WO2021057454A1 - 三维防碰撞传感器及感应处理系统 - Google Patents

三维防碰撞传感器及感应处理系统 Download PDF

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Publication number
WO2021057454A1
WO2021057454A1 PCT/CN2020/113663 CN2020113663W WO2021057454A1 WO 2021057454 A1 WO2021057454 A1 WO 2021057454A1 CN 2020113663 W CN2020113663 W CN 2020113663W WO 2021057454 A1 WO2021057454 A1 WO 2021057454A1
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signal
dimensional anti
bearing head
mounting bearing
collision sensor
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PCT/CN2020/113663
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English (en)
French (fr)
Inventor
龚小林
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苏州钮曼精密机电科技有限公司
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Publication of WO2021057454A1 publication Critical patent/WO2021057454A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2208—Detection or prevention of collisions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0004—Force transducers adapted for mounting in a bore of the force receiving structure

Definitions

  • the invention relates to the field of sensor equipment, in particular to a three-dimensional anti-collision sensor and an induction processing system.
  • Limit switch It is a contact sensor, which can only determine a single direction, and the response is lagging, not easy to adjust, easy to be interfered, and easy to damage.
  • Ranging radar It is greatly affected by object conditions and space environment, and it is difficult to detect moving objects.
  • Laser sensor slow response, limited space for measuring moving objects, high cost, and invalid shielding.
  • Light curtain sensor Can not detect transparent objects, can not detect small objects, installation space is limited.
  • the technical problem to be solved by the present invention is to provide a three-dimensional anti-collision sensor and induction processing system, which adopts the principle of contact sensing, can accurately and reliably perceive minor collisions in all directions in the first time, thereby avoiding the occurrence and continuation of severe collision accidents. damage.
  • the present invention provides a three-dimensional anti-collision sensor, which is installed between the working head and the movement mechanism bracket, and includes a housing.
  • the housing is provided with a groove, and the groove is arranged
  • the sensing element is a ring-shaped pressure sensor sheet, the ring-shaped pressure sensing sheet is arranged at the bottom of the groove, and the sensing element is connected with
  • the bottom of the mounting bearing head is pressed against the annular pressure sensor sheet, the top of the mounting bearing head is on the same plane as the housing, and the center of the mounting bearing head
  • a central hole is provided for the pre-tightening bolt to pass through.
  • the pre-tightening bolt passes through the mounting bearing head and the sensing element in sequence, and fixing the mounting bearing head and the sensing element in the groove of the housing.
  • the housing is mounted on the movement mechanism bracket, and the working head is mounted on the mounting bearing head.
  • the housing is provided with a plurality of first mounting holes connected to the bracket of the motion mechanism, the plurality of first mounting holes penetrate the housing, and a plurality of The first mounting holes are located at four corners of the housing.
  • the mounting bearing head is provided with a plurality of second mounting holes connected with the working head, and the second mounting holes are evenly distributed on the mounting bearing head.
  • a dish-shaped elastic sheet is further provided between the pre-tightening bolt and the mounting bearing head.
  • it further includes a pressure dispersing sheet arranged between the sensing element and the mounting bearing head.
  • it further includes a cover provided above the mounting bearing head.
  • it further includes a positioning pin provided with an insertion groove and a mounting bearing head on the bottom of the housing.
  • the present invention provides a three-dimensional anti-collision sensing processing system, comprising the three-dimensional anti-collision sensor according to any one of claims 1-8, and the three-dimensional anti-collision sensing processing system further includes It is called a signal processor that is electrically connected to the three-dimensional anti-collision sensor.
  • the signal processor includes a signal capture unit, a signal conditioning unit, a signal conversion unit, a threshold comparison unit, and a signal output unit; when the working head collides, the three-dimensional anti-collision sensor The collision sensor sends out a needle-shaped analog signal;
  • the signal capture unit is used to capture the needle-shaped analog signal sent by the three-dimensional anti-collision sensor
  • the signal conditioning unit amplifies and adjusts the amplitude of the needle-shaped analog signal transmitted by the three-dimensional anti-collision sensor, so as to extend the energy carried by the analog signal;
  • the signal conversion unit performs signal conversion to convert an analog signal into a digital signal
  • the threshold value comparison unit compares the obtained digital signal with preset threshold value information after digitization processing. When the obtained digital signal exceeds the threshold value information, the signal output unit outputs a signal that can control the stop of the movement mechanism bracket. When the obtained digital signal is lower than the threshold information, the signal output unit outputs a signal for controlling the normal operation of the carriage of the movement mechanism.
  • the threshold information is a set of values not lower than the inertial signal
  • the inertial signal is the induction transmitted by the three-dimensional anti-collision sensor when the moving mechanism bracket drives the working head in normal operation. The maximum value of the signal.
  • the three-dimensional anti-collision sensor of the present invention adopts a circular pressure sensor sheet, which can sense the collision event in an all-round way in space and form a collision sensing signal, and the three-dimensional anti-collision sensor of the present invention is installed on the working head and the movement mechanism Between the brackets, the contact-type sensing method can be used to sense the collision event for the first time, and the response speed is fast, not affected by the condition of the object and the space environment.
  • the three-dimensional anti-collision sensing processing system of the present invention adopts a signal processor, including a signal capture unit, a signal conditioning unit, a signal conversion unit, a threshold value comparison unit, and a signal output unit.
  • the signal generated due to a collision event is an instantaneous pinpoint signal. It is convenient for the signal conversion unit to perform signal conversion. Therefore, in the present invention, the signal conditioning unit is used for amplitude amplification and conditioning to extend the energy carried by the signal, which can effectively overcome signal attenuation, facilitate signal conversion, and combine the converted digital signal with the threshold value. Information can be compared to quickly determine whether a collision occurs. Setting threshold information can also reduce the false alarm rate of the three-dimensional anti-collision sensing processing system.
  • Figure 1 is a schematic diagram of the explosion structure of the three-dimensional anti-collision sensor of the present invention
  • FIG. 2 is a schematic diagram of the installation structure of the three-dimensional anti-collision sensor of the present invention.
  • Fig. 3 is a schematic block diagram of the three-dimensional anti-collision sensing processing system of the present invention.
  • an embodiment of the three-dimensional anti-collision sensor of the present invention is installed between the working head 13 and the movement mechanism bracket 14, and includes a housing 1 on which a groove 2 is opened.
  • the groove 2 is provided with a mounting bearing head 3, a sensing element 4 and a pre-tightening bolt 5.
  • the sensing element 4 is a ring-shaped pressure sensor sheet, and the ring-shaped pressure sensor sheet is arranged in the recess.
  • the sensing element 4 is connected with a wire for transmitting signals, the bottom of the mounting bearing head 3 is pressed against the annular pressure sensor sheet, and the top of the mounting bearing head 3 is connected to the
  • the housing 1 is on the same plane, the center of the mounting bearing head 3 is provided with a central hole for the pre-tightening bolt 5 to pass through, and the pre-tightening bolt 5 passes through the mounting bearing head 3 and the sensing element in turn 4. Fix the mounting bearing head 3 and the sensing element 4 in the groove 2 of the housing 1.
  • the specific installation position of the three-dimensional anti-collision sensor in this embodiment is: the housing 1 is mounted on the movement mechanism bracket 14, and the housing 1 is provided with the movement mechanism A plurality of first mounting holes 10 connected to the bracket 14, the plurality of first mounting holes 10 penetrate the housing 1, and the plurality of first mounting holes 10 are located at four corners of the housing 1,
  • the working head 13 is mounted on the mounting bearing head 3.
  • a number of second mounting holes 11 connected to the working head 13 are opened on the mounting bearing head 3.
  • the second mounting holes 11 are evenly distributed in the mounting On the carrying head 3, in this embodiment, the mounting carrying head 3 is connected to the working head 13 via an adapter block 15.
  • the working head 13 in this embodiment moves from any direction, when a slight collision occurs, since the working head 13 is fixedly connected to the mounting bearing head 3, the working head 13 will squeeze the mounting bearing head 3 , The mounting bearing head 3 is pressed against the annular pressure sensor sheet, the squeezing force received by the mounting bearing head 3 will inevitably be transmitted to the annular pressure sensor sheet, and the annular pressure sensor sheet will be squeezed by the wire.
  • the compression deformation signal is transmitted to form a collision induction signal, forcing the motion mechanism bracket 14 to stop quickly, which greatly reduces the severity of the collision accident and avoids continuous damage caused by the collision energy.
  • a dish-shaped elastic piece 6 is further provided between the pre-tightening bolt 5 and the mounting bearing head 3.
  • the arrangement of the dish-shaped elastic piece 6 can prevent the pre-tightening bolt 5 from loosening, and when the pre-tightening bolt 5 becomes loose
  • the stress distribution of the disc-shaped shrapnel 6 is uniformly reduced from the inside to the outside, which can achieve low stroke and high stroke
  • the effect of compensating force increases the transmission efficiency of squeezing force when a collision accident occurs.
  • a pressure dispersing sheet 7 is provided between the sensing element 4 and the mounting bearing head 3, and the pressure dispersing sheet 7 is placed above the sensing element 4 to disperse the local pressure after the collision and protect the sensing element. 4 Not damaged in collision.
  • a cover 8 is further provided above the mounting bearing head 3, and the mounting bearing head 3 is sealed with the cover 8, on the one hand, to prevent dust from entering and affecting the accuracy of the sensing element 4, and on the other hand, it also makes the sensing element 4 is in a relatively shielded space to prevent the external environment from causing electromagnetic interference to the inductive element 4.
  • the bottom of the housing 1 is provided with a positioning pin 9 inserted into the groove 2 and the mounting bearing head 3, and the positioning pin 9 fixes the position of the mounting bearing head 3 in the housing 1 and prevents the mounting of the bearing head. 3 Rotate in the housing 1.
  • an embodiment of the three-dimensional anti-collision sensing processing system of the present invention includes the above-mentioned three-dimensional anti-collision sensor, and the three-dimensional anti-collision sensing processing system further includes a signal electrically connected to the three-dimensional anti-collision sensor.
  • the signal processor includes a signal capture unit, a signal conditioning unit, a signal conversion unit, a threshold value comparison unit, and a signal output unit; when the working head collides, due to instantaneous deformation after the collision, the three-dimensional The anti-collision sensor will send out a needle-shaped analog signal;
  • the signal capture unit is used to capture the needle-shaped analog signal sent by the three-dimensional anti-collision sensor, and transmit the signal to the signal capture unit;
  • the signal conditioning unit is used to amplify and adjust the amplitude of the needle-shaped analog signal transmitted by the three-dimensional anti-collision sensor, so that the energy carried by the signal is extended;
  • the signal conversion unit performs signal conversion and converts the analog signal into a digital signal, so as to realize the conversion of the kinetic energy impulse generated by the mechanical collision deformation into the electrical energy carried by the analog signal, and finally into digital information, to achieve the purpose of quantification and comparison;
  • the threshold value comparison unit compares the obtained digital information with preset threshold value information. When the obtained digital information exceeds the threshold value information, the signal output unit outputs a signal that can control the stop of the movement mechanism bracket. When the information is lower than the threshold value, the signal output unit outputs a signal for controlling the normal operation of the movement mechanism bracket.
  • the threshold information is a set of values not lower than the inertial signal
  • the inertial signal is the maximum value of the induction signal transmitted by the three-dimensional anti-collision sensor when the moving mechanism bracket drives the working head to work normally, in order to further prevent The occurrence of false alarms, when setting the threshold information, it will increase by 30% to 100% on the basis of the maximum value of the induction signal from the three-dimensional anti-collision sensor when the measured motion mechanism bracket drives the working head during normal operation. , As a safety factor to prevent false alarms.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

本发明公开了一种三维防碰撞传感器及感应处理系统，安装在工作机头与运动机构托架之间，包括壳体，壳体上开设有凹槽，凹槽内设置有安装承载头、感应元件和预紧螺栓，感应元件为圆环形压力传感片，圆环形压力传感片设置在凹槽的底部，感应元件上连接有用于传递信号的导线，安装承载头的底部抵压在圆环形压力传感片上，安装承载头的顶部与壳体在同一平面上，安装承载头的中心开设有供预紧螺栓穿过的中心孔，预紧螺栓依次穿过安装承载头和感应元件，将安装承载头和感应元件固定在壳体的凹槽内，三维防碰撞传感器与信号处理器电连接形成感应处理系统。本发明采用接触式感知原理，第一时间准确可靠地感知空间全方位的轻微碰撞，从而避免激烈碰撞事故发生。

Description

三维防碰撞传感器及感应处理系统 技术领域
本发明涉及传感器设备领域，具体涉及一种三维防碰撞传感器及感应处理系统。
背景技术
随着科技的不断发展，自动化生产设备已逐步取代人工生产，在自动化工业生产中经常会使用到多轴机械手臂带动工作机头运动，如点胶机、点焊机、贴片机、插件机、汽车零部件加工和3C产品制造等领域，在机械手臂带动工作机头快速运动的过程中易与工件、料盘、肢体等障碍物发生碰撞事故，一旦碰撞发生将造成不可逆的后果，轻则工作机头损坏，重则影响到人身安全。
为了防止工作机头发生碰撞，现有技术中，采用了多种防护措施，如采用限位开关、测距雷达、激光传感器、光幕传感器等等，但这些传感器都存在一定的缺陷：
限位开关：属于接触式传感，只能确定单一的方向，并且反应滞后，不易调整，易受干扰，碰撞易损坏。
测距雷达：受物体状况、空间环境影响大，难测运动物体。
激光传感器：反应缓慢，运动物体测量空间受限，成本高，遮挡无效。
光幕传感器：无法测透明物体，不能测微小物体，安装空间受限。
因此，现在急需一种能够测量全方位、安装方便、高性能快速响应的防止碰撞传感器。
发明内容
本发明要解决的技术问题是提供一种三维防碰撞传感器及感应处理系统，采用接触式感知原理，能够第一时间准确可靠地感知空间全方位的轻微碰撞，从而避免激烈碰撞事故的发生和延续破坏。
为了解决上述技术问题，本发明提供了一种三维防碰撞传感器，安装在工作机头与运动机构托架之间，包括壳体，所述壳体上开设有凹槽，所述凹槽内设置有安装承载头、感应元件和预紧螺栓，所述感应元件为圆环形压力传感片，所述圆环形压力传感片设置在所述凹槽的底部，所述感应元件上连接有用于传递信号的导线，所述安装承载头的底部抵压在所述圆环形压力传感片上，所述安装承载头的顶部与所述壳体在同一平面上，所述安装承载头的中心开设有供所述预紧螺栓穿过的中心孔，所述预紧螺栓依次穿过所述安装承载头和感应元件，将安装承载头和感应元件固定在所述壳体的凹槽内。
本发明一个较佳实施例中，进一步包括所述壳体安装在运动机构托架上，所述工作机头安装在安装承载头上。
本发明一个较佳实施例中，进一步包括所述壳体上开设有与所述运动机构托架连接的多个第一安装孔，多个所述第一安装孔贯穿所述壳体，多个所述第一安装孔位于所述壳体的四个角处。
本发明一个较佳实施例中，进一步包括所述安装承载头上开设有与工作机头连接的若干第二安装孔，所述第二安装孔均匀分布在所述安装承载头上。
本发明一个较佳实施例中，进一步包括所述预紧螺栓与所述安装承载头之间还设置有碟形弹片。
本发明一个较佳实施例中，进一步包括所述感应元件与安装承载头之间设置有压力分散片。
本发明一个较佳实施例中，进一步包括所述安装承载头的上方还设置有封盖。
本发明一个较佳实施例中，进一步包括所述壳体底部上设置有插入凹槽和安装承载头内的定位销。
为了解决上述技术问题，本发明提供了一种三维防碰撞感应处理系统，包括如权利要求1-8任意一项所述的三维防碰撞传感器，所述三维防碰撞感应处理系统还包括与所述称三维防碰撞传感器电连接的信号处理器，所述信号处理器包括信号捕捉单元、信号调理单元、信号转换单元、阈值比较单元、信号输出单元；当工作机头发生碰撞时，所述三维防碰撞传感器传出针尖状的模拟信号；
所述信号捕捉单元用于捕捉所述三维防碰撞传感器发出的针尖状的模拟信号；
所述信号调理单元将三维防碰撞传感器传出的针尖状的模拟信号的幅度放大调理，使模拟信号所携带的能量得到延展；
所述信号转换单元进行信号变换，将模拟信号转换成为数字信号；
所述阈值比较单元将得到的数字信号经过数字化处理后与预设的阈值信息进行比较，当得到的数字信号超过阈值信息时，所述信号输出单元输出能控制运动机构托架停机的信号，当得到的数字信号低于所述阈值信息时，所述信号输出单元输出控制运动机构托架正常运行的信号。
本发明一个较佳实施例中，进一步包括所述阈值信息为不低于惯性信号的一组数值，所述惯性信号为运动机构托架带动工作机头正常工作时三维防碰撞传感器传出的感应信号的最大值。
本发明的有益效果：
本发明的三维防碰撞传感器，采用圆环形压力传感片，能够空间360°全方位地感知碰撞事件，形成碰撞感应信号，并且将本发明的三维防碰撞传感器安装在工作机头与运动机构托架之间，采用接触式的感知方式，能够第一时间 感知碰撞事件，响应速度快，不受物体状况、空间环境的影响。
本发明的三维防碰撞感应处理系统，采用信号处理器，包括信号捕捉单元、信号调理单元、信号转换单元、阈值比较单元、信号输出单元，由于碰撞事件产生的信号为瞬时的针尖状信号，不方便信号转换单元进行信号转换，所以本发明中采用信号调理单元进行幅度放大调理，使信号所携带的能量得到延展，能够有效地克服信号衰减，便于信号转换，并且将转换后的数字信号与阈值信息进行比较，从而能够快速对是否发生碰撞作出判断，设置阈值信息也能减少三维防碰撞感应处理系统的误报率。
附图说明
图1是本发明的三维防碰撞传感器的爆炸结构示意图；
图2是本发明的三维防碰撞传感器的安装结构示意图；
图3是本发明的三维防碰撞感应处理系统的原理框图。
图中标号说明：1、壳体；2、凹槽；3、安装承载头；4、感应元件；5、预紧螺栓；6、碟形弹片；7、压力分散片；8、封盖；9、定位销；10、第一安装孔；11、第二安装孔；13、工作机头；14、运动机构托架；15、转接块。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
参照图1所示，本发明的三维防碰撞传感器的一实施例，安装在工作机头13与运动机构托架14之间，包括壳体1，所述壳体1上开设有凹槽2，所述凹槽2内设置有安装承载头3、感应元件4和预紧螺栓5，所述感应元件4为圆环形压力传感片，所述圆环形压力传感片设置在所述凹槽2的底部，所述感应元件4上连接有用于传递信号的导线，所述安装承载头3的底部抵压在所述圆环形压力传感片上，所述安装承载头3的顶部与所述壳体1在同一平面上，所述 安装承载头3的中心开设有供所述预紧螺栓5穿过的中心孔，所述预紧螺栓5依次穿过所述安装承载头3和感应元件4，将安装承载头3和感应元件4固定在所述壳体1的凹槽2内。
参照图1-2所示，本实施例中的三维防碰撞传感器的具体安装位置为：所述壳体1安装在运动机构托架14上，所述壳体1上开设有与所述运动机构托架14连接的多个第一安装孔10，多个所述第一安装孔10贯穿所述壳体1，多个所述第一安装孔10位于所述壳体1的四个角处，所述工作机头13安装在安装承载头3上，所述安装承载头3上开设有与工作机头13连接的若干第二安装孔11，所述第二安装孔11均匀分布在所述安装承载头3上，本实施例中，所述安装承载头3通过转接块15与所述工作机头13连接。
具体地，本实施例中的工作机头13无论从任何方向移动，当发生轻微碰撞时，由于工作机头13与安装承载头3固定连接，所述工作机头13都会挤压安装承载头3，所述安装承载头3抵压在圆环形压力传感片，安装承载头3受到的挤压力必然会传递到圆环形压力传感片上，圆环形压力传感片通过导线将挤压形变的信号传出，形成碰撞感应信号，迫使运动机构托架14快速停机，大幅降低碰撞事故的激烈程度，避免碰撞能量造成持续破坏。
优选地，所述预紧螺栓5与所述安装承载头3之间还设置有碟形弹片6，设置所述碟形弹片6一方面能够防止预紧螺栓5松动，当预紧螺栓5出现松弛时，碟形弹片6释放部分势能以保持预紧螺栓5与安装承载头3连接间的压力达到预设要求，另一方面碟形弹片6应力分布由里到外均匀递减，能够实现低行程高补偿力的效果，增加碰撞事故发生时挤压力的传递效能。
优选地，所述感应元件4与安装承载头3之间设置有压力分散片7，所述压力分散片7垫在所述感应元件4的上方，用于分散碰撞后局部的压力，保护感应元件4在碰撞时不受损坏。
优选地，所述安装承载头3的上方还设置有封盖8，用封盖8封堵所述安 装承载头3，一方面防止灰尘进入影响感应元件4的精度，另一方面也使感应元件4处于相对屏蔽的空间中，防止外部环境对感应元件4造成电磁干扰。
优选地，所述壳体1底部上设置有插入凹槽2和安装承载头3内的定位销9，所述定位销9将安装承载头3在壳体1内的位置固定，防止安装承载头3在壳体1内转动。
参照图3所述，本发明的三维防碰撞感应处理系统的一实施例，包括上述的三维防碰撞传感器，所述三维防碰撞感应处理系统还包括与所述称三维防碰撞传感器电连接的信号处理器，所述信号处理器包括信号捕捉单元、信号调理单元、信号转换单元、阈值比较单元、信号输出单元；当工作机头发生碰撞时，由于碰撞后会发生瞬时的形变，所以所述三维防碰撞传感器会传出针尖状的模拟信号；
所述信号捕捉单元用于捕捉所述三维防碰撞传感器发出的针尖状的模拟信号，并将信号传递给信号捕捉单元；
由于针尖状的模拟信号不方便信号转换单元进行信号转换，所以使用所述信号调理单元将三维防碰撞传感器传出的针尖状的模拟信号进行幅度放大调理，使信号所携带的能量得到延展；
所述信号转换单元进行信号变换，将模拟信号转换成为数字信号，从而实现将机械碰撞形变产生的动能冲量转换为模拟信号所携带的电能量，最后转化为数字信息，达到可以量化比较的目的；
所述阈值比较单元将得到的数字信息与预设的阈值信息进行比较，当得到的数字信息超过阈值信息时，所述信号输出单元输出能控制运动机构托架停机的信号，当得到的数字信息低于所述阈值信息时，所述信号输出单元输出控制运动机构托架正常运行的信号。
具体地，所述阈值信息为不低于惯性信号的一组数值，所述惯性信号为运 动机构托架带动工作机头正常工作时三维防碰撞传感器传出的感应信号的最大值，为了进一步防止误报的发生，设置阈值信息的时候，还会在测量出的运动机构托架带动工作机头正常工作时三维防碰撞传感器传出的感应信号的最大值的基础上，提高30％～100％，作为安全系数，防止出现误报的情况。
以上所述实施例仅是为充分说明本发明而所举的较佳的实施例，本发明的保护范围不限于此。本技术领域的技术人员在本发明基础上所作的等同替代或变换，均在本发明的保护范围之内。本发明的保护范围以权利要求书为准。

Claims (10)

  1. 一种三维防碰撞传感器，其特征在于，安装在工作机头与运动机构托架之间，包括壳体，所述壳体上开设有凹槽，所述凹槽内设置有安装承载头、感应元件和预紧螺栓，所述感应元件为圆环形压力传感片，所述圆环形压力传感片设置在所述凹槽的底部，所述感应元件上连接有用于传递信号的导线，所述安装承载头的底部抵压在所述圆环形压力传感片上，所述安装承载头的顶部与所述壳体在同一平面上，所述安装承载头的中心开设有供所述预紧螺栓穿过的中心孔，所述预紧螺栓依次穿过所述安装承载头和感应元件，将安装承载头和感应元件固定在所述壳体的凹槽内。
  2. 如权利要求1所述的三维防碰撞传感器，其特征在于，所述壳体安装在运动机构托架上，所述工作机头安装在安装承载头上。
  3. 如权利要求2所述的三维防碰撞传感器，其特征在于，所述壳体上开设有与所述运动机构托架连接的多个第一安装孔，多个所述第一安装孔贯穿所述壳体，多个所述第一安装孔位于所述壳体的四个角处。
  4. 如权利要求2所述的三维防碰撞传感器，其特征在于，所述安装承载头上开设有与工作机头连接的若干第二安装孔，所述第二安装孔均匀分布在所述安装承载头上。
  5. 如权利要求1所述的三维防碰撞传感器，其特征在于，所述预紧螺栓与所述安装承载头之间还设置有碟形弹片。
  6. 如权利要求1所述的三维防碰撞传感器，其特征在于，所述感应元件与安装承载头之间设置有压力分散片。
  7. 如权利要求1所述的三维防碰撞传感器，其特征在于，所述安装承载头的上方还设置有封盖。
  8. 如权利要求1所述的三维防碰撞传感器，其特征在于，所述壳体底部上设置有插入凹槽和安装承载头内的定位销。
  9. 一种三维防碰撞感应处理系统，其特征在于，包括如权利要求1-8任意一项所述的三维防碰撞传感器，所述三维防碰撞感应处理系统还包括与所述称三维防碰撞传感器电连接的信号处理器，所述信号处理器包括信号捕捉单元、信号调理单元、信号转换单元、阈值比较单元、信号输出单元；当工作机头发生碰撞时，所述三维防碰撞传感器传出针尖状的模拟信号；
    所述信号捕捉单元用于捕捉所述三维防碰撞传感器发出的针尖状的模拟信号；
    所述信号调理单元将三维防碰撞传感器传出的针尖状的模拟信号的幅度放大调理，使模拟信号所携带的能量得到延展；
    所述信号转换单元进行信号变换，将模拟信号转换成为数字信号；
    所述阈值比较单元将得到的数字信号经过数字化处理后与预设的阈值信息进行比较，当得到的数字信号超过阈值信息时，所述信号输出单元输出能控制运动机构托架停机的信号，当得到的数字信号低于所述阈值信息时，所述信号输出单元输出控制运动机构托架正常运行的信号。
  10. 如权利要求9所述的三维防碰撞传感器，其特征在于，所述阈值信息为不低于惯性信号的一组数值，所述惯性信号为运动机构托架带动工作机头正常工作时三维防碰撞传感器传出的感应信号的最大值。
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