Sensing control device of improved manipulator winding displacement device

Abstract

The utility model relates to the technical field of cable equipment, in particular to an improved sensing control device of a manipulator cable arrangement device, which comprises a mounting support plate, a control sensor mounting plate connected to one side of the back of the mounting support plate, a control sensor group connected to one end of the control sensor mounting plate, and a feedback support assembly arranged on the control sensor mounting plate. The feedback supporting assembly is connected with a feedback sensing plate through a rotating pin, the feedback sensing plate can rotate along the rotating pin, a centering unit is arranged in the middle of the feedback sensing plate, a feedback sensing assembly is arranged on the side, away from the rotating pin, of the back of the feedback sensing plate, a first clamp guide wheel is arranged on the front portion of the mounting support plate, and a second clamp guide wheel is arranged on the rear portion of the feedback sensing plate. The utility model has the advantages that: the utility model can sense the state relation of right facing, leading or backward, and can well realize the closed-loop precise control of the flat cable of the PLC, thereby changing the current situation that the flat cable of a tiny cable, a soft optical cable and the like cannot be stably arranged by a manipulator conventionally, and realizing the precise flat cable of the full-specification optical cable.

Description

Technical Field

[0001] The utility model relates to the technical field of cable equipment, in particular to a sensor control device for an improved manipulator cable arrangement device. Background Art

[0002] Chinese patent CN201811555000.2 discloses a manipulator precision cable arrangement device, in which the cable arrangement feedback sensor uses a linear guide wheel to push the cable diameter, and uses the spring force and the distance between the cable and the guide wheel to feedback the cable arrangement position relationship; because of factors such as cable diameter, structural stiffness, shape, and spring action, the center cable has a deflection angle after passing through the sensor guide wheel. The electronically controlled PLC automatically corrects the pitch of the cable movement to achieve dynamic pitch adjustment to adapt to changes in cable diameter, pitch changes caused by changes in cable movement, cable bending, and other changes, as well as factors such as the inner layer not being arranged properly, causing the cable to overlap or widen, leaving large gaps, etc., thereby achieving precision automatic cable arrangement. To meet the quality requirements of stable cable arrangement.

[0003] However, the above sensing method has a defect. The β angle always exists in the technical solution, and the β angle is uncertain. The β angle is related to factors such as the spring, cable diameter, and stiffness of the cable structure. In addition, the technical solution of the patent has a messy wiring for cables with a diameter less than 6mm, an irregular outer diameter, and soft wires. It cannot achieve precise wiring, and there are wiring problems such as jumpers, which can easily lead to feedback out of control.

[0004] In order to solve this problem, Chinese patent CN 202221130943.2 discloses "A closed-loop sensing control device for a new type of manipulator cable arrangement". By using a pull-pressure sensor, the indication of three state positions is realized: pulling, pressing, and intermediate zero position. The positional relationship between the cable and the center line on the reel can be clearly known, so that the positional relationship of the cable arrangement can be changed by controlling the moving position through the PLC, thereby realizing precise cable arrangement. However, there are also defects. The sensor is affected by the accuracy of mechanical assembly, and the error accuracy of mechanical assembly will affect the sensor parameters; it is mainly manifested in that when the clamp is subjected to up and down force, the sensor has data output, which affects the lateral left and right position judgment, thereby affecting the PLC's signal processing of the actual performance of the cable and the positional relationship on the cable reel.

[0005] Chinese patent CN202321500540.7 discloses "a displacement sensor device for cable arrangement equipment". In the technical solution of this patent, the clamp matches the cable diameter, the center of the cable coincides with the center of the clamp, and the clamp can be moved along the linear guide rail by the cable. The clamp installed on the linear guide rail is installed on the clamp mounting bracket, and the bracket is connected to the position sensor by screws. The position sensor is inside the sensor bracket and protection, and is fixed to the guide rail mounting bracket by screws, and the bracket is fixed to the bracket. The angle formed by the position of the cable generates lateral tension, which is reflected in the position sensor. Different numerical signals represent different positional relationships. The positional relationship of the cable arrangement is changed by controlling the moving position through PLC, thereby achieving precise cable arrangement.

[0006] However, the above existing patents all have the problem that the signal is not amplified by the lever; the accuracy is not high enough, and there are defects such as pressing or pulling the seam when arranging cables smaller than 6mm, which makes the cable arrangement unstable and the cable arrangement quality is not high enough; and all use a single guide wheel structure or a guide wheel-free structure, which makes the cable freedom degree too high and unstable during cable arrangement. Utility Model Content

[0007] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a sensor control device for an improved manipulator cable arrangement device to improve the stability and accuracy of cable arrangement during automatic cable arrangement and solve the problems of wire pressing, seam pulling and excessive cable freedom in the prior art.

[0008] In order to achieve the above-mentioned purpose, a sensor control device of an improved manipulator wiring device is designed, including a mounting support plate, a back side of the mounting support plate is connected to a control sensor mounting plate, one end of the control sensor mounting plate is connected to a control sensor group, a feedback support assembly is also provided on the control sensor mounting plate, the feedback support assembly is connected to the feedback sensor plate through a swivel pin, the feedback sensor plate can rotate along the swivel pin, a centering unit is provided in the middle of the feedback sensor plate, a feedback sensor assembly is provided on the back side of the feedback sensor plate away from the swivel pin, a first clamp guide wheel is provided on the front of the mounting support plate and on both sides of the centering unit, and a second clamp guide wheel is provided on the rear of the feedback sensor plate and on both sides of the centering unit.

[0009] Preferably, the first clamp guide wheel and the second clamp guide wheel of the utility model both include two or more sets of clamp guide wheels arranged at the top and the bottom, which are used to clamp the cables to form a restricted channel, constrain the cables, and allow the cables to be arranged regularly and controlled at the fulcrum point where they approach the straight section and enter the cable reel.

[0010] Preferably, when the cable of the utility model is being wound on the reel, when the relative position of the cable and the first clamp guide wheel changes, the second clamp guide wheel is driven to change accordingly, so that the amplified position state is transmitted in reverse to the feedback sensor component through the rotating pin in a lever manner, thereby realizing closed-loop control.

[0011] Preferably, the feedback sensor plate of the utility model is provided with an anti-collision device to protect the clamp guide wheel. At the same time, the anti-collision device hits the edge of the disk, causing the position sensor signal of the feedback sensor component to change, thereby realizing true edge reversal and achieving full disk edge winding.

[0012] Compared with the prior art, the utility model has the following advantages:

[0013] The utility model can sense the positional relationship between the sensing clamp and the take-up point on the cable arrangement reel by reacting to the positioning point (clamp guide point), and can sense the state relationship of being directly opposite, ahead of, or behind. It can well realize the precise closed-loop control of the cable arrangement of the PLC, thereby changing the current situation that small cables and soft optical cables cannot be stably arranged by a conventional robot, and realizing the precise cable arrangement of optical cables of all specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 , a top view of the device of the utility model;

[0015] Figure 2 , a front view of the device of the utility model;

[0016] Figure 3 , a top view of a rotation sensing unit of a sensing control device according to Embodiment 1;

[0017] Figure 4 , a top view of the rotation sensing unit of the sensing control device of embodiment 2;

[0018] In the figure: 1 mounting support plate; 2 feedback sensor plate; 3 feedback sensor assembly; 4 centering unit; 5 control sensor mounting plate; 6 control sensor group; 7 feedback support assembly; 8 first fixture guide wheel; 8.1 second fixture guide wheel; 9 rotating arm (bracket); 10 mold opening and closing device; 11 control sensor protective cover; 12 rotating pin; 13 anti-collision device; 14 nylon gasket; 15 shaft clamp; 16 plunger screw. DETAILED DESCRIPTION

[0019] In order to make the purpose, principle and structure of the utility model clearer, it is further described below in conjunction with the drawings and specific embodiments.

[0020] Embodiment 1:

[0021] See also Figure 1 , Figure 2The utility model provides a sensor control device for an improved manipulator wiring device, including a mounting support plate 1, one side of the back of the mounting support plate 1 is connected to a control sensor mounting plate 5, one end of the control sensor mounting plate 5 is connected to a control sensor group 6, and a feedback support assembly 7 is also provided on the control sensor mounting plate 5, the feedback support assembly 7 is connected to a feedback sensor plate 2 through a rotating pin 12, the feedback sensor plate 2 can rotate along the rotating pin 12, a centering unit 4 is provided in the middle of the feedback sensor plate 2, a feedback sensor assembly 3 is provided on the back of the feedback sensor plate 2 away from the rotating pin 12, a first clamp guide wheel 8 is provided at the front of the mounting support plate 1 and located on both sides of the centering unit 4, and a second clamp guide wheel 8.1 is provided at the rear of the feedback sensor plate 2 and located on both sides of the centering unit 4. A mold opening and closing device 10 is provided on the front of the feedback sensor plate 2, and the mold opening and closing device 10 is provided with a symmetrically arranged rotating arm 9, and the first clamp guide wheel 8 and the second clamp guide wheel 8.1 are installed on the rotating arm 9. A control sensor protective cover 11 is provided at the end feedback sensor 3 of the control sensor mounting plate 5. Figure 3 A nylon gasket is provided in the gap between the feedback sensor plate 2 and the mounting support plate 1 , and shaft clamps 15 are provided at both ends of the rotation pin 12 close to the outer side of the mounting support plate 1 .

[0022] The first clamp guide wheel 8 and the second clamp guide wheel 8.1 both include two or more sets of clamp guide wheels arranged at the top and the bottom, which are used to clamp the cables to form a restricted channel, constrain the cables, and allow the cables to approach the straight section and enter the application point of the cable drum for regular and controlled cable arrangement.

[0023] When the cable is wound on the cable drum, the relative position of the cable and the first clamp guide wheel 8 changes, which drives the second clamp guide wheel 8.1 to change accordingly, so that the amplified position state is transmitted to the feedback sensor component 3 in a lever manner through the rotating pin 12 to achieve closed-loop control.

[0024] The feedback sensor plate 2 is provided with an anti-collision device 13 to protect the clamp guide wheel. At the same time, the anti-collision device 13 hits the edge of the disk, causing the position sensor signal of the feedback sensor component 3 to change, thereby realizing true edge reversal and achieving full disk edge winding.

[0025] Specifically speaking:

[0026] Cable from Figure 1Enter from the left side, the first clamp guide wheel 8 on the left clamps and positions the cable; the second clamp guide wheel 8.1 on the right clamps the cable, and the cable is wound on the cable drum, and the relative position of the position and the clamp head is: either facing, ahead, or behind (relative to the moving and arranging direction of the cable on the cable drum), so that the cable will drive the second clamp guide wheel 8.1 on the right to produce: either facing, ahead, or behind (relative to the moving and arranging direction of the cable on the cable drum) position state changes, and by using the rotating pin 12 as the rotating shaft and the lever method, these position state changes are amplified and transmitted to the far end of the feedback sensor plate 2, and the feedback sensor component 3 recognizes the position state change of the far end of the feedback sensor plate 2 and outputs an identification signal, and closed-loop control is achieved through the identification signal and PLC control.

[0027] The first clamp guide wheel 8 and the second clamp guide wheel 8.1 are arranged on the rotating arm 9 to clamp the cable. Two points (or more) are in a line to form a restricted channel to constrain the cable. The cable is allowed to enter the fulcrum of the cable drum in a nearly straight line and arranged in a regular and controlled manner. An anti-collision device 13 (such as a universal bearing, etc.) is installed on the rotating arm 9 to protect the clamp guide wheel and prevent the edge of the drum from damaging the clamp; at the same time, the anti-collision device 13 hits the edge of the drum, causing the position sensor signal of the feedback sensor component 3 to change, thereby realizing a real cable to edge reversal and achieving full reel edge collection.

[0028] It is worth mentioning that:

[0029] The feedback support assembly 7 is limited and bears the upper and lower forces, so as to ensure the flexible rotation of the feedback sensor plate 2, so as to sensitively express the position of the clamp driven by the right cable, and the sensor signal of the feedback sensor assembly 3 is also synchronously expressed. Through the precise closed-loop control of the PLC, the wiring work for small-diameter cables is realized, and the precise wiring of conventional wire diameters is also easily realized. The gap between the rotating pin 12 and the inner side of the mounting support plate 1 is symmetrically provided with nylon gaskets to prevent collision between the mounting support plate 1 and the feedback sensor plate 2. The rotating pin 12 is provided with an axis clamp 15 on the outer side of the mounting support plate 1 to fix the rotating pin in the corresponding through hole.

[0030] Embodiment 2:

[0031] like Figure 4 As shown, based on the structure of the first embodiment, four plunger screws 16 can be symmetrically arranged on both sides of the rotation pin 12 and on the mounting support plate 1 , and the plunger screws 16 can limit the rotation of the feedback sensor plate 2 .

[0032] The above is only a specific implementation method of this utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, according to the technical solution and new concept of the utility model, shall be covered by the protection scope of the utility model.

Claims

1. A sensor control device for an improved manipulator wiring device, characterized in that include The mounting support plate has one side of the back side connected to the control sensor mounting plate, one end of the control sensor mounting plate is connected to the control sensor group, and the control sensor mounting plate is also provided with a feedback support component. The feedback support assembly is connected to the feedback sensor plate via a rotating pin, and the feedback sensor plate can rotate along the rotating pin. A centering unit is provided in the middle of the feedback sensor plate, a feedback sensor assembly is provided on the back side of the feedback sensor plate away from the turn pin, a first clamp guide wheel is provided at the front of the mounting support plate and on both sides of the centering unit, and a second clamp guide wheel is provided at the rear of the feedback sensor plate and on both sides of the centering unit.

2. A sensor control device for an improved manipulator wiring device as claimed in claim 1, characterized in that The first clamp guide wheel and the second clamp guide wheel both include two or more sets of clamp guide wheels arranged at the top and the bottom, which are used to clamp the cables to form a restricted channel, constrain the cables, and allow the cables to enter the application point of the cable drum close to the straight section for regular and controlled cable arrangement.

3. A sensor control device for an improved manipulator wiring device as claimed in claim 2, characterized in that When the cable is wound on the cable drum, the relative position of the cable and the first clamp guide wheel changes, which drives the second clamp guide wheel to change accordingly, so that the amplified position state is transmitted to the feedback sensor component in a lever manner through the rotating pin to achieve closed-loop control.

4. The sensor control device of the improved manipulator wiring device as claimed in claim 1, characterized in that The feedback sensor plate is provided with an anti-collision device to protect the clamp guide wheel. At the same time, the anti-collision device hits the edge of the disk, causing the position sensor signal of the feedback sensor component to change, thereby realizing true edge reversal and achieving full disk edge winding.

Images