Fixing and detecting device used in cooperation with multi-axis intelligent robot

Abstract

A fixing and detecting device used in cooperation with a multi-axis intelligent robot comprises a pressure sensor, a fixing flange plate of the multi-axis intelligent robot and a tool connecting flange plate, the fixing flange plate and the tool connecting flange plate are installed together, an installation groove is formed in the front side end of the fixing flange plate, and the pressure sensor is installed in the installation groove; and the connection detection circuit, the multi-path motor power supply detection circuit and the prompt circuit are arranged in the electric control box and are electrically connected. The device can detect the positions of the fixed flange plate and the tool flange plate after being fixed, and can output a signal to a prompt circuit when the fixed flange plate and the tool flange plate are loosened due to various reasons, and the prompt circuit gives out an alarm sound to prompt workers; the motor power supply detection circuit can monitor the power supply output by the motion control system to the plurality of motors in real time, and when the motion control system abnormally outputs to the power supply input ends of the corresponding one or more motors and loses power for a period of time, the motor power supply detection circuit can timely prompt workers to repair and maintain. Reliable and stable work of the multi-axis intelligent robot is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of multi-axis robot auxiliary equipment, in particular to a fixing and detecting device used in conjunction with a multi-axis intelligent robot. Background Art

[0002] A multi-axis intelligent robot, also known as an industrial robotic arm, etc., is a robot system constructed with a single-axis robotic arm driven by servo motors and stepper motors as the basic working units, using ball screws, synchronous belts, and rack and pinions as common transmission methods, based on the XYZ rectangular coordinate system as the basic mathematical model, and can reach any point in the XYZ three-dimensional coordinate system and follow a controllable motion trajectory. The multi-axis intelligent robot has the advantages of high degrees of freedom, a control system that can be reprogrammed, reliability, and precision, can be used in harsh working environments, saves labor, and correspondingly improves production efficiency.

[0003] In order to achieve different working purposes, the tool at the front end of the robotic arm of the multi-axis intelligent robot can be replaced (for example, the spray gun can be replaced with a nozzle for painting operations, the welding torch can be replaced with a welding gun for welding operations, the electric grinding machine can be replaced for grinding operations, etc.). In order to facilitate the replacement of various tools, the front end of the robotic arm is generally connected to the tool connection part flange through a fixed flange with threaded holes by bolts. The above connection method meets the production needs to a certain extent, but due to structural limitations, specifically, after being used for a period of time, the bolts are not tightened due to various reasons, or affected by vibration factors, etc., there is a probability that the tool flange and the fixed flange are loose (the force of the tool mainly acts on the fixed flange through its own flange, and the force received between the two flanges is relatively large). In this way, it will have an adverse impact on the normal operation of the tool (such as being unable to accurately position the corresponding position of the welded part, etc.). Since the prior art usually checks the connection situation between the two by the staff, when the staff fails to check and handle the problem in time, it will have an adverse impact on the normal operation of the entire equipment. Moreover, the existing motion control system of the multi-axis intelligent robot (generally PLC or host computer, etc.) does not have an output power detection function. That is to say, when there is a problem with the programming software in the motion control system (or the entire equipment is powered off), and the power output to one or more motors of the multi-axis intelligent robot stops, since the staff cannot understand the situation and handle it in the first time, it will also have an adverse impact on the normal operation of the entire equipment. Content of the Utility Model

[0004] In order to overcome the drawbacks described in the background art due to the limitations of the structure of existing multi-axis intelligent robots, the present utility model provides a fixing and detecting device for a multi-axis intelligent robot. Under the combined action of relevant mechanisms, the multi-axis intelligent robot is fixedly installed together through a fixed flange and a tool connection flange, and can real-time monitor the positions of the fixed flange and the tool flange of the multi-axis intelligent robot after fixation, as well as the power supply output from the motion control system to multiple motors. When the fixed flange and the tool flange become loose due to various reasons, and the power input terminals of the corresponding one or more motors output by the motion control system are abnormally powered off, it will promptly prompt the staff to perform maintenance and repair, as much as possible ensuring the reliable and stable operation of the multi-axis intelligent robot.

[0005] The technical solution adopted by the present utility model to solve its technical problems is as follows:

[0006] A fixing and detecting device for a multi-axis intelligent robot, including a pressure sensor, a fixed flange of the multi-axis intelligent robot, and a tool connection flange. The fixed flange and the tool connection flange are installed together. It is characterized in that it also has a connection detection circuit, a motor power supply detection circuit, and a prompting circuit; there are multiple paths for the motor power supply detection circuit, and the number is the same as the number of motors of the multi-axis intelligent robot; there is an installation groove at the front end of the fixed flange, and the pressure sensor is installed in the installation groove; the connection detection circuit, the multiple paths of the motor power supply detection circuit, and the prompting circuit are installed in the electric control box. The multiple signal input terminals of the multiple paths of the motor power supply detection circuit and the multiple motor power output terminals of the motion control system of the multi-axis intelligent robot are respectively electrically connected; the signal output terminal of the pressure sensor and the signal input terminal of the connection detection circuit are electrically connected, and the signal output terminals of the multiple paths of the motor power supply detection circuit and the connection detection circuit and the signal input terminal of the prompting circuit are electrically connected.

[0007] Further, there is a protective pad at the front end of the detection surface of the pressure sensor. After the fixed flange and the tool flange are fixed, the tool flange contacts the protective pad at the front end of the pressure sensor.

[0008] Further, the connection detection circuit includes an adjustable resistor, a resistor, a diode, a relay, and a triode that are electrically connected. One end of the adjustable resistor is connected to one end of the first resistor and the base of the triode. The collector of the triode is connected to the negative power input terminal of the relay. The positive power input terminal and the control power input terminal of the relay are connected. The normally closed contact terminal of the relay is connected to one end of the second resistor. The other end of the second resistor is connected to the positive pole of the diode. The emitter of the triode is connected to the other end of the first resistor.

[0009] Furthermore, each motor power supply detection circuit includes an electrically connected relay and an adjustable resistor, a resistor, a capacitor, and a diode, the normally closed contact end of the relay is connected to one end of the adjustable resistor, the other end of the adjustable resistor is connected to one end of the resistor and the positive electrode of the capacitor, and the other end of the second resistor is connected to the positive electrode of the diode.

[0010] Furthermore, the prompt circuit includes a transistor and an alarm which are electrically connected, and the collector of the transistor is connected to a negative power input terminal of the alarm.

[0011] Furthermore, the resistance value of the first resistor of the multi-channel motor power supply detection circuit is inconsistent.

[0012] Compared with the prior art, the utility model has the following beneficial effects: in the application of the utility model, the multi-axis intelligent robot is fixedly installed together through the fixing flange and the tool connecting flange. Under the joint action of the relevant mechanisms, the connection detection circuit and the pressure sensor can detect the fixed position of the fixing flange and the tool flange of the multi-axis intelligent robot. When the two are loose due to various reasons, they can output signals to the prompt circuit, and the prompt circuit emits an alarm to prompt the staff; the motor power supply detection circuit can monitor the power output of the motion control system to multiple motors in real time. When the motion control system abnormally outputs power to the power input end of the corresponding one or more motors and loses power for a period of time (exceeding the normal time), it will promptly prompt the staff to inspect and maintain. The utility model ensures the reliable and stable operation of the multi-axis intelligent robot as much as possible, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0014] Figure 1 It is a schematic diagram of the overall structure and the partially enlarged structure of the utility model.

[0015] Figure 2 This is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0016] Figure 1 , 2As shown in the figure, a fixing and detecting device for a multi-axis intelligent robot includes a power supply module W1, a storage battery G1, a power switch S1 (the handle is located outside the front end of the electric control box), a pressure sensor W2, a fixing flange 41 of the multi-axis intelligent robot, and a tool connecting flange 5 (the working tool is installed together with the front side of the tool flange). The fixing flange 41 and the tool connecting flange 5 are installed together by bolts, and also have a connection detecting circuit 1, a motor power supply detecting circuit 2, and a prompting circuit 3. The motor power supply detecting circuit 2 has multiple paths and is the same as the number of motors M1 of the multi-axis intelligent robot 4. Each motor M1 is equipped with a motor power supply detecting circuit 2. In the middle of the front side end of the fixing flange 41 of the multi-axis intelligent robot, there is a recessed groove 42. The pressure sensor W2 is installed in the groove 42 and its detection surface is located at the front end. The power supply module W1, the storage battery G1, the power switch S1, the connection detecting circuit 1, the multiple motor power supply detecting circuits 2, and the prompting circuit 3 are installed in the electric control box 6 of the multi-axis intelligent robot.

[0017] Figure 1 , 2 As shown in the figure, a sealing gasket 43 is adhesively bonded to the front side end of the detection surface of the pressure sensor W2. The sealing gasket 43 is located outside the front side end of the fixing flange 41. After the fixing flange 41 and the tool flange 5 are fixed, the rear side end of the tool flange is in close contact with the gasket 43 at the front end of the pressure sensor W2. The connection detecting circuit includes a variable resistor RP1, resistors R1 and R3, and a diode VD1, a relay K2, and a triode Q2 connected by circuit board wiring. One end of the variable resistor RP1 is connected to one end of the first resistor R1 and the base of the triode Q2. The collector of the triode Q2 is connected to the negative power input terminal of the relay K2. The positive power input terminal and the control power input terminal of the relay K2 are connected. The normally closed contact terminal of the relay K2 is connected to one end of the second resistor R3. The other end of the second resistor R3 is connected to the positive electrode of the diode VD1. The emitter of the triode Q2 is connected to the other end of the first resistor R1. Each motor power supply detecting circuit includes a relay K1, a variable resistor RP2, a resistor R2, a capacitor C1, and a diode VD2 connected by circuit board wiring. The normally closed contact terminal of the relay K1 is connected to one end of the variable resistor RP2. The other end of the variable resistor RP2 is connected to one end of the resistor R2 and the positive electrode of the capacitor C1. The other end of the second resistor R2 is connected to the positive electrode of the diode VD1. The prompting circuit includes a triode Q1 and an alarm BH connected by circuit board wiring. The collector of the triode Q1 is connected to the negative power input terminal of the alarm BH. The resistance values of the variable resistors RP2 of the multiple motor power supply detecting circuits are inconsistent.

[0018] Figure 1 , 2As shown, the two power input terminals of the relay K1 at the multi-channel signal input end of the multi-channel motor power supply detection circuit and the multi-channel motor power output end of the multi-axis intelligent robot motion control system are respectively connected by wires. The power input terminals 1 and 2 of the power supply module W1 and the two poles of the AC 220V power supply are respectively connected by wires. The power output terminals 3 and 4 of the power supply module W1 are connected in series through the power switch S1 and the two poles of the storage battery G1, the power input terminals 1 and 2 of the pressure sensor W2, the other end of the resistor R1 at the power input end of the connection detection circuit (connected to the 4th pin of the power supply module W2 by wire), the positive power input terminal of the alarm BH at the power input end of the prompt circuit and the emitter of the triode Q1, the control power input terminal of the relay K1 at the power input end of the multi-channel motor power supply detection circuit and the negative electrode of the capacitor C1 are respectively connected by wires. The signal output terminal 3 of the pressure sensor W2 and the other end of the adjustable resistor RP1 at the signal input end of the connection detection circuit are connected by wire. The negative electrode of the diode VD2 at the signal output end of the multi-channel motor power supply detection circuit, the negative electrode of the diode VD1 at the signal output end of the connection detection circuit and the base of the triode Q1 at the signal input end of the prompt circuit are connected by wire.

[0019] Figure 1 、 2As shown, the new multi-axis intelligent robot is fixedly installed together through the fixed flange 41 and the tool connection flange 5. After the 220V AC power supply enters the power input terminal of the power module W1, the stable DC 12V power supply output from pins 3 and 4 of the power module W1 enters the power input terminals of the battery G1 (the battery G1 is usually floating charged to ensure that the relevant circuits can still be powered on and work normally after the total power outage), the pressure sensor W2, the connection detection circuit, the prompt circuit, and the multi-channel motor power supply detection circuit. In the pressure sensor W2, the connection detection circuit, and the prompt circuit, when the fixed flange 41 and the tool flange 5 of the multi-axis intelligent robot are fixed and there is no looseness, the pressure received by the force-receiving surface of the pressure sensor W2 is relatively large, and the voltage signal output from its signal output terminal pin 3 is relatively high. This voltage signal is divided by the adjustable resistor RP1 and the resistor R1 and enters the base of the triode Q2 higher than 0.7V. The triode Q2 conducts and its collector outputs a low level and enters the negative power input terminal of the relay K2. The relay K2 is energized and its control power input terminal and the normally closed contact terminal are open. In this way, the triode Q1 will not conduct, and the alarm BH will not be energized to sound, indicating that the fixed flange 41 and the tool flange 5 are not loose (or the power supply output from the motion control system to multiple motors is normal). When, for various reasons, the fixed flange 41 and the tool flange 5 of the multi-axis intelligent robot are loose or detached after being fixed, the pressure of the tool flange 5 received by the force-receiving surface of the pressure sensor W2 is relatively small, and the voltage signal output from its signal output terminal pin 3 is relatively low. This voltage signal is divided by the adjustable resistor RP1 and the resistor R1 and enters the base of the triode Q2 lower than 0.7V. The triode Q2 is cut off and its collector output is no longer at a low level and enters the negative power input terminal of the relay K2. The relay K2 loses power and no longer attracts, and its control power input terminal and the normally closed contact terminal are closed. In this way, the 12V power supply will enter the base of the triode Q1 through the one-way conduction of the diode VD1 and the voltage reduction and current limiting of the resistor R3. The triode Q1 conducts and its collector outputs a low level and enters the negative power input terminal of the alarm BH. The alarm BH will be energized to sound, indicating that the fixed flange 41 and the tool flange 5 are loose (or the power supply output from the motion control system to one or more motors is abnormal).

[0020] Figure 1 、 2As shown, in the prompting circuit and the multi-motor power supply detection circuit, when the multi-axis intelligent robot motion control system outputs power to the power input terminals of multiple motors, one or more corresponding relays K1 will be energized to attract, and their control power input terminals and normally closed contact terminals will be open. The 12V power supply will not charge the capacitor C1. Correspondingly, the alarm BH will not be energized to sound, indicating that the power output from the motion control system to one or more of the motors is normal (or the fixed flange 41 and the tool flange 5 are not loose). When the multi-axis intelligent robot motion control system does not output power to the power input terminals of one or more corresponding motors, one or more corresponding relays K1 will lose power and no longer attract, and their control power input terminals and normally closed contact terminals will close. The 12V power supply will charge one or more corresponding capacitors C1. In the initial period (for example, when the time is less than 15 seconds, and the time T = 1.1 × the capacitance of the capacitor C1 × the resistance value of the adjustable resistor RP2), when the capacitor C1 is not fully charged, the 12V power supply passes through the adjustable resistor RP2 and R2 to step down and limit the current and enters the base of the triode Q1 (the diode VD2 conducts unidirectionally) below 0.7V, and the triode Q1 will not conduct. Correspondingly, the alarm BH will still not be energized to sound. This time delay is mainly because there is a time interval in the power output from the motion control system to one or more of the motors itself (when the power output to the power input terminal of the corresponding motor is stopped, the motion direction or action of the multi-axis intelligent robot controlled by the motor will temporarily stop). If there is no time delay, the alarm BH will sound unnecessarily. When the multi-axis intelligent robot motion control system does not output power to the power input terminal of a corresponding motor, one or more corresponding relays K1 will lose power and no longer attract, and their control power input terminals and normally closed contact terminals will close. After the 12V power supply charges one or more corresponding capacitors C1 for a period of time (for example, when the time is greater than 15 seconds), when one or more corresponding capacitors C1 are fully charged, the 12V power supply passes through one or more corresponding adjustable resistors RP2 and R2 to step down and limit the current and enters the base of the triode Q1 (the diode VD2 conducts unidirectionally) above 0.7V, and the triode Q1 will conduct and the collector will output a low level to enter the negative power input terminal of the alarm BH, and the alarm BH will be energized to sound, indicating that the power output from the motion control system to one or more of the motors is abnormal (or the fixed flange 41 and the tool flange 5 are loose). It should be noted that when this application is used, technicians need to adjust the different resistance values of the adjustable resistor RP2 in the multi-motor power supply detection circuit so that when the multi-axis intelligent robot works normally, the longest interval time of the power output from the motion control system to a corresponding motor is about 5 seconds less than the time for the 12V power supply to charge one or more corresponding capacitors C1. In this way, it can effectively prevent the unnecessary sound interference of the alarm BH when the motion control system normally controls the corresponding motor to work and temporarily stops outputting power.

[0021] Figure 1 、 2As shown above, in the application of this new type, in this new multi-axis intelligent robot, it is fixedly installed together through the fixed flange 41 and the tool connection flange 5. Under the combined action of relevant mechanisms, it can detect the fixed positions of the fixed flange of the multi-axis intelligent robot and the tool flange. When the two are loose due to various reasons, it can emit an alarm sound to prompt the staff; when the motion control system outputs abnormally and the power input terminals of one or more corresponding motors lose power for a period of time (exceeding the normal time), it will promptly prompt the staff to repair and maintain, so as to ensure the reliable and stable operation of the multi-axis intelligent robot as much as possible. The models of diodes VD1 and VD2 are 1N4007; the models of triodes Q1 and Q1 are 9013 (NPN triodes); the model of the storage battery G1 is 12V / 5Ah; the model of the capacitor C1 is 100μF / 25V (electrolytic capacitor); the resistance values of the adjustable resistors RP1 and RP2 are 10K and 8M respectively; the resistance values of the resistors R1 and R2 are 4K and 470K respectively; the alarm BH is an active continuous sound alarm of model XF12V; the relay K2 is a DC12V relay; the relay K1 is an AC 220V power relay; the power module W1 is a finished product of an AC 220V to DC 12V power module; the pressure sensor W2 is a finished product of a resistance strain type pressure sensor of model HZC-H1, which has two power input terminals and one signal output terminal. The greater the pressure received by the force-receiving surface of the pressure sensor, the greater the voltage signal output by the signal output terminal, and vice versa.

[0022] The above has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is limited to the details of the above exemplary embodiments, and without departing from the spirit or basic features of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

[0023] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A fixing and detecting device for supporting a multi-axis intelligent robot, comprising a pressure sensor, a fixing flange of the multi-axis intelligent robot, and a tool connecting flange. The fixing flange and the tool connecting flange are installed together, and it is characterized in that, It also has a connection detection circuit, a motor power supply detection circuit, and a prompt circuit; there are multiple paths for the motor power supply detection circuit, and the number is the same as the number of motors of the multi-axis intelligent robot; there is an installation groove at the front end of the fixed flange, and the pressure sensor is installed in the installation groove; the connection detection circuit, the multiple paths of motor power supply detection circuits, and the prompt circuit are installed in the electric control box, and the multiple signal input ends of the multiple paths of motor power supply detection circuits and the multiple motor power output ends of the multi-axis intelligent robot motion control system are electrically connected respectively; the signal output end of the pressure sensor and the signal input end of the connection detection circuit are electrically connected, and the signal output ends of the multiple paths of motor power supply detection circuits and the connection detection circuit and the signal input end of the prompt circuit are electrically connected.

2. The fixing and detecting device for supporting a multi-axis intelligent robot according to claim 1, wherein, There is a protective pad at the front end of the detection surface of the pressure sensor. After the fixed flange and the tool flange are fixed, the tool flange contacts the protective pad at the front end of the pressure sensor.

3. The fixing and detecting device for supporting a multi-axis intelligent robot according to claim 1, wherein, The connection detection circuit includes an adjustable resistor, a resistor, a diode, a relay, and a triode that are electrically connected. One end of the adjustable resistor is connected to one end of the first resistor and the base of the triode. The collector of the triode is connected to the negative power input end of the relay. The positive power input end and the control power input end of the relay are connected. The normally closed contact end of the relay is connected to one end of the second resistor. The other end of the second resistor is connected to the positive pole of the diode. The emitter of the triode is connected to the other end of the first resistor.

4. A fixing and detecting device for supporting a multi-axis intelligent robot according to claim 1, wherein, Each motor power supply detection circuit includes a relay, an adjustable resistor, a resistor, a capacitor, and a diode that are electrically connected. The normally closed contact end of the relay is connected to one end of the adjustable resistor. The other end of the adjustable resistor is connected to one end of the resistor and the positive pole of the capacitor. The other end of the second resistor is connected to the positive pole of the diode.

5. The fixing and detecting device for supporting a multi-axis intelligent robot according to claim 1, characterized in that, The prompt circuit includes a triode and an alarm that are electrically connected. The collector of the triode is connected to the negative power input end of the alarm.

6. The fixing and detecting device for supporting a multi-axis intelligent robot according to claim 4, wherein, The resistance values of the first resistors in the multiple paths of motor power supply detection circuits are inconsistent.

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