CN216067450U - Slewing mechanism and automation equipment - Google Patents
Slewing mechanism and automation equipment Download PDFInfo
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- CN216067450U CN216067450U CN202122085875.4U CN202122085875U CN216067450U CN 216067450 U CN216067450 U CN 216067450U CN 202122085875 U CN202122085875 U CN 202122085875U CN 216067450 U CN216067450 U CN 216067450U
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Abstract
The utility model discloses a slewing mechanism and an automation device. The slewing mechanism comprises a base, at least two switches and an arc-shaped separation blade, wherein the at least two switches are arranged at intervals and fixedly arranged on the base, the arc-shaped separation blade is rotatably arranged relative to the two switches, and the arc-shaped separation blade triggers at least one switch in the rotating process. Under the condition that a mechanical limit structure and an absolute value encoder are not needed, the trigger of the switch and the display of the trigger state in the rotating process of the arc-shaped blocking piece are detected through the switch so as to judge the zero position, judge whether the position of the arc-shaped blocking piece is legal or not and judge whether the operation of the slewing mechanism is in failure or not, and the slewing mechanism can be automatically monitored in an electronic detection mode conveniently. According to the technical scheme, the double switches are matched with the arc-shaped retaining pieces, so that the technical problem that fault detection and fault judgment are difficult to perform on a slewing mechanism without mechanical limiting is solved.
Description
Technical Field
The utility model relates to the technical field of swing mechanisms, in particular to a swing mechanism and automation equipment.
Background
Most of the existing intelligent robots or intelligent mechanical arms are provided with swing mechanisms, and certain specific swing mechanism motion control needs to acquire the initial zero position of the mechanism, or needs to return the mechanism to zero when equipment runs, and needs to know whether the positions of the swing mechanisms are in a normal area or not. Most of the existing slewing mechanisms can use absolute value encoders, and the zero position and the rotation angle of a plurality of slewing mechanisms are limited and triggered by a mechanical limiting structure or are realized by a proximity switch. In the published publications: CN109623851A, a comparison document discloses a zero position device and a zero setting method, which use a single photoelectric switch and an arc-shaped blocking piece for rotation, but require an absolutely strict time factor for matching to complete the zero setting and zero setting operation, and for sudden mechanical rotation failure or photoelectric switch failure, there is no detection and judgment mechanism, so that the use limitation is reduced and the reliability is low.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide a slewing mechanism and automatic equipment, and aims to solve the technical problem that the slewing mechanism without mechanical limit is difficult to detect and judge faults.
In order to achieve the above object, the present invention provides a swing mechanism, including:
a base;
the at least two switches are arranged on the base at intervals; and
the arc-shaped blocking piece is rotatably arranged on the base, and at least two switches are arranged on a rotating path of the arc-shaped blocking piece;
when the arc-shaped blocking piece rotates relative to the base, the arc-shaped blocking piece at least triggers one switch.
Optionally, the arc-shaped baffle comprises:
the fixed plate is rotatably arranged on the base; and
the shielding plate encloses to be located the edge of fixed plate, and with the fixed plate is the contained angle setting, the shielding plate is kept away from the one end of fixed plate is towards two the switch extends the setting.
Optionally, an edge of the fixing plate extends in a radial direction to form an extension, and the shielding plate is connected to the edge of the extension.
Optionally, the arc-shaped blocking piece is arranged in an arc-shaped segment, an included angle formed by the two switches and a rotation center of the arc-shaped blocking piece is defined as a rotation angle θ, a central angle corresponding to an arc length of the shielding plate is defined as α, and the central angle α and the rotation angle θ satisfy: 0 ° < α <360 °,0 ° < θ <360 °.
Optionally, the central angle α and the rotation angle θ satisfy α ≧ θ.
Optionally, the arc length of the rotation angle corresponding to the rotation angle theta of the two switches is defined as L0The arc length of the arc-shaped baffle is L1The radius of rotation is R;
the arc length L of the corner0And the arc length L of the arc baffle plate1Satisfy L1≥L0；
And/or the arc length L of the corner0And the arc length L of the arc baffle plate1The sum equals 2 π R.
Optionally, the swing mechanism further includes a rotating member, the rotating member is rotatably disposed on the base, and the arc-shaped blocking piece is fixed to the rotating member.
Optionally, the rotating member comprises:
the rotating shaft is rotatably arranged on the base and is used for being connected with the driving piece; and
the carousel, the carousel is located the pivot is kept away from the one end of driving piece, the carousel with the pivot sets up perpendicularly, arc separation blade detachably locates the carousel dorsad one side of pivot.
The utility model also proposes an automation device comprising:
a frame;
the mechanical arm is rotatably arranged on the rack; and
the slewing mechanism as described in any of the above, wherein the base of the slewing mechanism is connected to the robot arm.
Optionally, the automation device further comprises:
the driving piece is arranged on the rack, and the output end of the driving piece is in transmission connection with the arc-shaped retaining sheet of the slewing mechanism; and
the control panel is arranged on the machine frame, and the two switches and the driving piece of the slewing mechanism are electrically connected with the control panel.
According to the technical scheme, the double switches are matched with the arc-shaped retaining pieces, so that the technical problem that fault detection and fault judgment are difficult to perform on a slewing mechanism without mechanical limiting is solved. The slewing mechanism comprises a base, at least two switches and an arc-shaped blocking piece, wherein the at least two switches are arranged at intervals and fixedly arranged on the base, the arc-shaped blocking piece is rotatably arranged relative to the two switches, and at least one switch is triggered in the rotating process of the arc-shaped blocking piece. Under the condition that a mechanical limit structure and an absolute value encoder are not needed, the trigger of the switch and the display of the trigger state in the rotating process of the arc-shaped blocking piece are detected through the switch so as to judge the zero position, judge whether the position of the arc-shaped blocking piece is legal or not and judge whether the operation of the slewing mechanism is in failure or not, and the slewing mechanism can be automatically monitored in an electronic detection mode conveniently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a turning mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a turning mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic top view of a zero-point position of the swing mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a legal rotation position of the slewing mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic top view of a rotation illegal position of the turning mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic top view of a zero-point position of another embodiment of the turning mechanism of the present invention;
FIG. 7 is a schematic top view of a rotary legal position of another embodiment of the slewing mechanism of the present invention;
FIG. 8 is a schematic top view of another legal position of the turning mechanism of the present invention;
fig. 9 is a schematic top view of a rotation illegal position of the slewing mechanism according to another embodiment of the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present invention provides a rotating mechanism 100.
Referring to fig. 1 to 9, fig. 1 is a schematic perspective view of a swing mechanism according to an embodiment of the present invention; fig. 2 is a schematic perspective view of a swing mechanism according to an embodiment of the present invention.
In the embodiment of the present invention, as shown in fig. 1 to 3, the swing mechanism 100 includes a base (not shown), at least two switches 10 and an arc-shaped blocking plate 30, wherein the at least two switches 10 are disposed on the base at intervals, the arc-shaped blocking plate 30 is rotatably disposed on the base, and the at least two switches 10 are disposed on a rotation path of the arc-shaped blocking plate 30; wherein the arcuate flap 30 activates at least one of the switches 10 when rotated relative to the base.
In an alternative embodiment, the swing mechanism 100 according to the present invention includes a base, at least two switches 10 and an arc-shaped blocking piece 30, wherein the at least two switches 10 are disposed at intervals and fixed on the base, the arc-shaped blocking piece 30 is rotatably disposed relative to the two switches 10, and the arc-shaped blocking piece 30 triggers at least one switch 10 during rotation. Under the condition that a mechanical limit structure and an absolute value encoder are not needed, the switch 10 is used for detecting the triggering of the arc-shaped baffle 30 in the rotating process and displaying the triggering state of the switch 10 so as to judge the zero position, judge whether the position of the arc-shaped baffle 30 is legal or not and judge whether the operation of the slewing mechanism 100 has a fault or not, and the slewing mechanism 100 can be automatically monitored conveniently in an electronic detection mode. The technical scheme of the utility model solves the technical problem that the slewing mechanism 100 without mechanical limit is difficult to detect and judge faults by using the matching of the double switch 10 and the arc-shaped baffle 30.
Further, both switches 10 are photoelectric switches 10, and specifically include a first photoelectric switch 11 and a second photoelectric switch 12. The base is provided with a fixed mounting part and a rotating mounting part which are arranged at intervals, wherein the first photoelectric switch 11 and the second photoelectric switch 12 are arranged at the fixed mounting part at intervals, and the arc-shaped separation blade 30 is arranged at the rotating mounting part. The first photoelectric switch 11 and the second photoelectric switch 12 have the same structure, and both include a transmitting end and a receiving end, the transmitting end and the receiving end are aligned and spaced, an induction groove 10A is formed between the transmitting end and the receiving end, and the arc-shaped blocking piece 30 passes through the induction groove 10A in rotation to trigger the induction display of the switch 10.
It is understood that the first and second photoelectric switches 11 and 12 are set as normally closed photoelectric sensors and normally open photoelectric sensors when the swing mechanism 100 of the present application is applied to an intelligent robot, or a manipulator, or other automated equipment. The first and second photoelectric switches 11 and 12 of the present invention are configured as normally-off photoelectric sensors, and the following embodiments are also described with reference to the normally-off photoelectric sensors.
It can be understood that the intelligent robot, or the robot hand, or other automated equipment applied to the swing mechanism 100 is further provided with an electronic display screen and a control module electrically connected to the first photoelectric switch 11 and the second photoelectric switch 12, and the detection results of the first photoelectric switch 11 and the second photoelectric switch 12 are processed by the control module to obtain a conclusion that the first photoelectric switch 11 and/or the second photoelectric switch 12 is/are shielded to output 0 and the unshielded output is 1, and the conclusion is displayed on the electronic display screen. The control module is also provided with an alarm trigger to indicate, by means of an audible and/or visual display, that the current swing mechanism 100 position is not legal. Specific detection and judgment are made with reference to the following examples. And stopping the electronic display screen to perform specific fault analysis when the electronic display screen displays an illegal state or alarms to prompt an illegal position.
Optionally, the arc-shaped blocking piece 30 includes a fixing plate 31 and a shielding plate 32, the fixing plate 31 is rotatably disposed on the base, the shielding plate 32 is disposed around an edge of the fixing plate 31 and forms an included angle with the fixing plate 31, and one side of the shielding plate 32 away from the fixing plate 31 extends toward the two switches 10.
In an alternative embodiment, the swing mechanism 100 includes a base, at least two switches 10 and an arc-shaped blocking piece 30, wherein the at least two switches 10 are disposed at intervals and fixedly disposed on a fixed mounting portion of the base, and the arc-shaped blocking piece 30 is rotatably disposed on a rotating mounting portion of the base and is rotatably disposed relative to the base. The arc-shaped baffle 30 comprises a fixing plate 31 and a shielding plate 32, wherein the fixing plate 31 is rotatably arranged relative to the base and is used for movably connecting the shielding plate 32 to the base through the fixing plate 31. The shielding plate 32 is a local arc-shaped segment, the outer contour of the fixing plate 31 is set to be circular, the shielding plate 32 surrounds the edge of the fixing plate 31, the setting plane of the shielding plate 32 is not coplanar with the plane of the fixing plate 31, that is, the shielding plate 32 and the fixing plate 31 are arranged at an included angle, and one side of the shielding plate 32, which is far away from the fixing plate 31, extends towards the positions of the first photoelectric switch 11 and the second photoelectric switch 12. It should be noted that the first photoelectric switch 11 and the second photoelectric switch 12 are fixedly disposed on the base, and the notches of the first sensing groove 10A and the second sensing groove 10A formed by the first photoelectric switch 11 and the second photoelectric switch 12 are disposed toward the fixing plate 31, wherein the shielding plate 32 of the incomplete arc section passes through the first sensing groove 10A and/or the second sensing groove 10A in the rotation process. The swing mechanism 100 of the present invention does not include a mechanical limiting mechanism and an absolute value encoder, and only includes two photoelectric switches 10 and an arc-shaped barrier 30, which are respectively a first photoelectric switch 11 and a second photoelectric switch 12, and the barrier 32 of the arc-shaped barrier 30 passes through the first induction groove 10A and/or the second induction groove 10A during the rotation process to trigger the change of the induction output value of the first photoelectric switch 11 and/or the second photoelectric switch 12, so as to determine whether the current position is legal according to the two induction output values, thereby implementing the fault detection and fault determination of the swing mechanism 100, and facilitating the intelligent detection of an intelligent robot, or a manipulator, or other automated equipment applying the swing mechanism 100 through photoelectric signals.
It is understood that the positions where the first and second photoelectric switches 11 and 12 are disposed are defined with reference to the maximum rotation angle of the rotation mechanism 100, and the first and second photoelectric switches 11 and 12 are disposed at both ends of the shielding plate 32 in the arc length direction. Therefore, for the rotation mechanism 100 with a given maximum rotation angle, the change of the included angle between the shielding plate 32 and the fixing plate 31 affects the change of the installation positions of the first photoelectric switch 11 and the second photoelectric switch 12. It should be noted that the shielding plate 32 and the fixing plate 31 of the present embodiment are disposed at an included angle, and the included angle is not equal to 0 ° or 180 °, that is, the shielding plate 32 and the fixing plate 31 are not coplanar, for example, the shielding plate 32 and the fixing plate 31 are disposed at an included angle of 90 ° or 270 °, that is, the shielding plate 32 and the fixing plate 31 are disposed perpendicularly, then the emitting end and the receiving end of the second photoelectric switch 12 of the first photoelectric switch 11 are respectively located on two surfaces of the shielding plate 32 facing away from each other, and the direction from the groove bottom wall to the groove opening of the first induction groove 10A and the second induction groove 10A is parallel to the shielding plate 32, but perpendicular to the fixing plate 31. Therefore, the radius of the fixing plate 31 determines the radius of the circumference formed by the rotation of the shielding plate 32, and thus determines the installation position of the second photoelectric switch 12 of the first photoelectric switch 11.
Alternatively, an edge of the fixing plate 31 is extended in a radial direction to form an extension 311, and the shielding plate 32 is connected to the edge of the extension 311.
In an alternative embodiment, the edge of the fixing plate 31 extends radially to form an extension 311, and the shielding plate 32 is connected to the edge of the extension 311, wherein the surface of the fixing plate 31 is a plane and the outer periphery of the fixing plate 31 is circular, so that the extension 311 is coplanar with the fixing plate 31, the shielding plate 32 is connected to the extension 311 but not coplanar, and the connection between the shielding plate 32 and the extension 311 is smooth. For example, the shielding plate 32 is not coplanar with the fixing plate 31, and the shielding plate 32 and the fixing plate 31 are disposed at an included angle of 90 ° or 270 °, so that the shielding plate 32 is disposed perpendicular to the plane of the fixing plate 31, which can reduce the concentration of the mounting space of the shielding plate 32, the fixing plate 31, the first photoelectric switch 11, and the second photoelectric switch 12, correspondingly reduce the precision requirement of mounting coplanarity, and improve the detection precision and reliability.
Referring to fig. 4 to 5, fig. 4 is a schematic top view of a legal rotation position of the slewing mechanism according to an embodiment of the present invention; fig. 5 is a schematic top view of a rotation illegal position of the slewing mechanism according to an embodiment of the present invention. Optionally, the arc-shaped blocking piece 30 is disposed in an arc segment, an included angle formed by the two switches 10 and the rotation center of the arc-shaped blocking piece 30 is defined as a rotation angle θ, the arc length of the blocking plate 32 is defined as a central angle α, and the central angle α and the rotation angle θ satisfy: 0 ° < α <360 °,0 ° < θ <360 °.
In an alternative embodiment, the swing mechanism 100 has a defined maximum rotation angle and has a zero position and a swing position, wherein the setting positions of the first and second opto- electronic switches 11 and 12 are set with reference to the maximum rotation angle of the swing mechanism 100, in the form that the first opto-electronic switch 11 is set at the zero position and the second opto-electronic switch 12 is set at the swing position, or the first opto-electronic switch 11 is set at the swing position and the second opto-electronic switch 12 is set at the zero position; wherein, a rotation angle between the two switches 10 is defined as θ, a central angle corresponding to the arc length of the shielding plate 32 is defined as α, and the first photoelectric switch 11 and the second photoelectric switch 12 are respectively disposed at two ends of the shielding plate 32 in the arc length direction. In the present embodiment, the central angle α and the rotation angle θ satisfy: 0 < alpha/theta <360 deg.. Meanwhile, in the application of the rotating mechanism 100, the setting position of the first photoelectric switch 11 is defined as a zero point position, the setting position of the second photoelectric switch 12 is defined as a rotating position, and the legal position of the arc-shaped blocking piece 30 is defined as that the rotating angle of the arc-shaped blocking piece 30 does not exceed the maximum rotating angle; the rotation angle θ from the zero point position to the rotation position is the maximum rotation angle, and the shielding plate 32 of the arc-shaped shielding plate 30 rotates from the zero point position to the zero point position. The arc-shaped blocking piece 30 triggers the output value of the first photoelectric switch 11 and/or the second photoelectric switch 12 to judge the current legal position and the current illegal position in the rotating process, so that the fault is detected and judged.
It can be understood that the fault can be divided into a fault of the switch 10 and a fault of a corner, that is, the output of the first photoelectric switch 11 and/or the second photoelectric switch 12 caused by the fault itself is displayed as a judged illegal position, or the output of the switch 10 caused by the rotation angle of the shielding plate 32 of the swing mechanism 100 being greater than the maximum corner θ is displayed as a judged illegal position, when the output of the illegal position occurs, the fault is detected, a shutdown and fault check is performed, a potential safety hazard is cleared, the use reliability of the swing mechanism 100 is improved, and the use safety of an intelligent robot applying the swing mechanism 100, or a manipulator, or other automated equipment is improved.
Alternatively, the central angle α and the rotation angle θ satisfy α ≧ θ.
In an alternative embodiment, the central angle θ < α <360 ° - θ for a rotation angle of 0 ° < θ <180 °; when the rotation angle theta is more than or equal to 180 degrees, theta is more than alpha and less than 360 degrees. Further, referring to fig. 3 to 5, when the rotation angle is 0 ° < θ <180 °, the rotation mechanism 100 of the arc fence 30 satisfies that θ + α is 360 °, the first photoelectric switch 11 and the second photoelectric switch 12 are not blocked by the arc fence 30 at the zero position, and at this time, the output of the first photoelectric switch 11 is 1, the output of the second photoelectric switch 12 is 1, and the arc fence 30 rotates clockwise. The legal position of the shutter 32 is represented by: the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 1, the output of the photoelectric switch 10 is 0, and the output of the second photoelectric switch 12 is 1; the non-legitimate locations appear as: the output of the photoelectric switch 10 is 0, the output of the second photoelectric switch 12 is 0, and when the output of an illegal position occurs, the fault is detected, and shutdown and fault check are carried out.
Further, referring to fig. 6 to 9 in combination, fig. 6 is a schematic top view of a zero point position of another embodiment of the slewing mechanism according to the present invention; FIG. 7 is a schematic top view of a rotary legal position of another embodiment of the slewing mechanism of the present invention; FIG. 8 is a schematic top view of another legal position of the turning mechanism of the present invention; fig. 9 is a schematic top view of a rotation illegal position of the slewing mechanism according to another embodiment of the present invention. When the rotation angle is 180 ° < θ <360 °, the rotation mechanism 100 of the arc-shaped blocking piece 30 satisfies that θ is α, the arc-shaped blocking piece 30 does not block the first photoelectric switch 11 and the second photoelectric switch 12 at the zero position, and at this time, the output of the first photoelectric switch 11 is 1, and the output of the second photoelectric switch 12 is 1, which is different from the previous embodiment, the arc-shaped blocking piece 30 rotates counterclockwise. At this time, the legal position of the shielding plate 32 appears as the following three legal positions: the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 1, the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 0, the output of the photoelectric switch 10 is 0, and the output of the second photoelectric switch 12 is 0; the non-legitimate locations appear as: the output of the photoelectric switch 10 is 0, the output of the second photoelectric switch 12 is 1, and when the output of an illegal position occurs, namely a fault is detected, shutdown and fault check are carried out.
It can be understood that when the rotation angle is 0 ° < θ <180 °, the output of the optoelectronic switch 10 is 0, the output of the second optoelectronic switch 12 is 0, which can be defined as a first illegal position, and the theoretical illegal position further includes a second illegal position where the output of the first optoelectronic switch 11 is 1 and the output of the second optoelectronic switch 12 is 0, and the first illegal position is first found during the rotation process, which can be used for performing the stop check, so that the output display of the second illegal position does not appear during the normal operation process of the practical application.
It is understood that the setting of the zero point position of the first photoelectric switch 11 and the second photoelectric switch 12 and the rotation direction of the shielding plate 32 are subject to the practical setting, and the present invention will be described in one case, and the same can be obtained in the other case.
Alternatively, the arc length of the rotation angle corresponding to the rotation angle θ of the two switches 10 is defined as L0The arc length of the arc-shaped baffle 30 is L1The radius of rotation is R(ii) a Corner arc length L0And the arc length L of the arc-shaped baffle 301Satisfy L1≥L0(ii) a And/or the arc length L of the corner0And the arc length L of the arc-shaped baffle 301The sum equals 2 π R.
In an alternative embodiment, the corner arc length L0And the arc length L of the arc-shaped baffle 301Satisfy L1≥L0That is, the rotation angle θ of the two switches 10 corresponds to a rotation arc value, the central angle α of the shielding plate 32 corresponds to a shielding arc value, both the shielding arc value and the rotation arc value are smaller than 2 π, and the shielding arc value is greater than or equal to the rotation arc value. In an alternative embodiment, the corner arc length L0And the arc length L of the arc-shaped baffle 301The sum is equal to 2 pi R, namely the sum of the shielding radian value and the rotating radian value is equal to 2 pi. One end of the arc-shaped blocking piece 30 is arranged at the zero point position and is rotatably arranged towards the rotating position when the rotating mechanism 100 rotates. During the rotation process, the shielding plate 32 of the arc-shaped shielding plate 30 shields at least one photoelectric switch 10, and the validity of the position of the current shielding plate 32 is judged according to the combination of the output value of the first photoelectric switch 11 and the output value of the second photoelectric switch 12, when the shielding plate 32 is at the legal position, the rotation mechanism 100 continues to operate, and when the detection value of the illegal position is output, the rotation mechanism 100 needs to be stopped to confirm and eliminate the fault, so as to establish a fault detection mechanism about the rotation mechanism 100 formed by the rotation mechanism 100 according to the position detection of the arc-shaped shielding plate 30, which is convenient for the automatic management of an intelligent robot, or a manipulator, or other automatic equipment applying the rotation mechanism 100.
Further, as shown in fig. 3 to 5, when the rotation angle is 0 °<θ<At 180 deg., the arc-shaped baffle 30 rotating mechanism 100 meets the requirement that theta + alpha is 360 deg., and L is1>L0. Setting the arc degree of the arc fence 30 to Rad0Then, ideally, Rad0＝2π-RadallowmaxWherein, RadallowmaxAn arc value corresponding to the maximum rotation angle allowed by the rotation mechanism 100 is an arc value corresponding to the rotation angle θ, at this time and at the zero position, two ends of the shielding plate 32 of the arc-shaped shielding plate 30 are respectively disposed at the first photoelectric switch 11 and the second photoelectric switch 12, and the arc corresponding to the rotation angle θ are respectively disposed at the first photoelectric switch 11 and the second photoelectric switch 12The arcs of the shape blocking pieces 30 are connected, the arc corresponding to the rotation angle theta is not coincident with the arc setting position of the arc blocking pieces 30, and 2 pi-Rad is satisfied0+Radallowmax. It should be noted that, when the arc-shaped blocking piece 30 is at the zero point position, the first photoelectric switch 11 and the second photoelectric switch 12 are not blocked, at this time, the output of the first photoelectric switch 11 is 1, the output of the second photoelectric switch 12 is 1, and the arc-shaped blocking piece 30 rotates clockwise. The legal position of the shutter 32 is represented by: the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 1, the output of the photoelectric switch 10 is 0, and the output of the second photoelectric switch 12 is 1; the non-legitimate locations appear as: the output of the photoelectric switch 10 is 0, the output of the second photoelectric switch 12 is 0, and when the output of an illegal position occurs, the fault is detected, and shutdown and fault check are carried out.
Further, as shown with reference to fig. 6 to 9, when the rotation angle is 180 °<θ<At 360 deg., the rotation mechanism 100 of the arc-shaped baffle 30 satisfies the condition that theta is alpha, and L is1＝L0. The arc value of the arc baffle 30 and the arc value corresponding to the rotation angle theta satisfy Rad0＝RadallowmaxAt this time, and at the zero position, the two ends of the shielding plate 32 of the arc-shaped shielding plate 30 are respectively disposed at the first photoelectric switch 11 and the second photoelectric switch 12, and the arc corresponding to the rotation angle θ coincides with the arc of the arc-shaped shielding plate 30. It should be noted that, when the arc-shaped blocking piece 30 is at the zero point position, the first photoelectric switch 11 and the second photoelectric switch 12 are not blocked, at this time, the output of the first photoelectric switch 11 is 1, and the output of the second photoelectric switch 12 is 1, which is different from the previous embodiment in that the arc-shaped blocking piece 30 rotates counterclockwise. At this time, the legal position of the shielding plate 32 appears as the following three legal positions: the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 1, the output of the photoelectric switch 10 is 1, the output of the second photoelectric switch 12 is 0, the output of the photoelectric switch 10 is 0, and the output of the second photoelectric switch 12 is 0; the non-legitimate locations appear as: the output of the photoelectric switch 10 is 0, the output of the second photoelectric switch 12 is 1, and when the output of an illegal position occurs, namely a fault is detected, shutdown and fault check are carried out.
It should be noted that, in the actual use process of the slewing mechanism 100, the first photoelectric switch 11 and the second photoelectric switch 12 have the width and the identification range of their own structuresSetting the radian of the shielding dead zone of the first switch 10 and the second switch 10 as RaddeadzoneIn practical application, the arc value of the arc baffle 30 satisfies Rad0＝2π-Radallowmax-Raddeadzone. Because the arc-shaped baffle 30 has a very small blind area arc value, when the arc length of the arc-shaped baffle 30 is long enough and the radius of rotation is large enough, the blind area arc value of the arc-shaped baffle 30 can only be monitored by electronic control, and the reliability of the rotation mechanism 100 is improved.
Optionally, the swing mechanism 100 further includes a rotating member 50, the rotating member 50 is rotatably disposed on the base, and the arc-shaped blocking piece 30 is fixed to the rotating member 50.
In an alternative embodiment, the swing mechanism 100 includes a base, at least two switches 10 and an arc-shaped blocking piece 30, the at least two switches 10 are disposed at intervals and fixed on the base, wherein the swing mechanism 100 further includes a rotating piece 50, the rotating piece 50 is rotatably disposed on the base, and the arc-shaped blocking piece 30 is fixed on the rotating piece 50 and rotates synchronously with the rotating piece 50. The rotation member 50 externally receives an external driving force to perform rotation. The arc-shaped baffle 30 is arranged on the rotating part 50 through the fixed plate 31, the rotating path of the baffle 32 which is not coplanar with the fixed plate 31 is in a fan shape, the first photoelectric switch 11 and the second photoelectric switch 12 are arranged at two end points of the fan-shaped arc length, and the relative positions are fixed, in the rotating process, the first photoelectric switch 11 and the second photoelectric switch 12 shield the output 0 and do not shield the output 1, fault detection and fault judgment are carried out according to the output value and the judgment mechanism, the use reliability of the rotating mechanism 100 is improved, and the potential safety hazard is reduced.
It is understood that, in an alternative embodiment, the rotating member 50 is configured as a rotating shaft 51, one end of the rotating shaft 51 can be connected to a driving member, the other end of the rotating shaft 51 is connected to the fixing plate 31 of the arc-shaped blocking plate 30, the rotating shaft 51 can be penetrated through the fixing plate 31, the rotating shaft 51 can also be connected to a side of the fixing plate 31 opposite to the shielding plate 32, the driving member is configured with a rotation stroke and drives the rotating shaft 51 to drive the arc-shaped blocking plate 30 to rotate, during the rotation process, the shielding plate 32 of the arc-shaped blocking plate 30 shields at least one of the optoelectronic switches 10, and the normal or fault state of the operation of the swing mechanism 100 is determined according to the detected and output values of the first optoelectronic switch 11 and the second optoelectronic switch 12.
Optionally, the rotating member 50 includes a rotating shaft 51 and a rotating disc 52, the rotating shaft 51 is rotatably disposed on the base, the rotating shaft 51 is used for connecting with the driving member, the rotating disc 52 is disposed at an end of the rotating shaft 51 far away from the driving member, the rotating disc 52 is disposed perpendicular to the rotating shaft 51, and the arc-shaped blocking piece 30 is detachably disposed at a side of the rotating disc 52 opposite to the rotating shaft 51.
In an alternative embodiment, the rotating mechanism 100 includes a base, at least two switches 10, an arc-shaped blocking piece 30 and a rotating piece 50, the rotating piece 50 is rotatably disposed on the base, the arc-shaped blocking piece 30 is fixed on the rotating piece 50 and rotates synchronously with the rotating piece 50, wherein the rotating piece 50 includes a rotating shaft 51 and a rotating disc 52, the rotating shaft 51 is rotatably disposed on the base and is used for connecting to the driving piece, the rotating disc 52 is disposed at an end of the rotating shaft 51 away from the driving piece, the rotating disc 52 is perpendicular to the rotating shaft 51, the arc-shaped blocking piece 30 is detachably disposed on a side of the rotating disc 52 opposite to the rotating shaft 51, and the fixed plate 31 of the arc-shaped blocking piece 30 is disposed on the rotating disc 52 and can support the arc-shaped blocking piece 30, so as to improve the connection stability and the rotation synchronism of the arc-shaped blocking piece 30 and the rotating disc 52.
The present invention also provides an automated apparatus (not shown in the figures), which includes a frame, a robot arm and the swing mechanism 100 as described above, wherein the robot arm is rotatably disposed on the frame, and the base of the swing mechanism 100 is connected to the robot arm. The specific structure of the swing mechanism 100 refers to the above embodiments, and since the automation device adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here. Wherein, the mechanical arm is rotatably disposed on the frame, and the swing mechanism 100 is disposed on the mechanical arm.
Optionally, the automation equipment further comprises a driving part and a control panel, the driving part is arranged on the rack, the output end of the driving part is connected with the mechanical arm, the control panel is arranged on the rack, and the two switches 10 and the driving part are electrically connected with the control panel.
In an alternative embodiment, the automated equipment includes a frame, a robot arm, and the turning mechanism 100 as described above, and the automated equipment includes a driving member and a control board, wherein the driving member is disposed on the frame, an output end of the driving member is drivingly connected to the arc-shaped blade 30 of the turning mechanism 100, and an output end of the driving member is connected to the rotating shaft 51 and drives the arc-shaped blade 30 to rotate through the rotating shaft 51 and the rotating disc 52. The control panel is arranged on the machine frame, the two switches 10 and the driving part of the swing mechanism 100 are electrically connected with the control panel, the output power of the driving part and the detection values of the two photoelectric switches 10 are controlled by the control panel to be processed, and the control panel is also electrically connected with the electronic display screen of the automation equipment to display the output values of the two photoelectric switches 10 and other operation parameters of the swing mechanism 100, so that the automation equipment is conveniently controlled.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A swing mechanism, comprising:
a base;
the at least two switches are arranged on the base at intervals; and
the arc-shaped blocking piece is rotatably arranged on the base, and at least two switches are arranged on a rotating path of the arc-shaped blocking piece;
when the arc-shaped blocking piece rotates relative to the base, the arc-shaped blocking piece at least triggers one switch.
2. The slewing mechanism as claimed in claim 1, wherein the arc-shaped baffle comprises:
the fixed plate is rotatably arranged on the base; and
the shielding plate encloses to be located the edge of fixed plate, and with the fixed plate is the contained angle setting, the shielding plate is kept away from the one end of fixed plate is towards two the switch extends the setting.
3. The swing mechanism as claimed in claim 2, wherein the edge of the fixing plate is formed with an extension extending in a radial direction, and the shielding plate is connected to the edge of the extension.
4. The rotating mechanism as claimed in claim 2, wherein the arc-shaped blocking piece is disposed in an arc-shaped segment, an included angle formed by the two switches and the rotation center of the arc-shaped blocking piece is defined as a rotation angle θ, an arc length of the blocking plate corresponding to a central angle α is defined, and the central angle α and the rotation angle θ satisfy: 0 ° < α <360 °,0 ° < θ <360 °.
5. The slewing mechanism as claimed in claim 4, wherein the central angle α and the rotation angle θ satisfy α ≧ θ.
6. The rotary mechanism as claimed in claim 4, wherein the arc length of the rotation angle corresponding to the rotation angle θ of two switches is defined as L0The arc length of the arc-shaped baffle is L1The radius of rotation is R;
the arc length L of the corner0And the arc length L of the arc baffle plate1Satisfy L1≥L0；
And/or the arc length L of the corner0And the arc length L of the arc baffle plate1The sum equals 2 π R.
7. The turning mechanism as claimed in any one of claims 1 to 6, further comprising a rotating member rotatably disposed on the base, wherein the arc-shaped stopping piece is fixed to the rotating member.
8. The turntable as claimed in claim 7, wherein said rotating member comprises:
the rotating shaft is rotatably arranged on the base and is used for being connected with the driving piece; and
the carousel, the carousel is located the pivot is kept away from the one end of driving piece, the carousel with the pivot sets up perpendicularly, arc separation blade detachably locates the carousel dorsad one side of pivot.
9. An automation device, characterized in that the automation device comprises:
a frame;
the mechanical arm is rotatably arranged on the rack; and
the slewing mechanism as claimed in any one of claims 1 to 8, wherein a base of the slewing mechanism is connected to the robot arm.
10. The automated apparatus of claim 9, further comprising:
the driving piece is arranged on the rack, and the output end of the driving piece is in transmission connection with the arc-shaped retaining sheet of the slewing mechanism; and
the control panel is arranged on the machine frame, and the two switches of the slewing mechanism and the driving piece are electrically connected with the control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122085875.4U CN216067450U (en) | 2021-08-31 | 2021-08-31 | Slewing mechanism and automation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122085875.4U CN216067450U (en) | 2021-08-31 | 2021-08-31 | Slewing mechanism and automation equipment |
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| Publication Number | Publication Date |
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| CN216067450U true CN216067450U (en) | 2022-03-18 |
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| CN202122085875.4U Active CN216067450U (en) | 2021-08-31 | 2021-08-31 | Slewing mechanism and automation equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922669A (en) * | 2022-10-31 | 2023-04-07 | 达闼机器人股份有限公司 | Prevent spacing detection device of wire winding and lifting and drop rotating mechanism |
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2021
- 2021-08-31 CN CN202122085875.4U patent/CN216067450U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922669A (en) * | 2022-10-31 | 2023-04-07 | 达闼机器人股份有限公司 | Prevent spacing detection device of wire winding and lifting and drop rotating mechanism |
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