Protective device for optical sensor and detection equipment

Abstract

The utility model discloses a protective device for an optical sensor and detection equipment. The protective device comprises a sensor body; the marker ball frame is fixed on the sensor body and is arranged on the periphery of the sensor body; the sensor comprises a sensor body, a marker ball set comprising a plurality of marker balls arranged in the circumferential direction of the sensor body and installed on a marker ball frame, and an anti-collision support set comprising a plurality of anti-collision detection supports which are arranged on the marker ball frame between the adjacent marker balls and extend outwards from the marker ball frame to the periphery of the marker balls. The multiple anti-collision detection elements are installed on the multiple anti-collision detection supports respectively, and each anti-collision detection element comprises an optical transmitter and an optical receiver; the optical receiver of any anti-collision detection element is located on the light path of the optical emitter of the adjacent anti-collision detection element. The protective device for the optical sensor provided by the utility model is not only small in size, but also high in anti-collision detection accuracy.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the sensor detection technical field, specifically, it relates to an improved protection device for optical sensor. BACKGROUND

[0002] Currently, three-dimensional measurement technology is divided into contact type and non-contact type, and the contact type has high measurement precision but has the risk of causing the deformation of the measured object and the long detection time, such as a three-coordinate measuring machine. Nowadays, the industry demands more intelligence, accuracy and speed, and the non-contact measurement is used more and more, and the commonly used one is a blue light sensor.

[0003] However, during use, the blue light sensor carried by the robot collides with the measured workpiece or other obstacles due to program errors or human operation errors, and since the blue light sensor is precise and expensive, the collision will cause great loss.

[0004] The traditional mechanical cage anti-collision has a large volume due to the need to ensure the strength of the cage, which will cause the blocking of the marker ball of the blue light sensor and affect the measurement accuracy, and the required collision force is also large, so that the detection is not easy, and the scheme has great defects.

[0005] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it can include prior art known by those skilled in the art. CONTENT OF THE UTILITY MODEL

[0006] The utility model provides a kind of protection device for optical sensor to the above technical problems existing in the protection structure of optical sensor in prior art, it increases protection structure on optical sensor, not only small in size, the accuracy of detection anti-collision is high, and optical sensor can be effectively avoided to be damaged by collision.

[0007] To realize the above utility model / design purpose, the utility model adopts the following technical solutions to realize:

[0008] A kind of protection device for optical sensor, optical sensor includes:

[0009] Sensor body;

[0010] Marker ball holder, fixed on the sensor body, and arranged at the periphery of the sensor body;

[0011] Marker ball group, including a plurality of marker balls arranged along the circumference of sensor body, the marker ball is installed to the marker ball holder;

[0012] Protection device includes:

[0013] The anti-collision detection assembly comprises an anti-collision support group comprising a plurality of anti-collision detection supports, the plurality of anti-collision detection supports are arranged on the sign ball supports between adjacent sign balls and extend outward from the sign ball supports to the periphery of the sign balls;

[0014] The anti-collision detection elements are arranged in multiple groups and are respectively mounted on the plurality of anti-collision detection supports and comprise optical emitters and optical receivers;

[0015] The optical receiver of any anti-collision detection element is located on the light path of the optical emitter of the adjacent anti-collision detection element.

[0016] Compared with the prior art, the anti-collision detection assembly has the following advantages and positive effects:

[0017] The optical sensor protection device of the utility model, install anti-collision detection support on the corresponding sign ball support, anti-collision detection support is arranged on the adjacent sign ball support, and anti-collision detection element is arranged on the anti-collision detection support, when the optical sensor is impacted, multiple groups of optical emitters and optical receivers arranged on the plurality of anti-collision detection supports cooperate to detect the anti-collision situation in time, comprehensively and accurately, and the whole anti-collision detection assembly has simple structure, small space occupation and will not block the sign ball.

[0018] Other features and advantages of the utility model will become more apparent after reading the specific implementation of the utility model in combination with the drawings. DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed in the embodiment will be briefly introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0020] Figure 1 It is a structure diagram of one embodiment of the optical sensor protection device proposed in the utility model Figure One ;

[0021] Figure 2 It is a structure diagram of one embodiment of the optical sensor protection device proposed in the utility model Figure Two ;

[0022] Figure 3 It is a structure diagram of one embodiment of the optical sensor protection device proposed in the utility model Figure Three ;

[0023] Figure 4 It is a structure diagram of the detection equipment proposed in the utility model.

[0024] In the figure, 100, sensor body; 200, sign ball rack; 210, sub-connection rack; 300, sign ball group; 310, sign ball; 410, anti-collision detection support; 411, support connecting seat; 4111, seat body; 4112, cover body; 4113, plug-in part; 412, bent support; 413, horizontal rack body part; 414, vertical rack body part; 415, corner part; 420, anti-collision detection element; 421, optical receiver; 422, optical transmitter; 431, locking screw; 432, via hole; 500, hollow space; 600, protective line; 700, robot body. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application.

[0027] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the description of the embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0028] The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features.

[0029] In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0030] In some embodiments of the present application, a protective device for an optical sensor is provided, the optical sensor

[0031] comprises:

[0032] a sensor body 100;

[0033] a marker ball holder 200 fixed on the sensor body 100 and arranged at the periphery of the sensor body 100;

[0034] a marker ball set 300 comprising a plurality of marker balls 310 arranged circumferentially along the sensor body 100, the marker balls 310 being mounted to the marker ball holder 200.

[0035] The center lines of the plurality of marker balls 310 form a ring.

[0036] The sensor body 100 is the main component for detection, which is a laser measurement sensor. The marker balls 310 are arranged at the periphery of the sensor body 100. In use, the tracker cooperating with the optical sensor needs to capture a fixed number of circular marker points of the marker balls 310 to ensure the accuracy of measurement. Therefore, when setting, the structure for protecting the optical sensor should not block the marker balls 310.

[0037] The protective device comprises a collision detection assembly, which comprises a collision detection support group comprising a plurality of collision detection supports 410, the plurality of collision detection supports 410 being arranged on the marker ball holder 200 between adjacent marker balls 310 and extending outward from the marker ball holder 200 to the periphery of the marker balls 310.

[0038] By arranging the collision detection supports 410 at the positions between adjacent marker balls 310, the collision detection supports 410 avoid blocking the marker balls 310, thereby ensuring the accuracy of measurement of the optical sensor.

[0039] The collision detection supports 410 extend from the marker ball holder 200 to the peripheral positions of the marker balls 310, so that they can effectively protect the marker balls 310. If the marker balls 310 are hit by external objects, the collision detection supports 410, which are at the periphery of the marker balls 310, contact the hitting objects first, so that the hitting objects can avoid directly hitting the marker balls 310 and damaging the marker balls 310.

[0040] By arranging the plurality of collision detection supports 410 circumferentially along the sensor, effective protection can be formed around the sensor body 100 and the marker balls 310, thereby avoiding external objects from hitting the marker balls 310 and the sensor body 100.

[0041] The anti-collision detection elements 420 are provided in plurality and are respectively mounted to the plurality of anti-collision detection supports 410 and comprise optical emitters 422 and optical receivers 421.

[0042] The optical emitters 422 are configured to emit light and the optical receivers 421 are configured to receive light.

[0043] The plurality of anti-collision detection elements 420 mounted to the anti-collision detection supports 410 constitute an anti-collision detection protection for the sensor body 100 and the marker ball 310.

[0044] The optical receiver 421 of any anti-collision detection element is located on the light path of the optical emitter 422 of the anti-collision detection element 420 adjacent thereto.

[0045] The optical receiver 421 and the optical emitter 422 of the adjacent two anti-collision detection elements 420 are correspondingly matched, wherein the optical receiver 421 of one anti-collision detection element 420 is arranged on the light path of the optical emitter 422 of the anti-collision detection element 420 adjacent thereto, so that in normal use, the light emitted by the optical emitter 422 on the anti-collision detection element can be received by the optical receiver 421 on the anti-collision detection element 420 adjacent thereto, at which time the optical receiver 421 can feed back a signal to the operating main equipment.

[0046] If the optical sensor is impacted during use, the anti-collision detection support 410 will be impacted first, and after the anti-collision detection support 410 is impacted, it can be deformed or its position can be changed, at which time the light emitted by the optical emitter 422 on the anti-collision detection element 420 cannot be received by the optical receiver 421 on the anti-collision detection element 420 adjacent thereto, at which time it can be determined that an impact has occurred.

[0047] Since the anti-collision detection elements 420 are provided in plurality and are arranged along the circumference of the sensor body 100, it can be ensured that no matter from which angle an impact occurs, the anti-collision detection support 410 will be impacted, and when any anti-collision detection support 410 is impacted, an impact signal will be fed back, thereby ensuring the accuracy of impact detection.

[0048] If the impact object does not impact the anti-collision detection support 410 but impacts a position inserted between any two adjacent anti-collision detection supports 410, due to the intrusion of the external object, the light emitted by the optical emitter 422 will be blocked, and the optical receiver 421 cannot receive the light emitted by the optical emitter 422, at which time it can also be determined that the optical sensor has been impacted.

[0049] The protection device for optical sensor in the embodiment is provided with the anti-collision detection support 410 on the sign ball frame 200, the anti-collision detection support 410 is arranged on the adjacent upper, and the anti-collision detection element is arranged on the anti-collision detection support 410, when the optical sensor is impacted, the anti-collision situation can be detected timely, comprehensively and accurately through the cooperation of the multiple groups of optical emitters 422 and optical receivers 421 arranged on the multiple anti-collision detection supports 410, and the whole anti-collision detection assembly has simple structure, small occupied space and will not block the sign ball 310.

[0050] In some embodiments of the present application, the sign ball frame 200 comprises:

[0051] The sub-connection frame group comprises multiple sub-connection frames 210, the multiple sub-connection frames 210 are arranged along the circumference of the sensor body 100, and the adjacent sub-connection frames 210 are connected through the sign ball 310, and the anti-collision detection support 410 is connected on the sub-connection frame 210.

[0052] The sub-connection frame 210 is a sub-connection rod, which is horizontally arranged, and multiple sub-connection rods are in a horizontal plane, and is used for connecting multiple sign balls 310.

[0053] One anti-collision detection support 410 is assembled on each sub-connection frame 210.

[0054] In some embodiments of the present application, the sign ball frame 200 further comprises a reinforcing rod, the reinforcing rod is connected on the upper and lower arranged sign balls 310, and the three sign balls 310 are connected through the sub-connection frame 210 and the reinforcing rod to form a tripod body, so as to enhance the stability of the sign ball 310 connection.

[0055] In some embodiments of the present application, the anti-collision detection support 410 comprises: a support connecting seat 411, the installation angle of the support connecting seat 411 relative to the sub-connection frame 210 and the position along the axis direction of the sub-connection frame 210 are adjustable.

[0056] The bending support 412 is connected with the support connecting seat 411, and the optical emitter 422 and the optical receiver 421 are assembled on the bending support 412.

[0057] When the support connecting seat 411 rotates relative to the sub-connection frame 210, the installation angle of the support connecting seat 411 and the optical emitter 422 and the optical receiver 421 connected thereon can be adjusted.

[0058] When the support connecting seat 411 moves along the axis direction of the sub-connection frame 210, the position of the support connecting seat 411 and the optical emitter 422 and the optical receiver 421 can be adjusted.

[0059] When the position of the optical receiver 421 and the optical transmitter 422 needs to be adjusted so that the light emitted by the optical transmitter 422 can be received by the optical receiver 421 on the adjacent anti-collision detection support 410, the position of the support connecting seat 411 can be adjusted to the appropriate position by rotating or moving axially along the sub connecting frame 210.

[0060] In some embodiments of the present application, the bent support 412 comprises a horizontal frame body part 413 extending outwardly from the sub connecting frame 210;

[0061] and a vertical frame body part 414 connected with the horizontal frame body part 413 and bent from the horizontal frame body part 413 to form an angle part 415 between the horizontal frame body part 413 and the vertical frame body part 414, and the optical receiver 421 and the optical transmitter 422 are arranged at the end of the vertical frame body part 414.

[0062] The horizontal frame body part 413 is a horizontal section of the bent support 412, the vertical frame body part 414 is a vertical section, the horizontal section and the vertical section are connected, the vertical section extends along the height direction of the sensor body 100, and the angle part 415 is an angle.

[0063] The end of the horizontal section of the plurality of bent supports 412 is connected to form a ring-shaped contour line, and the plurality of marker balls 310 are arranged inside the ring-shaped contour line.

[0064] When impacted, the horizontal frame body part 413 can be forced in the horizontal direction to contact the impact object, so as to avoid the impact object and the marker ball 310 from being impacted;

[0065] The vertical frame body part 414 can be forced in the vertical direction to contact the impact object, so as to avoid the impact object and the marker ball 310 from being impacted.

[0066] In some embodiments of the present application, the support connecting seat 411 comprises a seat body 4111;

[0067] and a cover body 4112 rotatably connected to the seat body 4111, an insertion part 4113 for cooperating with the sub connecting frame 210 is formed between the cover body 4112 and the seat body 4111, and a locking structure for locking the cover body 4112 and the seat body 4111 is arranged on the cover body 4112 and the seat body 4111.

[0068] The cover body 4112 is rotatably connected to the seat body 4111, the cover body 4112 can be opened during assembly, and then the seat body 4111 and the cover body 4112 are buckled on the sub connecting frame 210, the insertion part 4113 cooperates with the sub connecting frame 210, and then the cover body 4112 and the seat body 4111 are locked by the locking structure, so that the support connecting seat 411 and the sub connecting frame 210 are locked and fixed.

[0069] The cover 4112 is rotationally connected to the seat 4111, so that the support connecting seat 411 and the sub-rack body can be conveniently installed and fixed.

[0070] In some embodiments of the present application, the plug-in part 4113 is a plug-in hole, which is matched with the shape of the sub-connecting rack 210. The locking structure includes a locking hole arranged on the seat 4111, a via hole 432 arranged on the cover 4112, and a locking screw 431 passing through the via hole 432 and matched with the locking hole.

[0071] During adjustment, the locking screw 431 can be loosened, and then the support connecting seat 411 is rotated or moved along the sub-connecting rack 210 through the plug-in hole for position adjustment. After adjustment, the locking screw 431 is tightened.

[0072] In some embodiments of the present application, the sub-connecting rack 210 is provided with two groups, which are arranged in parallel along the height direction of the sensor body 100.

[0073] The marker ball group 300 is provided with two groups, and the two groups of marker ball groups 300 are connected to the two groups of sub-connecting racks, respectively. The marker balls 310 in the two groups of marker ball groups 300 are arranged in a staggered manner along the circumference of the sensor body 100.

[0074] The anti-collision detection assembly is provided with two groups, which are connected to the two groups of sub-connecting racks, respectively. The vertical rack body parts 414 of the two groups of anti-collision detection assemblies are arranged in opposite directions.

[0075] During setting, one of the two groups of anti-collision detection assemblies is arranged on the upper sub-connecting rack group, and the other is arranged on the lower sub-connecting rack group.

[0076] The vertical rack body part 414 of the anti-collision detection assembly in the upper position is bent upward from the horizontal rack body part 413, and the vertical rack body part 414 of the anti-collision detection assembly in the lower position is bent downward from the horizontal rack body part 413.

[0077] The two groups of anti-collision detection assemblies arranged in the upper and lower positions can adapt to the two groups of marker ball groups 300 arranged in the upper and lower positions and detect the anti-collision, so as to ensure the comprehensiveness of protection and detection.

[0078] In some embodiments of the present application, a hollow space 500 is formed between the two groups of anti-collision detection assemblies arranged in the upper and lower positions. The protective line 600 is wound on the two groups of anti-collision support groups corresponding to the two groups of anti-collision detection assemblies and is blocked in the hollow space 500.

[0079] Since there is no anti-collision protection in the hollow space 500 between the two sets of anti-collision detection components, when an external impactor hits the optical sensor, it may hit the hollow space 500 and cause damage to the internal sensor body 100. To avoid the above problem, a protective line 600 is correspondingly set in the hollow space 500 area to provide physical protection.

[0080] The protective wire 600 is a high-strength PE wire.

[0081] In some embodiments of the present application, the protective line 600 is alternately wound between the multiple corner portions 415 of the multiple anti-collision detection brackets 410 at the upper position and the multiple corner portions 415 of the multiple anti-collision detection brackets 410 at the lower position.

[0082] When winding, the protective wire 600 can be first wound around the corner 415 of an anti-collision detection bracket 410 at the upper position, and then wound downward to the corner 415 of the anti-collision detection bracket 410 at the lower position, and then wound around the corner 415 of the anti-collision detection bracket 410 at the upper position, and then wound downward to the corner 415 of the anti-collision detection bracket 410 at the lower position, and the winding is continuously alternating in sequence to completely block the hollow space 500.

[0083] The protective wire 600 is arranged to be alternately wound around multiple anti-collision detection brackets 410 at the upper position and multiple anti-collision detection brackets 410 at the lower position, so that the protective wire 600 can be evenly wound around the anti-collision detection brackets 410 at the upper and lower positions to ensure uniform and comprehensive blocking protection at the hollow space 500 position.

[0084] In some embodiments of the present application, a detection device is also provided, including a robot body 700,

[0085] It also includes the protective device for the optical sensor described in the above embodiment, and the optical sensor is connected to the robot body 700.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the above embodiments, or to replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A protective device for an optical sensor, the optical sensor comprising: Sensor body; a marker ball holder, fixed to the sensor body and arranged on the periphery of the sensor body; a marker ball set, comprising a plurality of marker balls arranged along the circumference of the sensor body, the marker balls being mounted on the marker ball rack; It is characterized in that The protective devices include: The anti-collision detection component includes: an anti-collision bracket group, including a plurality of anti-collision detection brackets, wherein the plurality of anti-collision detection brackets are respectively arranged on the marker ball brackets between adjacent marker balls and extend outward from the marker ball brackets to the periphery of the marker balls; A plurality of anti-collision detection elements are provided and respectively mounted on the plurality of anti-collision detection brackets, and include an optical transmitter and an optical receiver; The optical receiver of any anti-collision detection element is located on the light path of the optical transmitter of the adjacent anti-collision detection element.

2. The protective device for an optical sensor according to claim 1, wherein: The marker ball stand comprises: The sub-connecting frame group includes a plurality of sub-connecting frames, which are arranged along the circumference of the sensor body. Any adjacent sub-connecting frames are connected through the marker balls, and the anti-collision detection bracket is connected to the sub-connecting frames.

3. The protective device for an optical sensor according to claim 2, wherein: The anti-collision detection bracket comprises: a bracket connecting seat, the bracket connecting seat relative to the mounting angle of the sub-connecting frame and the position along the axial direction of the sub-connecting frame is adjustable; The bending bracket is connected to the bracket connecting seat, and the optical transmitter and the optical receiver are assembled on the bending bracket.

4. The protective device for an optical sensor according to claim 3, wherein: The bent bracket includes a horizontal frame portion extending outward from the sub-connecting frame; and a vertical frame portion, which is connected to the horizontal frame portion and bent from the horizontal frame portion, and a corner portion is formed between the vertical frame portion and the horizontal frame portion, and the optical receiver and the optical transmitter are arranged at the end thereof.

5. The protective device for an optical sensor according to claim 3, wherein: The bracket connecting seat includes: a seat body; and a cover body rotatably connected to the base body, an inserting portion for cooperating with the sub-connecting frame is formed between the cover body and the base body, and a locking structure for locking and fixing the cover body and the base body is provided on the cover body and the base body.

6. The protective device for an optical sensor according to claim 4, wherein: The sub-connection frames are provided in two groups and are arranged in parallel up and down along the height direction of the sensor body; There are two groups of marker ball groups, which are respectively connected to the two groups of sub-connection frame groups. The marker balls in the two groups of marker ball groups are staggered along the circumference of the sensor body. There are two groups of anti-collision detection components, which are respectively connected to the two groups of sub-connection frame groups, and the bending directions of the vertical frame parts of the two groups of anti-collision detection components are opposite.

7. The protective device for an optical sensor according to claim 6, wherein: A hollow space is formed between the two groups of anti-collision detection components arranged above and below, and a protective wire is wound around the two groups of anti-collision brackets corresponding to the two groups of anti-collision detection components to block the hollow space.

8. The protective device for an optical sensor according to claim 7, wherein: The protective wire is alternately wound between the multiple corner portions of the multiple anti-collision detection brackets at the upper position and the multiple corner portions of the multiple anti-collision detection brackets at the lower position.

9. A detection device, comprising a robot body, characterized in that: It also includes a protective device for an optical sensor according to any one of claims 1 to 8, and the optical sensor is connected to the robot body.

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