阅读说明：本技术 三维防碰撞传感器及感应处理系统 (Three-dimensional anti-collision sensor and induction processing system ) 是由 龚小林 于 2019-09-29 设计创作，主要内容包括：本发明公开了一种三维防碰撞传感器及感应处理系统,安装在工作机头与运动机构托架之间,包括壳体,壳体上开设有凹槽,凹槽内设置有安装承载头、感应元件和预紧螺栓,感应元件为圆环形压力传感片,圆环形压力传感片设置在凹槽的底部,感应元件上连接有用于传递信号的导线,安装承载头的底部抵压在圆环形压力传感片上,安装承载头的顶部与壳体在同一平面上,安装承载头的中心开设有供预紧螺栓穿过的中心孔,预紧螺栓依次穿过安装承载头和感应元件,将安装承载头和感应元件固定在壳体的凹槽内,三维防碰撞传感器与信号处理器电连接形成感应处理系统。本发明采用接触式感知原理,第一时间准确可靠地感知空间全方位的轻微碰撞,从而避免激烈碰撞事故发生。(The invention discloses a three-dimensional anti-collision sensor and an induction processing system, which are arranged between a working machine head and a motion mechanism bracket and comprise a shell, wherein a groove is formed in the shell, a bearing head, an induction element and a pre-tightening bolt are arranged in the groove, the induction element is a circular pressure sensing piece, the circular pressure sensing piece is arranged at the bottom of the groove, a lead for transmitting signals is connected to the induction element, the bottom of the bearing head is pressed against the circular pressure sensing piece, the top of the bearing head is arranged on the same plane with the shell, a central hole for the pre-tightening bolt to penetrate through is formed in the center of the bearing head, the pre-tightening bolt sequentially penetrates through the bearing head and the induction element, the bearing head and the induction element are fixed in the groove of the shell, and the three-dimensional anti-collision sensor is electrically connected with a signal. The invention adopts a contact sensing principle, accurately and reliably senses the all-around slight collision in space at the first time, thereby avoiding the occurrence of violent collision accidents.)

1. The utility model provides a three-dimensional anticollision sensor, its characterized in that installs between work aircraft nose and motion bracket, including the casing, set up the recess on the casing, be provided with installation carrier head, sensing element and pretension bolt in the recess, sensing element is ring shape pressure sensing piece, ring shape pressure sensing piece sets up the bottom of recess, the last wire that is used for transmitting the signal that is connected with of sensing element, the bottom of installation carrier head supports to press on ring shape pressure sensing piece, the top of installation carrier head with the casing is on the coplanar, the centre bore that supplies the pretension bolt passes is seted up at the center of installation carrier head, pretension bolt passes in proper order the installation carrier head and sensing element will install carrier head and sensing element and fix in the recess of casing.

2. the three-dimensional anti-collision sensor of claim 1, wherein the housing is mounted on a kinematic mount and the working head is mounted on a mounting carrier head.

3. The three-dimensional anti-collision sensor according to claim 2, wherein the housing has a plurality of first mounting holes formed therein for connecting with the kinematic mechanism bracket, the plurality of first mounting holes extending through the housing, and the plurality of first mounting holes being located at four corners of the housing.

4. The three-dimensional anti-collision sensor according to claim 2, wherein the mounting and carrying head is provided with a plurality of second mounting holes connected with the working head, and the second mounting holes are uniformly distributed on the mounting and carrying head.

5. The three-dimensional anti-collision sensor according to claim 1, wherein a disk-shaped spring is further disposed between the pretension bolt and the mounting carrier head.

6. the three-dimensional anti-collision sensor according to claim 1, wherein a pressure-dispersing plate is disposed between the sensing element and the mounting carrier head.

7. The three-dimensional anti-collision sensor according to claim 1, wherein a cover is further disposed above the mounting carrier head.

8. The three-dimensional anti-collision sensor according to claim 1, wherein the housing bottom is provided with an insertion groove and a positioning pin for mounting in the carrier head.

9. A three-dimensional anti-collision sensing processing system, comprising the three-dimensional anti-collision sensor according to any one of claims 1 to 8, and further comprising a signal processor electrically connected to the three-dimensional anti-collision sensor, wherein the signal processor comprises a signal capturing unit, a signal conditioning unit, a signal converting unit, a threshold comparing unit, and a signal outputting unit; when the working machine head collides, the three-dimensional anti-collision sensor transmits a needle point-shaped analog signal;

The signal capturing unit is used for capturing a needle point-shaped analog signal sent by the three-dimensional anti-collision sensor;

The signal conditioning unit amplifies and conditions the amplitude of a needle-point-shaped analog signal transmitted by the three-dimensional anti-collision sensor, so that the energy carried by the analog signal is extended;

The signal conversion unit performs signal conversion to convert the analog signal into a digital signal;

The threshold comparison unit compares the obtained digital signal after digital processing with preset threshold information, when the obtained digital signal exceeds the threshold information, the signal output unit outputs a signal capable of controlling the movement mechanism bracket to stop, and when the obtained digital signal is lower than the threshold information, the signal output unit outputs a signal for controlling the movement mechanism bracket to normally operate.

10. The three-dimensional anti-collision sensor according to claim 9, wherein the threshold information is a set of values not lower than an inertia signal, and the inertia signal is a maximum value of a sensing signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working head to work normally.

Technical Field

The invention relates to the field of sensor equipment, in particular to a three-dimensional anti-collision sensor and an induction processing system.

Background

with the continuous development of science and technology, manual production is gradually replaced by automatic production equipment, a multi-shaft mechanical arm is often used to drive a working machine head to move in automatic industrial production, such as the fields of glue dispensers, spot welding machines, chip mounters, component inserter, automobile part processing, 3C product manufacturing and the like, collision accidents are easy to occur with obstacles such as workpieces, trays, limbs and the like in the process of driving the working machine head to move rapidly by the mechanical arm, once the collision happens, irreversible consequences can be caused, the working machine head is damaged if the collision happens, and personal safety is influenced if the collision happens.

In order to prevent the collision of the working machine head, in the prior art, various protective measures are adopted, such as a limit switch, a distance measuring radar, a laser sensor, a light curtain sensor and the like, but the sensors have certain defects:

A limit switch: the sensor belongs to contact type sensing, only can determine a single direction, has lagged response, is not easy to adjust, is easy to interfere, and is easy to damage due to collision.

Distance radar: the influence of the object condition and the space environment is large, and the moving object is difficult to detect.

A laser sensor: slow reaction, limited measuring space of moving objects, high cost and ineffective shielding.

light curtain sensor: transparent objects cannot be measured, tiny objects cannot be measured, and the installation space is limited.

Therefore, there is an urgent need for a collision-prevention sensor that can measure omni-bearing, is easy to install, and has high performance and fast response.

Disclosure of Invention

The invention aims to provide a three-dimensional anti-collision sensor and an induction processing system, which adopt a contact sensing principle and can accurately and reliably sense all-around slight collision in space at the first time so as to avoid the occurrence and the continuous damage of violent collision accidents.

In order to solve the technical problem, the invention provides a three-dimensional anti-collision sensor which is arranged between a working machine head and a motion mechanism bracket and comprises a shell, the shell is provided with a groove, the groove is internally provided with a bearing head, an induction element and a pre-tightening bolt, the sensing element is a circular ring-shaped pressure sensing piece which is arranged at the bottom of the groove, the sensing element is connected with a lead for transmitting signals, the bottom of the mounting bearing head is pressed against the annular pressure sensing piece, the top of the mounting bearing head and the shell are on the same plane, the center of the mounting bearing head is provided with a central hole for the pre-tightening bolt to pass through, the pre-tightening bolt sequentially penetrates through the mounting bearing head and the sensing element to fix the mounting bearing head and the sensing element in the groove of the shell.

In a preferred embodiment of the present invention, the housing is mounted on a moving mechanism bracket, and the working head is mounted on a mounting carrier head.

in a preferred embodiment of the present invention, the casing further includes a plurality of first mounting holes formed thereon and connected to the motion mechanism bracket, the plurality of first mounting holes penetrate through the casing, and the plurality of first mounting holes are located at four corners of the casing.

In a preferred embodiment of the present invention, the mounting and carrying head further includes a plurality of second mounting holes formed thereon and connected to the working head, and the second mounting holes are uniformly distributed on the mounting and carrying head.

in a preferred embodiment of the present invention, a disk-shaped elastic sheet is further disposed between the pre-tightening bolt and the mounting carrier head.

in a preferred embodiment of the present invention, a pressure dispersible tablet is further disposed between the sensing element and the mounting carrier head.

In a preferred embodiment of the present invention, a cover is further disposed above the mounting carrier head.

In a preferred embodiment of the present invention, the bottom of the housing is provided with an insertion groove and a positioning pin for mounting the carrier head.

In order to solve the above technical problem, the present invention provides a three-dimensional anti-collision sensing processing system, comprising the three-dimensional anti-collision sensor according to any one of claims 1 to 8, and further comprising a signal processor electrically connected to the three-dimensional anti-collision sensor, wherein the signal processor comprises a signal capturing unit, a signal conditioning unit, a signal converting unit, a threshold comparing unit, and a signal outputting unit; when the working machine head collides, the three-dimensional anti-collision sensor transmits a needle point-shaped analog signal;

the signal capturing unit is used for capturing a needle point-shaped analog signal sent by the three-dimensional anti-collision sensor;

The signal conditioning unit amplifies and conditions the amplitude of a needle-point-shaped analog signal transmitted by the three-dimensional anti-collision sensor, so that the energy carried by the analog signal is extended;

The signal conversion unit performs signal conversion to convert the analog signal into a digital signal;

The threshold comparison unit compares the obtained digital signal after digital processing with preset threshold information, when the obtained digital signal exceeds the threshold information, the signal output unit outputs a signal capable of controlling the movement mechanism bracket to stop, and when the obtained digital signal is lower than the threshold information, the signal output unit outputs a signal for controlling the movement mechanism bracket to normally operate.

In a preferred embodiment of the present invention, the threshold information is a set of values not lower than an inertia signal, and the inertia signal is a maximum value of an induction signal transmitted by the three-dimensional anti-collision sensor when the motion mechanism bracket drives the working handpiece to work normally.

The invention has the beneficial effects that:

The three-dimensional anti-collision sensor adopts the annular pressure sensing piece, can sense the collision event in all directions at 360 degrees in space to form a collision sensing signal, is arranged between the working machine head and the motion mechanism bracket, adopts a contact sensing mode, can sense the collision event at the first time, has high response speed and is not influenced by the object condition and the space environment.

The three-dimensional anti-collision induction processing system adopts the signal processor and comprises a signal capturing unit, a signal conditioning unit, a signal conversion unit, a threshold value comparison unit and a signal output unit, and because a signal generated by a collision event is an instant pinpoint signal which is inconvenient for the signal conversion unit to carry out signal conversion, the signal conditioning unit is adopted to carry out amplitude amplification conditioning so that the energy carried by the signal is expanded, the signal attenuation can be effectively overcome, the signal conversion is convenient, the converted digital signal is compared with the threshold value information, the judgment on whether the collision occurs or not can be rapidly carried out, and the false alarm rate of the three-dimensional anti-collision induction processing system can be reduced by setting the threshold value information.

Drawings

Fig. 1 is a schematic diagram of an explosive structure of a three-dimensional collision avoidance sensor of the present invention;

Fig. 2 is a schematic view of a mounting structure of the three-dimensional collision avoidance sensor of the present invention;

Fig. 3 is a schematic block diagram of a three-dimensional anti-collision sensing processing system of the present invention.

the reference numbers in the figures illustrate: 1. a housing; 2. a groove; 3. mounting a bearing head; 4. an inductive element; 5. pre-tightening the bolts; 6. a disk-shaped spring plate; 7. pressure dispersible tablets; 8. sealing the cover; 9. positioning pins; 10. a first mounting hole; 11. a second mounting hole; 13. a working machine head; 14. a motion mechanism bracket; 15. and (6) switching the blocks.

Detailed Description

the present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

referring to fig. 1, an embodiment of the three-dimensional anti-collision sensor of the present invention, installed between a working head 13 and a moving mechanism carriage 14, includes a housing 1, a groove 2 is arranged on the shell 1, a bearing head 3, an induction element 4 and a pre-tightening bolt 5 are arranged in the groove 2, the sensing element 4 is a circular ring-shaped pressure sensing piece which is arranged at the bottom of the groove 2, the induction element 4 is connected with a lead for transmitting signals, the bottom of the mounting bearing head 3 is pressed against the circular pressure sensing sheet, the top of the mounting bearing head 3 and the shell 1 are on the same plane, the center of the mounting bearing head 3 is provided with a center hole for the pre-tightening bolt 5 to pass through, the pre-tightening bolt 5 sequentially penetrates through the mounting bearing head 3 and the induction element 4, and the mounting bearing head 3 and the induction element 4 are fixed in the groove 2 of the shell 1.

Referring to fig. 1-2, specific installation positions of the three-dimensional anti-collision sensor in this embodiment are as follows: casing 1 is installed on motion mechanism bracket 14, set up on casing 1 with a plurality of first mounting hole 10 that motion mechanism bracket 14 is connected, it is a plurality of first mounting hole 10 runs through casing 1, it is a plurality of first mounting hole 10 is located four angle departments of casing 1, work aircraft nose 13 is installed and is born on head 3 in the installation, set up a plurality of second mounting hole 11 of being connected with work aircraft nose 13 on the installation bears head 3, second mounting hole 11 evenly distributed is in on the installation bears head 3, in this embodiment, installation bear head 3 through connect piece 15 with work aircraft nose 13 is connected.

Specifically, no matter the work aircraft nose 13 in this embodiment moves from any direction, when taking place slight collision, because work aircraft nose 13 and installation bear first 3 fixed connection, work aircraft nose 13 all can the extrusion installation bear first 3, installation bears first 3 and supports and press at ring shape pressure sensing piece, and the extrusion force that installation bears first 3 and receives must can transmit ring shape pressure sensing piece on, and ring shape pressure sensing piece passes through the wire and spreads out the signal of extrusion deformation, forms collision sensing signal, forces motion mechanism bracket 14 to shut down fast, reduces the violent degree of collision accident by a wide margin, avoids collision energy to cause and lasts the destruction.

Preferably, a dish-shaped elastic sheet 6 is further arranged between the pre-tightening bolt 5 and the mounting bearing head 3, the dish-shaped elastic sheet 6 can prevent the pre-tightening bolt 5 from loosening, when the pre-tightening bolt 5 looses, the dish-shaped elastic sheet 6 releases partial potential energy to keep the pressure between the pre-tightening bolt 5 and the mounting bearing head 3 to meet the preset requirement, and the stress distribution of the dish-shaped elastic sheet 6 is uniformly decreased from inside to outside, so that the effect of low stroke and high compensation force can be realized, and the transmission efficiency of the extrusion force during collision accidents is increased.

preferably, a pressure dispersion sheet 7 is arranged between the sensing element 4 and the mounting carrier head 3, and the pressure dispersion sheet 7 is padded above the sensing element 4 and used for dispersing local pressure after collision and protecting the sensing element 4 from being damaged during collision.

Preferably, a sealing cover 8 is further disposed above the mounting and carrying head 3, and the mounting and carrying head 3 is sealed by the sealing cover 8, so as to prevent dust from entering and affecting the accuracy of the inductive element 4, and to enable the inductive element 4 to be located in a relatively shielded space, thereby preventing the external environment from causing electromagnetic interference to the inductive element 4.

Preferably, the bottom of the housing 1 is provided with a positioning pin 9 inserted into the groove 2 and the mounting carrier head 3, and the positioning pin 9 fixes the position of the mounting carrier head 3 in the housing 1 to prevent the mounting carrier head 3 from rotating in the housing 1.

referring to fig. 3, an embodiment of the three-dimensional anti-collision sensing processing system according to the present invention includes the three-dimensional anti-collision sensor, and the three-dimensional anti-collision sensing processing system further includes a signal processor electrically connected to the three-dimensional anti-collision sensor, where the signal processor includes a signal capture unit, a signal conditioning unit, a signal conversion unit, a threshold comparison unit, and a signal output unit; when the working machine head collides, the three-dimensional anti-collision sensor can transmit a needle point-shaped analog signal due to instantaneous deformation after collision;

the signal capturing unit is used for capturing a needle point-shaped analog signal sent by the three-dimensional anti-collision sensor and transmitting the signal to the signal capturing unit;

Because the needle-point-shaped analog signals are inconvenient for the signal conversion unit to carry out signal conversion, the signal conditioning unit is used for carrying out amplitude amplification conditioning on the needle-point-shaped analog signals transmitted by the three-dimensional anti-collision sensor, so that the energy carried by the signals is extended;

The signal conversion unit is used for carrying out signal conversion and converting the analog signal into a digital signal, so that kinetic energy impulse generated by mechanical collision deformation is converted into electric energy carried by the analog signal and finally converted into digital information, and the aim of quantitative comparison is fulfilled;

The threshold comparison unit compares the obtained digital information with preset threshold information, when the obtained digital information exceeds the threshold information, the signal output unit outputs a signal capable of controlling the movement mechanism bracket to stop, and when the obtained digital information is lower than the threshold information, the signal output unit outputs a signal for controlling the movement mechanism bracket to normally operate.

Specifically, threshold value information is a set of numerical value that is not less than inertial signal, inertial signal is the maximum value of the sensing signal that motion mechanism bracket drove work aircraft nose normal during operation three-dimensional anticollision sensor and spread, in order to further prevent the emergence of wrong report, when setting up threshold value information, still can improve 30% ~ 100% on the basis of the maximum value of the sensing signal that motion mechanism bracket measured drove work aircraft nose normal during operation three-dimensional anticollision sensor and spread, as factor of safety, prevents the condition of wrong report.

the above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.