A brake pad positioning system based on delta robot

Abstract

The application provides a brake pad placing system based on a Delta robot, and relates to the technical field of brake pad automatic production. The application sets the man-machine interaction module, and the user can set the number and row spacing of the brake pad placement according to the demand, saves the time of manually switching the program, improves the production efficiency, and also makes the program flexible, readable and programmable, so as to avoid unnecessary production line shutdown and other faults caused by manual selection of the robot program error, improve the normal and stable state of the equipment, and set the mechanical arm in pairs, which can change the transportation mode of the brake pad from one side to the other side to the two sides to the middle, maximize the available placement space of the robot, well utilize the working space of the robot, and can avoid the problem that the actual placed brake pad is less than the set placed number.

Description

Technical Field

[0001] This invention relates to the field of automated brake pad production technology, specifically a brake pad placement system based on a Delta robot. Background Technology

[0002] In the brake pad manufacturing industry, the traditional method of transporting brake pads is generally to move them from one side to the other. During the continuous movement of the conveyor belt, if the visiting speed of the robotic arm does not match the speed of the conveyor belt, the actual number of pads placed will not reach the set number before the area has flowed out of the robot's workspace. This can easily lead to the problem that the actual number of pads placed is less than the set number. In addition, the traditional equipment is also relatively troublesome to switch programs, requiring a high level of professional technical skills and taking a lot of time to switch programs. It is also easy to cause unnecessary production line downtime and other accidents due to human error in selecting the robot program. Therefore, it is not very applicable.

[0003] The signals disclosed in the background section are only intended to enhance the understanding of the background of this disclosure, and therefore may include signals that do not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a brake pad placement system based on a Delta robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A brake pad placement system based on a Delta robot includes a human-computer interaction module, a host control module, a motion module, a detection module, and an alarm module. The human-computer interaction module is electrically connected to the upper-level control module and is used to receive user commands and send them to the upper-level control module. The upper-level control module is electrically connected to the motion module, detection module, and alarm module. It is used to generate control signals and alarm signals respectively according to the received user instructions and detection signals, and then send the control signals to the motion module and the alarm signals to the alarm module. The motion module is used to execute the received control signals; The detection module is used to collect motion signals from the motion module, generate alarm signals based on the motion signals, and send them to the upper control module. The alarm module is used to receive alarm signals and issue audible and visual alarms based on the alarm signals.

[0006] Preferably, the human-machine interaction module adopts an integrated touch screen, the upper control module adopts a PLC controller, and the motion module adopts multiple sets of robotic arms.

[0007] Preferably, the detection module includes a position detection unit, a speed detection unit, and a temperature detection unit. The detection signals include a position signal, a speed signal, and a temperature signal. The position detection unit, speed detection unit, and temperature detection unit are all electrically connected to the upper-level control module. The position detection unit is used to generate a position signal based on the rotation amplitude of the robotic arm. The speed detection unit is used to generate a speed signal based on the rotation acceleration of the robotic arm. The temperature detection unit is used to generate a temperature signal based on the ambient temperature of the robotic arm surface.

[0008] Preferably, the alarm module includes three sets of warning lights of different colors and a set of buzzers, which are electrically connected to the upper control module to issue audible and visual alarms according to the severity of the robotic arm malfunction.

[0009] Preferably, the alarm signal generation logic is as follows: The alarm signal is calibrated as Based on the rotation amplitude of the robotic arm, the position detection unit generates a position signal. It is then sent to the upper control module for detection and to generate the first alarm coefficient. , No abnormalities were found. This is abnormal. If the rotation range of the robotic arm is normal, then... If the rotation range of the robotic arm is abnormal, then ; Based on the robotic arm's steering acceleration, the speed detection unit generates a speed signal. And send it to the upper control module, the upper control module will then send the speed signal. With speed threshold Compare and generate a second alarm coefficient. , No abnormalities were found. This is abnormal. If the rotational acceleration of the robotic arm is normal, then... If the rotational acceleration of the robotic arm is abnormal, then ; Based on the surface ambient temperature of the robotic arm, the temperature detection unit generates a temperature signal. And send it to the upper control module, the upper control module will then send the temperature signal. With speed threshold Compare and generate a third alarm coefficient. , No abnormalities were found. This is abnormal. If the ambient temperature on the surface of the robotic arm is normal, then... If the ambient temperature on the surface of the robotic arm is abnormal, then , .

[0010] Preferably, when At that time, the warning light does not turn on and the buzzer does not sound; when At that time, one warning light illuminates and the buzzer sounds; when At that time, two warning lights illuminate and a buzzer sounds; when At that moment, all warning lights illuminated and the buzzer sounded.

[0011] Preferably, the brake pad system further includes a conveyor belt and a handheld controller. The conveyor belt is used to transport the brake pads, and the handheld controller is communicatively connected to a human-machine interface module for remotely inputting user commands.

[0012] Preferably, the robotic arms are arranged in pairs, with each pair moving from both sides of the conveyor belt to the middle of the conveyor belt.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting a human-machine interaction module, the present invention allows users to set the number of brake pads and the row and column spacing according to their actual needs. This helps customers save time from manually switching programs, improves production efficiency, and makes the program highly flexible, readable, and programmable. It also avoids unnecessary production line downtime and other malfunctions caused by manual selection of robot programs, thus improving the normal and stable state of the equipment. Furthermore, by setting up two pairs of robotic arms, the transportation method of brake pads can be changed from one side to the other to both sides to the middle, maximizing the available placement space for the robot and making good use of the robot's workspace. This can minimize the problem of the actual number of brake pads placed being less than the set number. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the system modules of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0016] It should be noted that, unless otherwise defined, the technical or scientific terms used in this invention should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0017] Example: Please see Figure 1-2 The present invention provides a technical solution: A brake pad placement system based on a Delta robot includes a human-machine interaction module, a host control module, a motion module, a detection module, and an alarm module.

[0018] The pad placement system also includes a conveyor belt 1 and a handheld controller. The conveyor belt 1 is used to transport the brake pads 3, and the handheld controller is connected to the human-machine interface module for remote input of user commands.

[0019] The human-machine interaction module adopts an integrated touch screen of model TNC07S and is electrically connected to the upper control module. It has a built-in industrial Android system to receive user commands and send them to the upper control module. The integrated touch screen allows users to easily input commands and adjust the number and row spacing of brake pads 3 according to actual production needs. This helps users save time from manually switching programs, thereby improving production efficiency. The program has strong flexibility, readability, and programmability, and can also avoid unnecessary production line downtime and other failures caused by manual selection of robot programs, thus improving equipment stability.

[0020] The upper-level control module uses a PLC controller of model S7-CPU224XP series and is electrically connected to the motion module, detection module, and alarm module. It is used to generate control signals and alarm signals according to the received user instructions and detection signals, and then send the control signals to the motion module and the alarm signals to the alarm module. The control signals are used to control the working mode of the motion module, so that the motion module can move in the way desired by the user.

[0021] The motion module employs multiple sets of robotic arms 2 to execute the received control signals. The robotic arms 2 are arranged in pairs, with each set moving from both sides of the conveyor belt 1 to the middle of the conveyor belt 1. By using this method of moving from both sides towards the middle, the available space for the robot can be maximized. The robot dynamically places the brake pads 3 while the conveyor belt 1 is in a continuous and stable operating state. This method of placing the brake pads can make good use of the robot's workspace and can minimize the problem of the actual number of brake pads 3 placed being less than the set number.

[0022] The detection module includes a position detection unit, a speed detection unit, and a temperature detection unit. The position detection unit uses an ITR8370 series infrared sensor, which has an infrared transmitter and an infrared receiver. This infrared sensor is fixedly mounted at the edge of the conveyor belt 1. Under normal circumstances, the turning range of the robotic arm 2 is small and will not obstruct the infrared sensor. The receiver of the infrared sensor can receive the infrared light emitted by the transmitter. The infrared sensor outputs a position signal. The position signal is low when the movement of robotic arm 2 is too large, blocking the infrared light emitted by the infrared sensor transmitter, thus preventing the infrared sensor receiver from receiving the signal. The voltage is then pulled high, so by detecting the voltage level of the position signal output by the position detection unit, it can be determined whether the turning range of the robotic arm 2 has exceeded its limit.

[0023] The speed detection unit uses an SG4-IEP series accelerometer sensor, which is installed on the rotating shaft of robotic arm 2. It is used to detect whether the acceleration of the rotating shaft of robotic arm 2 is normal and to transmit the speed signal. The host control module transmits the speed signal. With the preset speed threshold Compare, if it is a speed signal Not within the speed threshold If the rotation of the robotic arm 2 is within a certain range, it indicates that there is a problem with the rotation of the robotic arm 2. This helps determine whether the rotation process of the robotic arm 2 is smooth, allowing users to understand the working status of the robotic arm 2 in a timely manner and avoid difficulties in rotation caused by debris or insufficient lubrication, which could reduce production efficiency.

[0024] The temperature detection unit uses a PT-1000 platinum metal temperature sensor, which is installed on the surface of robotic arm 2 to detect the ambient temperature during the operation of robotic arm 2. The temperature signal is then transmitted to the host control module. The host control module compares the temperature signal with a preset temperature threshold; if the temperature signal is within the threshold range... Not at the temperature threshold If the temperature is within the specified range, it indicates that there is a problem with the surface ambient temperature of the robotic arm 2. This helps determine whether the surface ambient temperature of the robotic arm 2 is normal, thus preventing the ambient temperature from affecting the service life of the robotic arm 2. If the position detection unit, speed detection unit, or temperature detection unit detects an abnormality, an alarm signal is generated and sent to the upper control module.

[0025] The alarm module includes three sets of warning lights of different colors and a buzzer, used to receive alarm signals and issue audible and visual alarms based on the alarm signals. The three sets of warning lights of different colors can reflect the severity of the abnormality of the robotic arm 2. At that time, the warning light does not turn on, and the buzzer does not sound. At that time, one warning light illuminates and the buzzer sounds. At that time, two warning lights illuminate and the buzzer sounds. At that moment, all warning lights illuminated and the buzzer sounded.

[0026] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented by software, electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution.

[0027] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0028] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A brake pad positioning system based on a Delta robot, characterized by, It includes a human-computer interaction module, a higher-level control module, a motion module, a detection module, and an alarm module; The human-computer interaction module is electrically connected to the upper-level control module and is used to receive user commands and send them to the upper-level control module. The upper-level control module is electrically connected to the motion module, detection module, and alarm module. It is used to generate control signals and alarm signals respectively according to the received user instructions and detection signals, and then send the control signals to the motion module and the alarm signals to the alarm module. The motion module is used to execute the received control signals; The detection module is used to detect the motion state of the motion module, generate a detection signal based on the motion state, and send the detection signal to the upper control module. The alarm module is used to receive alarm signals and issue audible and visual alarms based on the alarm signals; The human-machine interaction module adopts an integrated touch screen, the upper control module adopts a PLC controller, and the motion module adopts multiple sets of robotic arms. The detection module includes a position detection unit, a speed detection unit, and a temperature detection unit. The detection signals include a position signal, a speed signal, and a temperature signal. The position detection unit, speed detection unit, and temperature detection unit are all electrically connected to the upper control module. The position detection unit is used to generate a position signal based on the rotation amplitude of the robotic arm. The speed detection unit is used to generate a speed signal based on the rotation acceleration of the robotic arm. The temperature detection unit is used to generate a temperature signal based on the ambient temperature of the robotic arm surface. The alarm module includes three sets of warning lights of different colors and a buzzer, which are electrically connected to the upper control module and are used to issue audible and visual alarms according to the severity of the robotic arm abnormality. The logic for generating the alarm signal is as follows: The alarm signal is calibrated as Based on the rotation amplitude of the robotic arm, the position detection unit generates a position signal. It is then sent to the upper control module for detection and to generate the first alarm coefficient. , No abnormalities were found. This is abnormal. If the rotation range of the robotic arm is normal, then... If the rotation range of the robotic arm is abnormal, then ; Based on the rotational acceleration of the robotic arm, the speed detection unit generates a speed signal. And send it to the upper control module, the upper control module will then send the speed signal. With speed threshold Compare and generate a second alarm coefficient. , No abnormalities were found. This is abnormal. If the rotational acceleration of the robotic arm is normal, then... If the rotational acceleration of the robotic arm is abnormal, then ; Based on the surface ambient temperature of the robotic arm, the temperature detection unit generates a temperature signal. And send it to the upper control module, the upper control module will then send the temperature signal. With speed threshold Compare and generate a third alarm coefficient. , No abnormalities were found. This is abnormal. If the ambient temperature on the surface of the robotic arm is normal, then... If the ambient temperature on the surface of the robotic arm is abnormal, then , ; The brake pad system also includes a conveyor belt and a handheld controller. The conveyor belt is used to transport the brake pads, and the handheld controller is connected to a human-machine interface module for remotely inputting user commands. when At that time, the warning light does not turn on and the buzzer does not sound; when At that time, one warning light illuminates and the buzzer sounds; When the warning light is on and the buzzer is sounding. when At that time, all warning lights illuminate and the buzzer sounds; The robotic arms are arranged in pairs, and the movement direction of each pair of robotic arms is from both sides of the conveyor belt to the middle of the conveyor belt. The position detection unit is fixedly installed at the edge of the conveyor belt and is used to generate the position signal by detecting that the rotation amplitude of the robotic arm is too large and blocks the infrared light emitted by the infrared sensor transmitter. The speed detection unit is installed on the rotation axis of the robotic arm and is used to generate the speed signal based on the rotation acceleration of the robotic arm.

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