as follows:
the disclosed embodiment provides a position detection device of a multi-joint movement mechanism, which includes: at least two kinematic joints and at least two rotating arms connected by at least two kinematic joints; the position detection device of the articulated mechanism includes: the device comprises at least two position sensors, a circuit controller and an alarm, wherein one position sensor is arranged at each motion joint and used for generating first detection information when detecting that each rotating arm reaches a target position; the position sensor is connected with the circuit controller through a first cable, and the first cable is used for transmitting the first detection information; the circuit controller is used for generating a first control signal and a second control signal when receiving the first detection information; the circuit controller is connected with the alarm through a second cable, and the second cable is used for transmitting the first control signal so as to control the alarm to give an alarm; the circuit controller is further connected with the motion joint through a third cable, and the third cable is used for transmitting the second control signal so as to control the motion joint to stop rotating the rotating arm.
Illustratively, the power source of the motion joint is a three-phase asynchronous motor.
Illustratively, the alarm comprises: alarm signal lamp.
Illustratively, the alarm comprises: a buzzer.
Illustratively, the alarm further comprises a delay controller, and the delay controller is connected with the circuit controller.
Embodiments of the present disclosure also provide a multi-joint movement apparatus, including: a multi-joint motion mechanism; and, a position detection device for the articulated mechanism; the multi-joint movement mechanism includes: at least two kinematic joints and at least two rotating arms connected by at least two kinematic joints; the position detection device of the articulated mechanism includes: the device comprises at least two position sensors, a circuit controller and an alarm, wherein one position sensor is arranged at each motion joint and used for generating first detection information when detecting that each rotating arm reaches a target position; the position sensor is connected with the circuit controller through a first cable, and the first cable is used for transmitting the first detection information; the circuit controller is used for generating a first control signal and a second control signal when receiving the first detection information; the circuit controller is connected with the alarm through a second cable, and the second cable is used for transmitting the first control signal so as to control the alarm to give an alarm; the circuit controller is further connected with the motion joint through a third cable, and the third cable is used for transmitting the second control signal so as to control the motion joint to stop rotating the rotating arm.
Illustratively, the power source of the motion joint is a three-phase asynchronous motor.
Illustratively, the alarm comprises: alarm signal lamp.
Illustratively, the alarm comprises: a buzzer.
Illustratively, the alarm further comprises a delay controller, and the delay controller is connected with the circuit controller.
The beneficial effects brought by the embodiment of the disclosure are as follows:
the position detection device of the multi-joint movement mechanism and the multi-joint movement equipment provided by the embodiment of the disclosure can solve the problems that the multi-joint movement mechanism is inaccurate in positioning and needs to be adjusted for a long time for being accurately positioned after running to a target position; the time of using equipment is saved, and the working efficiency of operators is improved.
Drawings
FIG. 1 illustrates a schematic structural view of a multi-joint motion mechanism provided in an embodiment of the present disclosure;
FIG. 2 illustrates an electrical schematic of a position sensing device for a multi-joint motion mechanism provided in an embodiment of the present disclosure;
fig. 3 shows a block diagram of a position detection device of a multi-joint movement mechanism provided in an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Before describing in detail the position detection device of the articulated mechanism provided in the embodiment of the present disclosure, it is necessary to describe the following for the related art:
in the related art, the articulated mechanism may include: at least two kinematic joints and at least two rotating arms connected by at least two kinematic joints. For example, the multi-articulation mechanism is a dual articulation mechanism comprising: two kinematic joints, a first kinematic joint and a second kinematic joint; and two rotating arms, i.e., a first rotating arm and a second rotating arm. Each rotating arm can rotate around a corresponding motion joint, and a power source of each motion joint is a driving motor. The moving joint of the double-joint moving mechanism adopts a three-phase asynchronous motor as a power source, the starting and stopping precision of the motor is poor, and the positioning is inaccurate.
In the related art, in order to solve the problem of inaccurate positioning, a control system such as a Programmable Logic Controller (PLC) is added to the multi-joint movement mechanism, and an original three-phase asynchronous motor is replaced by a servo motor, so that although the functional requirement of accurate positioning can be met, the whole equipment mechanism is complex, the equipment cost is high, and the subsequent maintenance difficulty is high.
In order to solve the above problems, embodiments of the present disclosure provide a position detection device for a multi-joint movement mechanism and a multi-joint movement apparatus, which can solve the problems that the multi-joint movement mechanism is inaccurate in positioning, and needs to be adjusted for a long time and for a plurality of times when being accurately positioned after being operated to a target position; the time of using equipment is saved, the working efficiency of operators is improved, and the defects of the prior technical scheme are overcome without increasing too much equipment cost.
As shown in fig. 1, the multi-joint movement mechanism may include: at least two kinematic joints 10 and at least two rotating arms 20 connected by at least two kinematic joints 10. The position detection device of a multi-joint movement mechanism provided by the embodiment of the present disclosure includes: at least two position sensors 100, a circuit controller 300 and an alarm 200, wherein one position sensor 100 is arranged at each kinematic joint 10, and the position sensors 100 are used for generating first detection information when detecting that each rotating arm 20 reaches a target position; the position sensor 100 is connected to the circuit controller 300 via a first cable 400, and the first cable 400 is used for transmitting the first detection information; the circuit controller 300 is configured to generate a first control signal and a second control signal when receiving the first detection information; the circuit controller 300 is connected with the alarm 200 through a second cable 500, and the second cable 500 is used for transmitting the first control signal so as to control the alarm 200 to alarm; the circuit controller 300 is further connected to the kinematic joint 10 through a third cable 600, and the third cable 600 is used for transmitting the second control signal to control the kinematic joint 10 to stop rotating the rotating arm 20.
In the above solution, in the position detection device of the multi-joint movement mechanism, the position sensor 100 may be disposed at each movement joint 10, and is used for determining whether each rotating arm 20 rotates to a target position, wherein a specific installation position of the position sensor 100 may be adjusted according to the target position of each rotating arm 20; the alarm 200 is used for sending an alarm signal to remind an operator to stop the operating mechanism after the rotating arm 20 runs to a target position; the circuit controller 300 is used for realizing the operation control function of the whole machine by using a hardware circuit and matching with the alarm 200.
The working process of the position detection device of the multi-joint movement mechanism provided by the embodiment of the disclosure is as follows:
when the rotating arm 20 moves to a predetermined target position, the position sensor 100 sends a first detection signal (i.e., a mechanism-in-place voltage signal), the circuit controller 300 receives the first detection signal, generates a first control signal, and sends the first control signal to the power source of the kinematic joint 10, so as to automatically control the operation motor to stop operating; meanwhile, the circuit controller 300 further generates a second control signal, and sends the second control signal to the alarm 200, and the alarm 200 triggers an alarm signal according to the received voltage signal to remind an operator to stop the operating mechanism. When the operator operates the rotating arm 20 again to move to the target position, the position sensor 100 sends a second detection signal (i.e. a voltage signal indicating that the mechanism is away from the target position) to the circuit controller 300, and the circuit controller 300 receives the second detection signal, controls the power source of the moving joint 10 to continue moving, and controls the alarm 200 to stop giving an alarm. When the rotating arm 20 of the multi-joint movement mechanism reversely runs to the target position again, the automatic alarm is performed again.
It should be noted that, in the above solution, the power source of the kinematic joint 10 may be a three-phase asynchronous motor, so that, while solving the deficiencies of the related art solutions, the cost of the equipment is not increased too much
Further, the alarm 200 includes: at least one of an alarm signal lamp and a buzzer.
In some embodiments, the alarm 200 is an audible and visual alarm 200, that is, includes both an alarm signal lamp and a buzzer, and the alarm 200 further includes a delay controller, the delay controller is connected to the circuit controller 300, and the delay relay is used for controlling the sounding duration of the buzzer. When the circuit controller 300 sends a second control signal, the buzzer and the time delay relay are triggered to act, the buzzer is triggered to sound, and after the buzzer sounds for a preset time, the buzzer can automatically stop.
It should be noted that, as shown in fig. 1, in some embodiments, a position sensor 100 is separately provided at each of the kinematic joints 10, and the corresponding alarm 200 is separately arranged on the rotating arm 20, so that for any rotating arm 20, when the rotary arm 20 reaches the target position, the position sensor 100 at the corresponding kinematic joint 10 will send a first detection signal to the circuit controller 300, the circuit controller 300 sends a corresponding first control signal to the power source of the kinematic joint 10, to control the rotating arm 20 to stop moving (while other rotating arms 20 are not affected, and the rotating motion can be continued if the target position is not reached), and to send a second control signal to the alarm 200 disposed on the rotating arm 20 (while the alarm 200 on other rotating arms 20 is not affected, and no alarm is given if the target position is not reached). That is, each rotating arm 20 may be individually controlled.
Fig. 2 is an electrical schematic diagram of a position detection device of a multi-joint movement mechanism provided in an embodiment of the present disclosure.
As shown in fig. 2, the multi-joint movement mechanism is exemplified as a double-joint movement mechanism, and includes a first movement joint 11 and a second movement joint 12, and a first rotation arm 21 driven to rotate by the first movement joint 11 and a second rotation arm 22 driven to rotate by the second movement joint 12. In fig. 2, A1MS and A2MS are position sensors 100 of the first rotating arm 21 and the second rotating arm 22, respectively, A1KT and A2KT are delay relays in the alarm 200 of the first rotating arm 21 and the second rotating arm 22, respectively, an A1LED and an A2LED are alarm signal lamps on the first rotating arm 21 and the second rotating arm 22, respectively, and A1B and A2B are buzzers on the first rotating arm 21 and the second rotating arm 22, respectively. The electrical schematic diagram shows a circuit schematic diagram of the sound and light reminding triggering and controlling the corresponding motor to automatically stop moving when the first rotating arm 21 and the second rotating arm 22 are respectively in place, and no further description is given to an internal control circuit of the double-joint moving mechanism.
Referring to fig. 2, after the first rotating arm 21 or the second rotating arm 22 moves to a target position, the corresponding position sensor 100 sends a first detection signal to automatically control the power source of the corresponding moving joint 10 to stop moving, at this time, the alarm 200 on the corresponding rotating arm 20 triggers an alarm signal lamp to be normally on according to a received second control signal, and simultaneously triggers a buzzer relay to act, so that a buzzer is triggered to sound, and the buzzer automatically stops when the buzzer sounds for a preset time; when the first rotating arm 21 or the second rotating arm 22 is operated again and is separated from the target position, the signal lamp is turned off; and when the vehicle reversely runs to the target position again, performing sound-light alarm again.
Further, embodiments of the present disclosure also provide a multi-joint movement apparatus including: a multi-joint motion mechanism; and, a position detection device for the articulated mechanism; the multi-joint movement mechanism includes: at least two kinematic joints 10 and at least two rotating arms 20 connected by at least two kinematic joints 10; the position detection device of the articulated mechanism includes: at least two position sensors 100, a circuit controller 300 and an alarm 200, one of the position sensors is disposed at each of the kinematic joints 10, and the position sensors 100 are configured to generate first detection information when detecting that each of the rotary arms 20 reaches a target position; the position sensor 100 is connected to the circuit controller 300 via a first cable 400, and the first cable 400 is used for transmitting the first detection information; the circuit controller 300 is configured to generate a first control signal and a second control signal when receiving the first detection information; the circuit controller 300 is connected with the alarm 200 through a second cable 500, and the second cable 500 is used for transmitting the first control signal so as to control the alarm 200 to alarm; the circuit controller 300 is further connected to the kinematic joint 10 through a third cable 600, and the third cable 600 is used for transmitting the second control signal to control the kinematic joint 10 to stop rotating the rotating arm 20.
The multi-joint movement mechanism in the above-mentioned scheme includes the position detection device of the multi-joint movement mechanism provided in the embodiment of the present disclosure, and obviously, the beneficial effects that the position detection device of the multi-joint movement mechanism provided in the embodiment of the present disclosure can also be brought, and details are not described here again.
The following points need to be explained:
(1) the drawings of the embodiments of the disclosure only relate to the structures related to the embodiments of the disclosure, and other structures can refer to the common design.
(2) For purposes of clarity, the thickness of layers or regions in the figures used to describe embodiments of the present disclosure are exaggerated or reduced, i.e., the figures are not drawn on a true scale. It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
(3) Without conflict, embodiments of the present disclosure and features of the embodiments may be combined with each other to arrive at new embodiments.
The above is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and the scope of the present disclosure should be determined by the scope of the claims.
Claims (10)
1. A position detection device of a multi-joint movement mechanism, the multi-joint movement mechanism comprising: at least two kinematic joints and at least two rotating arms connected by at least two kinematic joints; it is characterized in that the preparation method is characterized in that,
the position detection device of the articulated mechanism includes: the device comprises at least two position sensors, a circuit controller and an alarm, wherein one position sensor is arranged at each motion joint and used for generating first detection information when detecting that each rotating arm reaches a target position; the position sensor is connected with the circuit controller through a first cable, and the first cable is used for transmitting the first detection information; the circuit controller is used for generating a first control signal and a second control signal when receiving the first detection information; the circuit controller is connected with the alarm through a second cable, and the second cable is used for transmitting the first control signal so as to control the alarm to give an alarm; the circuit controller is further connected with the motion joint through a third cable, and the third cable is used for transmitting the second control signal so as to control the motion joint to stop rotating the rotating arm.
2. The position detecting device of a multi-joint moving mechanism according to claim 1,
the power source of the motion joint is a three-phase asynchronous motor.
3. The position detecting device of a multi-joint moving mechanism according to claim 1,
the alarm device includes: alarm signal lamp.
4. The position detecting device of a multi-joint moving mechanism according to claim 1,
the alarm device includes: a buzzer.
5. The position detecting device of a multi-joint moving mechanism according to claim 4,
the alarm further comprises a delay controller, and the delay controller is connected with the circuit controller.
6. A multi-joint motion device, comprising:
a multi-joint motion mechanism;
and, a position detection device for the articulated mechanism;
the multi-joint movement mechanism includes: at least two kinematic joints and at least two rotating arms connected by at least two kinematic joints;
the position detection device of the articulated mechanism includes:
the device comprises at least two position sensors, a circuit controller and an alarm, wherein one position sensor is arranged at each motion joint and used for generating first detection information when detecting that each rotating arm reaches a target position; the position sensor is connected with the circuit controller through a first cable, and the first cable is used for transmitting the first detection information; the circuit controller is used for generating a first control signal and a second control signal when receiving the first detection information; the circuit controller is connected with the alarm through a second cable, and the second cable is used for transmitting the first control signal so as to control the alarm to give an alarm; the circuit controller is further connected with the motion joint through a third cable, and the third cable is used for transmitting the second control signal so as to control the motion joint to stop rotating the rotating arm.
7. The multi-joint motion device of claim 6,
the power source of the motion joint is a three-phase asynchronous motor.
8. The multi-joint motion device of claim 6,
the alarm device includes: alarm signal lamp.
9. The multi-joint motion device of claim 6,
the alarm device includes: a buzzer.
10. The multi-joint motion device of claim 9,
the alarm further comprises a delay controller, and the delay controller is connected with the circuit controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120491977.3U CN214560979U (en) | 2021-03-08 | 2021-03-08 | Position detection device for articulated mechanism and articulated equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120491977.3U CN214560979U (en) | 2021-03-08 | 2021-03-08 | Position detection device for articulated mechanism and articulated equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214560979U true CN214560979U (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120491977.3U Active CN214560979U (en) | 2021-03-08 | 2021-03-08 | Position detection device for articulated mechanism and articulated equipment |
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| CN (1) | CN214560979U (en) |
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- 2021-03-08 CN CN202120491977.3U patent/CN214560979U/en active Active
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Effective date of registration: 20220629 Address after: Room 1-3-029, No. 1888, Xifeng South Road, high tech Zone, Xi'an, Shaanxi 710065 Patentee after: Xi'an yisiwei Material Technology Co.,Ltd. Patentee after: Xi'an yisiwei Equipment Technology Co.,Ltd. Address before: E2-002, science and Technology Park, Xi'an University of technology, No.26, gazelle Road, Zhangba Street office, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee before: Xi'an yisiwei Equipment Technology Co.,Ltd. Patentee before: Xi'an yisiwei Material Technology Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |
Address after: Room 1-3-029, No. 1888, Xifeng South Road, high tech Zone, Xi'an, Shaanxi 710065 Patentee after: Xi'an Yisiwei Material Technology Co.,Ltd. Patentee after: Xi'an Xinhui Equipment Technology Co.,Ltd. Address before: Room 1-3-029, No. 1888, Xifeng South Road, high tech Zone, Xi'an, Shaanxi 710065 Patentee before: Xi'an yisiwei Material Technology Co.,Ltd. Patentee before: Xi'an yisiwei Equipment Technology Co.,Ltd. |
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