Manipulator multi-core working cable conductivity detection device

Abstract

The utility model discloses a manipulator multi-core working cable conductivity detection device, which comprises a detection input module, a synchronous display module and a control output module, and is characterized in that the detection input module is in signal connection with each input loop of a manipulator multi-core working cable and is also connected with the input end of the synchronous display module; the control output module is in signal connection with each output loop of the manipulator multi-core working cable and is also connected with the output end of the synchronous display module, and the synchronous display module is used for scanning loop signals of each port of the detection input module and the control output module one by one in a polling mode and displaying a real-time conduction state. The manipulator multi-core working cable conductivity detection device can clearly and completely display the real-time conduction state of each port loop signal cable, achieves a clear visual effect, and has the advantages of being good in visualization, high in detection speed, high in detection efficiency, good in real-time performance, strong in intuition and small in labor intensity of maintenance operators.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial automation, and more specifically, to a detection device for the conductivity of a multi-core working cable of a manipulator. Background Art

[0002] Manipulators (referred to as robots for short) are increasingly widely used in modern industrial enterprises. Usually, at the working end of a manipulator, there are many detection sensors and mechanical tool devices such as grasping, sucking, holding, and clamping. Among them, the detection sensors need to input various detection signals to the manipulator control cabinet. After being judged by the control cabinet to obtain various action requirements, they will all be output in the form of signals from the control cabinet, and then drive the corresponding grasping, sucking, holding, and clamping mechanical tool devices to complete the node and timing actions of the corresponding processes. Whether it is the power supply signal, detection input signal, control output signal, or spare expansion signal at the working end of the manipulator, each signal usually requires a wire for transmission. For so many signals, a flexible cable containing multi-core wires and with numbers is usually selected for transmission, rather than a cable containing single-core wires for signal transmission.

[0003] In actual applications, due to the countless reciprocating motions of grasping, sucking, rotating, releasing, holding, and clamping, such as linear and curved motions, of the manipulator every day, over time, in each robot, one or more single-core cables will inevitably break or wear, resulting in the serious consequence that the manipulator cannot work normally. At this time, it is necessary for the operation and maintenance personnel to carry tools such as multimeters and auxiliary wires to search, check, and diagnose repeatedly, which is time-consuming and laborious. Therefore, the operation and maintenance personnel often feel overwhelmed and don't know where to start.

[0004] Therefore, there is an urgent need for a detection device for the conductivity of a multi-core working cable of a manipulator. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a detection device for the conductivity of a multi-core working cable of a manipulator to solve the above problems in the prior art, which can clearly and completely display the real-time conduction state of the signal cables of each port loop, achieving a visual and intuitive effect at a glance.

[0006] The utility model provides a detection device for the conductivity of a multi-core working cable of a manipulator, which includes a detection input module, a synchronous display module, and a control output module. Among them, the detection input module is connected to the input end of the synchronous display module, the control output module is connected to the output end of the synchronous display module, the detection input module is signal-connected to each input loop of the multi-core working cable of the manipulator, the control output module is signal-connected to each output loop of the multi-core working cable of the manipulator, and the synchronous display module is used to scan each port loop signal of the detection input module and the control output module one by one in a polling manner to display the real-time conduction state of the cable of each port loop signal.

[0007] For the detection device for the conductivity of a multi-core working cable of a manipulator as described above, preferably, the synchronous display module includes an STM32 single-chip computer development board with a liquid crystal display function.

[0008] For the detection device for the conductivity of a multi-core working cable of a manipulator as described above, preferably, the working power supply required by the synchronous display module is taken from the power supply in the manipulator control cabinet and transmitted by two single-core working cables.

[0009] For the detection device for the conductivity of a multi-core working cable of a manipulator as described above, preferably, the detection input module includes a plurality of first optocoupler modules, and each input loop signal of the multi-core working cable of the manipulator is connected in parallel to the input end of the corresponding first optocoupler module, and is converted into a standard voltage signal that can be correspondingly accessed by the STM32 single-chip microcomputer port through the first optocoupler module.

[0010] For the detection device for the conductivity of a multi-core working cable of a manipulator as described above, preferably, one end of each first optocoupler module is connected to a higher detection level input loop signal, the negative end of the loop signal is connected to the negative end of the first optocoupler module, and all the negative ends can be connected together. Another wire reflecting the change of the loop signal is connected to the positive end of the first optocoupler module; the other end of the first optocoupler module is connected to a lower conversion level loop signal; the negative ends of the conversion level loop signals are connected together and grounded with the synchronous display module, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module for synchronous processing and real-time display by the synchronous display module.

[0011] For the detection device for the conductivity of a multi-core working cable of a manipulator as described above, preferably, the control output module includes a plurality of second optocoupler modules, and each output loop signal of the multi-core working cable of the manipulator is connected in parallel to the input end of the corresponding second optocoupler module, and is converted into a standard voltage signal that can be correspondingly accessed by the port of the STM32 single-chip microcomputer through the second optocoupler module.

[0012] The multi-core working cable conductivity detection device for a manipulator as described above, wherein, preferably, one end of each of the second optocoupler modules is connected to a higher control level output loop signal, the negative end of the loop signal is connected to the negative end of the second optocoupler module, and all the negative ends are connected together. Another wire reflecting the change of the loop signal is connected to the positive end of the second optocoupler module; the other end of the second optocoupler module is connected to a lower conversion level loop signal, the negative ends of the conversion level loop signals are connected together and grounded with the synchronous display module, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module for the synchronous display module to perform synchronous processing and real-time display.

[0013] The utility model provides a multi-core working cable conductivity detection device for a manipulator. The synchronous display module can simultaneously poll the detection input module and the control output module to scan the loop signals of each port one by one, and can clearly and completely display the real-time conduction state of the loop signals of the cables of each port, achieving a visual and intuitive effect at a glance; it has the advantages of good visualization, fast detection speed, high detection efficiency, good real-time performance, strong intuitiveness, and low labor intensity for maintenance operators, avoiding the disadvantages of inconvenient inspection with conventional tools such as multimeters, slow detection speed, low detection efficiency, no real-time performance, and poor intuitiveness; the detection input signal and the control output signal are optically isolated, achieving reliable isolation and seamless docking acquisition with the STM32D single-chip microcomputer development board; the wiring modes of the two parts of the detection input module and the control output module are the same, achieving the effect of being convenient to use. Brief Description of the Drawings

[0014] To make the objectives, technical solutions, and advantages of the present utility model clearer, the present utility model will be further described below in conjunction with the drawings, where:

[0015] Figure 1 It is the structural block diagram of the multi-core working cable conductivity detection device for a manipulator provided by the present utility model;

[0016] Figure 2 It is the schematic connection diagram of the STM32 single-chip microcomputer development board with the first optocoupler module and the second optocoupler module. Detailed Embodiments

[0017] Now, various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. The description of the exemplary embodiments is merely illustrative and in no way limits the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions, and numerical values set forth in these embodiments should be construed as merely exemplary and not as limitations.

[0018] As used in this disclosure, "first", "second", and similar terms do not denote any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the elements before such terms cover the elements listed after such terms, and do not exclude the possibility of also covering other elements. Terms such as "upper" and "lower" are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0019] In this disclosure, when it is described that a specific component is located between a first component and a second component, there may or may not be an intermediate component between the specific component and the first component or the second component. When it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without an intermediate component, or may not be directly connected to the other components but have an intermediate component.

[0020] All terms used in this disclosure (including technical terms or scientific terms) have the same meaning as understood by those of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, for example, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such here.

[0021] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be regarded as part of the specification.

[0022] As mentioned above, there is currently a lack of a convenient and visual detection tool for detecting the conductivity of the multi-core working circuit of a robotic arm, and it is difficult to promptly identify which working cable of the robotic arm has failed. Therefore, there is an urgent need for a device for detecting the conductivity of the multi-core working cable of a robotic arm that moves with the robotic arm and is more scientific and intuitive.

[0023] As Figure 1As shown in the figure, the multi-core working cable conduction detection device for the manipulator provided in this embodiment specifically includes a detection input module 101, a synchronous display module 102, and a control output module 103. Among them, the detection input module 101 is connected to the input end of the synchronous display module 102, the control output module 103 is connected to the output end of the synchronous display module 102, the detection input module 101 is signal-connected to each input loop of the multi-core working cable of the manipulator, and the control output module 103 is signal-connected to each output loop of the multi-core working cable of the manipulator. The synchronous display module 102 is used to scan each port loop signal of the detection input module 101 and the control output module 103 one by one in a polling manner to display the real-time conduction state of the signal cables of each port loop.

[0024] Among them, the synchronous display module 102 is an STM32 single-chip computer development board with a liquid crystal display function. The STM32 single-chip computer has many GPIO ports. The circuits of these ports can be set to input mode to receive external signal inputs, or can be set to output mode to output internal signals. For example, the STM32F103ZET6 single-chip computer has a total of 7 groups of ports, namely GPIOA---GPIOG, and each group has 16 ports (GPIOx0 = GPIOx15, x is A, B, C, D, E, F, G), with a total of 112 port points. For the multi-core working cable of the manipulator, usually only dozens of port points are required. Therefore, the present utility model selects the STM32 series single-chip computer for development.

[0025] Further, the working power supply required by the synchronous display module 102 is taken from the power supply in the manipulator control cabinet and transmitted by two single-core working cables. In an implementation manner of the present utility model, if the power supply voltage in the manipulator control cabinet is higher than 5V, it is stepped down through a DC-DC step-down module.

[0026] Further, the detection input module 101 includes a plurality of first optocoupler modules (isolating optocouplers). The input loop signals of each multi-core working cable of the manipulator are connected in parallel to the input ends of the corresponding first optocoupler modules and converted into standard voltage signals that can be correspondingly accessed by the STM32 single-chip computer ports through the first optocoupler modules. The manipulator does not work independently and usually needs to obtain various external sensor working states, conditions, positions and other information at any time, such as whether the pressure of the compressed air detection switch reaches the set value, whether the cylinder reciprocates in place and other input signals, in order to perform the next action safely and accurately. Such as Figure 2As shown in the figure, for the sake of standardization and neatness, at one end of the synchronous display on the STM32 single-chip computer development board, multiple first optocoupler modules are installed. The number of first optocoupler modules can be determined according to the number of input signals, usually with a margin. The single-channel input signals of various detection sensors are connected to the input ends of the first optocoupler modules in parallel. The functions of parallel connection are as follows: one is to transmit them into the manipulator control cabinet for the manipulator control cabinet to judge and process and then output control signals, and the other is to synchronously transmit them into the STM32 single-chip microcomputer port through the first optocoupler module for judgment and then synchronously display. The function of the first optocoupler module is to convert the relatively high detection level signal in the field into a standard signal voltage that can be received by the STM32 single-chip computer.

[0027] Furthermore, the wiring method of the first optocoupler module is as follows: one end of each of the first optocoupler modules is connected to the relatively high detection level input loop signal, the negative end of the loop signal is connected to the negative end of the first optocoupler module, and all the negative ends can be connected together. The other wire reflecting the change of the loop signal is connected to the positive end of the first optocoupler module; the other end of the first optocoupler module is connected to the relatively low conversion level loop signal; the negative ends of the conversion level loop signals are connected together and grounded with the synchronous display module 102, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module 102 for the synchronous display module 102 to perform synchronous processing and real-time display.

[0028] Further, the control output module 103 includes multiple second optocoupler modules (isolation optocouplers). The output loop signals of each output loop of the multi-core working cable of the manipulator are connected to the input ends of the corresponding second optocoupler modules in parallel and are converted into standard voltage signals that can be correspondingly connected to the ports of the STM32 single-chip microcomputer through the second optocoupler modules. The manipulator control cabinet obtains various detection input signals of the detection input module 101, and after judgment and processing, outputs various control signals, such as: various cylinders need to perform front and rear timing actions such as opening and closing to realize grasping, releasing, transporting, etc. of objects. As Figure 2 As shown in the figure, for the sake of standardization and neatness, at the other end of the STM32 single-chip microcomputer synchronous display, multiple second optocoupler modules are also installed. The number of second optocoupler modules can be determined according to the number of control output signals, usually with a margin. Various control output signals are also connected to the input ends of the second optocoupler modules in parallel. The functions of parallel connection are as follows: one is that various control signals output from the manipulator control cabinet are directly connected to the output device ends, such as cylinder solenoid valves, and the other is to synchronously transmit them into the STM32 single-chip microcomputer through the second optocoupler module for judgment and then synchronously display. The function of the second optocoupler module is to convert the relatively high detection level signal in the field into a standard signal voltage that can be received by the STM32 single-chip computer.

[0029] Further, one end of each of the second optocoupler modules is connected to a higher control level output loop signal, the negative end of the loop signal is connected to the negative end of the second optocoupler module, and all the negative ends are commonly connected together. Another wire reflecting the change of the loop signal is connected to the positive end of the second optocoupler module; the other end of the second optocoupler module is connected to a lower conversion level loop signal, the negative ends of the conversion level loop signals are connected together and grounded together with the synchronous display module 102, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module 102 for the synchronous display module 102 to perform synchronous processing and real-time display. In the present invention, the wiring modes of the detection input module 101 and the control output module 103 are the same, achieving the effect of being convenient and easy to use.

[0030] In specific implementation, on the STM32 single-chip computer development board, the required application ports are selected and determined and respectively connected to the external detection first optocoupler module and the control second optocoupler module, thus completing the hardware connection layout.

[0031] The conductivity detection device for the multi-core working cable of the manipulator of the present invention can be applied to the electrical circuit fault diagnosis of other devices. It should be noted that the present invention does not make specific limitations on the specific application scenarios.

[0032] The conductivity detection device for the multi-core working cable of the manipulator provided by the embodiment of the present invention. The synchronous display module can simultaneously perform polling scanning on the detection input module and the control output module for the loop signals of each port one by one, and can clearly and completely display the real-time conduction state of the loop signal cables of each port, achieving the visual and intuitive effect of being clear at a glance; it has the advantages of good visualization, fast detection speed, high detection efficiency, good real-time performance, strong intuitiveness, and low labor intensity for maintenance operators, avoiding the disadvantages of inconvenient inspection with conventional tools such as multimeters, slow detection speed, low detection efficiency, no real-time performance, and poor intuitiveness; the detection input signal and the control output signal are optically isolated, achieving the reliable isolation and seamless docking acquisition purpose with the STM32D single-chip computer development board; the wiring modes of the two parts of the detection input module and the control output module are the same, achieving the effect of being convenient and easy to use.

[0033] So far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Those skilled in the art can clearly understand how to implement the technical solutions disclosed here based on the above description.

[0034] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A detection device for the conductivity of a multi-core working cable of a manipulator, characterized in that, Including: A detection input module, a synchronous display module, and a control output module. Among them, the detection input module is connected to the input end of the synchronous display module, the control output module is connected to the output end of the synchronous display module. The detection input module is signal-connected to each input loop of the multi-core working cable of the manipulator, and the control output module is signal-connected to each output loop of the multi-core working cable of the manipulator. The synchronous display module is used to scan each port loop signal of the detection input module and the control output module one by one in a polling manner to display the real-time conduction state of the signal cables of each port loop.

2. The multi-core working cable conductivity detection device for a manipulator according to claim 1, characterized in that, The synchronous display module includes an STM32 single-chip computer development board with a liquid crystal display function.

3. The multi-core working cable conductivity detection device for a manipulator according to claim 2, characterized in that, The working power supply required by the synchronous display module is taken from the power supply in the manipulator control cabinet and transmitted by two single-core working cables.

4. The manipulator multi-core working cable conductivity detection device according to claim 2, characterized in that, The detection input module includes a plurality of first optocoupler modules. Each input loop signal of the multi-core working cable of the manipulator is connected in parallel to the input end of the corresponding first optocoupler module and converted into a standard voltage signal that can be correspondingly accessed by the STM32 single-chip microcomputer port through the first optocoupler module.

5. The multi-core working cable conductivity detection device for a manipulator according to claim 4, wherein, One end of each first optocoupler module is connected to a higher detection level input loop signal, the negative end of the loop signal is connected to the negative end of the first optocoupler module, and all the negative ends can be connected together. Another wire reflecting the change of the loop signal is connected to the positive end of the first optocoupler module; the other end of the first optocoupler module is connected to a lower conversion level loop signal; the negative ends of the conversion level loop signals are connected together and grounded with the synchronous display module, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module for the synchronous display module to perform synchronous processing and real-time display.

6. The multi-core working cable conductivity detection device for a manipulator according to claim 2, characterized in that, The control output module includes a plurality of second optocoupler modules. Each output loop signal of the multi-core working cable of the manipulator is connected in parallel to the input end of the corresponding second optocoupler module and converted into a standard voltage signal that can be correspondingly accessed by the port of the STM32 single-chip microcomputer through the second optocoupler module.

7. The multi-core working cable conductivity detection device for manipulator according to claim 6, characterized in that, One end of each second optocoupler module is connected to a higher control level output loop signal, the negative end of the loop signal is connected to the negative end of the second optocoupler module, and all the negative ends are connected together. Another wire reflecting the change of the loop signal is connected to the positive end of the second optocoupler module; the other end of the second optocoupler module is connected to a lower conversion level loop signal, the negative ends of the conversion level loop signals are connected together and grounded with the synchronous display module, and the positive ends are respectively connected to the corresponding acquisition ports of the synchronous display module for the synchronous display module to perform synchronous processing and real-time display.

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