3D anti-collision induction processing system

Abstract

The present invention discloses a three-dimensional anti-collision sensor and induction processing system, which is installed between a working machine head and a motion mechanism bracket, and includes a housing, a groove is provided on the housing, a mounting head, a sensing element and a pre-tightening bolt are arranged in the groove, the sensing element is a circular pressure sensing sheet, the circular pressure sensing sheet is arranged at the bottom of the groove, a wire for transmitting a signal is connected to the sensing element, the bottom of the mounting head is pressed against the circular pressure sensing sheet, the top of the mounting head is on the same plane as the housing, a center hole for the pre-tightening bolt to pass through is provided in the center of the mounting head, the pre-tightening bolt passes through the mounting head and the sensing element in turn, the mounting head and the sensing element are fixed in the groove of the housing, and the three-dimensional anti-collision sensor is electrically connected to a signal processor to form an induction processing system. The present invention adopts the contact sensing principle, and accurately and reliably senses slight collisions in all directions of space at the first time, thereby avoiding the occurrence of violent collision accidents.

Description

Technical Field

[0001] The present invention relates to the field of sensor equipment, and in particular to a three-dimensional anti-collision sensor and an induction processing system. Background Art

[0002] With the continuous development of science and technology, automated production equipment has gradually replaced manual production. Multi-axis robotic arms are often used in automated industrial production to drive the movement of the working head, such as dispensing machines, spot welding machines, placement machines, plug-in machines, automotive parts processing 3C products and other fields. In the process of rapid movement of the working head driven by the robotic arm, it is easy to collide with obstacles such as workpieces, material trays, and limbs. Once a collision occurs, it will cause irreversible consequences, which may cause damage to the working head at the least and affect personal safety at the worst.

[0003] In order to prevent the working head from colliding, various protective measures are adopted in the prior art, such as limit switches, ranging radars, laser sensors, light curtain sensors, etc., but these sensors all have certain defects:

[0004] Limit switch: It is a contact sensor that can only determine a single direction, has a delayed response, is difficult to adjust, is easily disturbed, and is easily damaged by collision.

[0005] Ranging radar: It is greatly affected by the condition of the object and the space environment and it is difficult to detect moving objects.

[0006] Laser sensor: slow response, limited measurement space for moving objects, high cost, ineffective when blocked.

[0007] Light curtain sensor: cannot measure transparent objects, cannot measure tiny objects, and has limited installation space.

[0008] Therefore, there is an urgent need for an anti-collision sensor that can measure all directions, is easy to install, and has high performance and fast response. Summary of the invention

[0009] 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 contact sensing principle and can accurately and reliably sense slight collisions in all directions in the space at the first time to avoid the occurrence of violent collisions.

[0010] In order to solve the above technical problems, the present invention provides a three-dimensional anti-collision sensor, which is installed between a working machine head and a motion mechanism bracket, and includes a shell, a groove is opened on the shell, and a mounting head, a sensing element and a pre-tightening bolt are arranged in the groove. The sensing element is a circular ring-shaped pressure sensing sheet, and the circular ring-shaped pressure sensing sheet is arranged at the bottom of the groove. A wire for transmitting a signal is connected to the sensing element. The bottom of the mounting head is pressed against the circular ring-shaped pressure sensing sheet, and the top of the mounting head is on the same plane as the shell. A center hole for the pre-tightening bolt to pass through is opened in the center of the mounting head. The pre-tightening bolt passes through the mounting head and the sensing element in turn to fix the mounting head and the sensing element in the groove of the shell.

[0011] In a preferred embodiment of the present invention, the housing is further mounted on a motion mechanism bracket, and the working head is mounted on a mounting bearing head.

[0012] In a preferred embodiment of the present invention, the shell further comprises a plurality of first mounting holes connected to the motion mechanism bracket, the plurality of first mounting holes penetrate the shell, and the plurality of first mounting holes are located at four corners.

[0013] In a preferred embodiment of the present invention, the mounting head further comprises a plurality of second mounting holes connected to the working machine head, and the second mounting holes are evenly distributed on the mounting head.

[0014] In a preferred embodiment of the present invention, a disc-shaped spring piece is further provided between the pre-tightening bolt and the mounting bearing head.

[0015] In a preferred embodiment of the present invention, a pressure dispersion sheet is further provided between the sensing element and the mounting head.

[0016] In a preferred embodiment of the present invention, a sealing cover is further provided above the mounting bearing head.

[0017] In a preferred embodiment of the present invention, the bottom of the shell is further provided with an insertion groove and a positioning pin for mounting the bearing head.

[0018] In order to solve the above technical problems, the present invention provides a three-dimensional anti-collision induction processing system, including a three-dimensional anti-collision sensor, the three-dimensional anti-collision induction processing system also includes a signal processor electrically connected to the three-dimensional anti-collision sensor, the signal processor includes a signal capture unit, a signal amplification unit, a signal conversion unit, a threshold comparison unit, and a signal output unit; when a collision occurs to a working machine head, the three-dimensional anti-collision sensor transmits a needle-shaped analog signal;

[0019] The signal capturing unit is used to capture the needle-shaped analog signal emitted by the three-dimensional anti-collision sensor;

[0020] The signal amplification unit amplifies the wavelength of the needle-shaped analog signal transmitted by the three-dimensional anti-collision sensor to extend the signal energy of the analog signal;

[0021] The signal conversion unit performs signal processing to convert the analog signal into a digital signal;

[0022] The threshold comparison unit compares the obtained digital signal with a preset threshold signal. When the obtained digital signal exceeds the threshold signal, the signal output unit outputs a signal to control the motion mechanism bracket to stop. When the obtained digital signal is lower than the threshold signal, the signal output unit outputs a signal to control the motion mechanism bracket to operate normally.

[0023] In a preferred embodiment of the present invention, the threshold signal is further included as an inertia signal, and the inertia signal is the maximum value of the sensing signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working head to work normally.

[0024] Beneficial effects of the present invention:

[0025] The three-dimensional anti-collision sensor of the present invention adopts a circular pressure sensor sheet, which can sense collisions in all directions of 360° in space to form collision sensing signals. The three-dimensional anti-collision sensor of the present invention is installed between the working machine head and the motion mechanism bracket, and adopts a contact sensing method. It can sense collisions in the first time, has a fast response speed, and is not affected by the object condition and the spatial environment.

[0026] The three-dimensional anti-collision sensing processing system of the present invention adopts a signal processor, including a signal capture unit, a signal amplification unit, a signal conversion unit, a threshold comparison unit, and a signal output unit. Since the signal generated by the collision is an instantaneous pinpoint signal, it is not convenient for the signal conversion unit to perform signal conversion. Therefore, the wavelength amplification of the signal amplification unit is adopted in the present invention to extend the signal energy, which can effectively overcome signal attenuation and facilitate signal conversion. Moreover, by comparing the converted signal with the threshold signal, it is possible to quickly determine whether a collision occurs. Setting the threshold signal can also reduce the false alarm rate of the anti-collision sensing processing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the explosion structure of the three-dimensional anti-collision sensor of the present invention;

[0028] Figure 2 It is a schematic diagram of the installation structure of the three-dimensional anti-collision sensor of the present invention;

[0029] Figure 3It is a principle block diagram of the invented three-dimensional anti-collision sensing processing system.

[0030] Explanation of the numbers in the figure: 1. Shell; 2. Groove; 3. Mounting head; 4. Sensing element; 5. Pre-tightening bolt; 6. Disc-shaped spring; 7. Pressure dispersion plate; 8. Cover; 9. Locating pin; 10. First mounting hole; 11. Second mounting hole; 13. Working machine head; 14. Motion mechanism bracket; 15. Adapter block. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0032] Reference Figure 1 As shown, an embodiment of the three-dimensional anti-collision sensor of the present invention is installed between a working machine head 13 and a motion mechanism bracket 14, and includes a shell 1, a groove 2 is opened on the shell 1, and a mounting head 3, a sensing element 4 and a pre-tightening bolt 5 are arranged in the groove 2. The sensing element 4 is a circular ring-shaped pressure sensing sheet, and the circular ring-shaped pressure sensing sheet is arranged at the bottom of the groove 2. A wire for transmitting a signal is connected to the sensing element 4. The bottom of the mounting head 3 is pressed against the circular ring-shaped pressure sensing sheet, and the top of the mounting head 3 is on the same plane as the shell 1. A center hole for the pre-tightening bolt 5 to pass through is opened in the center of the mounting head 3. The pre-tightening bolt 5 passes through the mounting head 3 and the sensing element 4 in turn to fix the mounting head 3 and the sensing element 4 in the groove 2 of the shell 1.

[0033] Reference Figure 1-2 As shown, the specific installation position of the three-dimensional anti-collision sensor in this embodiment is: the shell 1 is installed on the motion mechanism bracket 14, and the shell 1 is provided with a plurality of first mounting holes 10 connected to the motion mechanism bracket 14, and the plurality of first mounting holes 10 penetrate the shell 1, and the plurality of first mounting holes 10 are located at four corners, and the working machine head 13 is installed on the mounting bearing head 3, and the mounting bearing head 3 is provided with a plurality of second mounting holes 11 connected to the working machine head 13, and the second mounting holes 11 are evenly distributed on the mounting bearing head 3. In this embodiment, the mounting bearing head 3 is connected to the working machine head 13 through an adapter block 15.

[0034] Specifically, no matter in which direction the working head 13 in the present embodiment moves, when a slight collision occurs, since the working head 13 is fixedly connected to the mounting head 3, the working head 13 will squeeze the mounting head 3, and the mounting head 3 will be pressed against the annular pressure sensor sheet. The squeezing force exerted on the mounting head 3 will inevitably be transmitted to the annular pressure sensor sheet, and the annular pressure sensor sheet will transmit the squeezing deformation signal through the wire to form a collision sensing signal, forcing the motion mechanism bracket 14 to stop quickly, thereby greatly reducing the severity of the collision accident and avoiding continued damage by the collision energy.

[0035] Preferably, a disc-shaped spring piece 6 is also arranged between the pre-tightening bolt 5 and the mounting bearing head 3. On the one hand, the disc-shaped spring piece 6 can prevent the pre-tightening bolt 5 from loosening. When the pre-tightening bolt 5 becomes loose, the disc-shaped spring piece 6 releases part of the potential energy to maintain the pressure between the pre-tightening bolt 5 and the mounting bearing head 3 to meet the sealing requirements. On the other hand, the stress distribution of the disc-shaped spring piece 6 decreases evenly from the inside to the outside, which can achieve the effect of low stroke and high compensation force, and increase the sensing effect of the extrusion force after the collision.

[0036] Preferably, a pressure dispersion sheet 7 is provided between the sensing element 4 and the mounting head 3 , and the pressure dispersion sheet 7 is placed above the sensing element 4 to disperse the local pressure after the collision and protect the sensing element 4 from being damaged during the collision.

[0037] Preferably, a cover 8 is provided above the mounting head 3 to seal the mounting head 3, which can prevent dust from entering and affecting the accuracy of the sensing element 4 on the one hand, and also place the sensing element 4 in a relatively shielded space on the other hand to prevent the external environment from causing electromagnetic interference to the sensing element 4.

[0038] Preferably, the bottom of the shell 1 is provided with a positioning pin 9 inserted into the groove 2 and the mounting head 3 , and the positioning pin 9 fixes the position of the mounting head 3 in the shell 1 to prevent the mounting head 3 from rotating in the shell 1 .

[0039] Reference Figure 3 As described, 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 also includes a signal processor electrically connected to the three-dimensional anti-collision sensor, and the signal processor includes a signal capture unit, a signal amplification unit, a signal conversion unit, a threshold comparison unit, and a signal output unit; when the working head collides, due to the instantaneous deformation after the collision, the three-dimensional anti-collision sensor will transmit a needle-shaped analog signal;

[0040] The signal capture unit is used to capture the needle-shaped analog signal emitted by the three-dimensional anti-collision sensor and transmit the signal to the signal amplification unit;

[0041] Since the needle-shaped analog signal is not convenient for the signal conversion unit to perform signal conversion, the signal amplification unit is used to amplify the wavelength of the needle-shaped analog signal transmitted by the three-dimensional anti-collision sensor to extend the signal energy of the analog signal;

[0042] The signal conversion unit performs signal processing to convert the analog signal into a digital signal, thereby converting the mechanical energy of the mechanical collision deformation into the electrical energy in the analog signal, and finally into the digital energy in the digital signal, and the digital energy can be quantified and compared;

[0043] The threshold comparison unit compares the obtained digital signal with a preset threshold signal. When the obtained digital signal exceeds the threshold signal, the signal output unit outputs a signal to control the motion mechanism bracket to stop. When the obtained digital signal is lower than the threshold signal, the signal output unit outputs a signal to control the motion mechanism bracket to operate normally.

[0044] Specifically, the threshold signal is an inertia signal, which is the maximum value of the induction signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working head to work normally. In order to further prevent the occurrence of false alarms, when setting the threshold signal, it will also be increased by 10% to 20% based on the measured maximum value of the induction signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working head to work normally, as a safety factor to prevent false alarms.

[0045] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A three-dimensional anti-collision sensing processing system, It is characterized in that include: A three-dimensional anti-collision sensor is installed between a working machine head and a motion mechanism bracket, and includes a shell, a groove is provided on the shell, a mounting head, a sensing element and a pre-tightening bolt are arranged in the groove, the sensing element is a circular ring-shaped pressure sensing sheet, the circular ring-shaped pressure sensing sheet is arranged at the bottom of the groove, a wire for transmitting a signal is connected to the sensing element, the bottom of the mounting head is pressed against the circular ring-shaped pressure sensing sheet, the top of the mounting head and the shell are on the same plane, a center hole for the pre-tightening bolt to pass through is provided in the center of the mounting head, the pre-tightening bolt passes through the mounting head and the sensing element in turn, and fixes the mounting head and the sensing element in the groove of the shell; It also includes: a signal processor electrically connected to the three-dimensional anti-collision sensor, the signal processor including a signal capture unit, a signal amplification 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 transmits a needle-shaped analog signal; The signal capturing unit is used to capture the needle-shaped analog signal emitted by the three-dimensional anti-collision sensor; The signal amplification unit amplifies the wavelength of the needle-shaped analog signal transmitted by the three-dimensional anti-collision sensor to extend the signal energy of the analog signal; The signal conversion unit performs signal processing to convert the analog signal into a digital signal; The threshold comparison unit compares the obtained digital signal with a preset threshold signal. When the obtained digital signal exceeds the threshold signal, the signal output unit outputs a signal for controlling the motion mechanism bracket to stop. When the obtained digital signal is lower than the threshold signal, the signal output unit outputs a signal for controlling the motion mechanism bracket to operate normally. Wherein: the threshold signal is an inertia signal, and the inertia signal is the maximum value of the induction signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working head to work normally.

2. The three-dimensional anti-collision sensing processing system according to claim 1, It is characterized in that The shell is mounted on the motion mechanism bracket, and the working head is mounted on the mounting bearing head.

3. The three-dimensional anti-collision sensing processing system as claimed in claim 2, It is characterized in that The shell is provided with a plurality of first mounting holes connected to the motion mechanism bracket, the plurality of first mounting holes penetrate the shell, and the plurality of first mounting holes are located at four corners.

4. The three-dimensional anti-collision sensing processing system as claimed in claim 2, It is characterized in that The mounting bearing head is provided with a plurality of second mounting holes connected with the working machine head, and the second mounting holes are evenly distributed on the mounting bearing head.

5. The three-dimensional anti-collision sensing processing system according to claim 1, It is characterized in that A disc-shaped spring piece is also arranged between the pre-tightening bolt and the mounting bearing head.

6. The three-dimensional anti-collision sensing processing system according to claim 1, It is characterized in that A pressure dispersion sheet is arranged between the sensing element and the mounting bearing head.

7. The three-dimensional anti-collision sensing processing system according to claim 1, It is characterized in that A sealing cover is also arranged above the mounting bearing head.

8. The three-dimensional anti-collision sensing processing system according to claim 1, It is characterized in that The bottom of the shell is provided with an insertion groove and a positioning pin for installing the bearing head.

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