CN202271384U - Real-time failure detection device of hybrid driven flexible wire parallel robot - Google Patents
Real-time failure detection device of hybrid driven flexible wire parallel robot Download PDFInfo
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- CN202271384U CN202271384U CN2011203487016U CN201120348701U CN202271384U CN 202271384 U CN202271384 U CN 202271384U CN 2011203487016 U CN2011203487016 U CN 2011203487016U CN 201120348701 U CN201120348701 U CN 201120348701U CN 202271384 U CN202271384 U CN 202271384U
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Abstract
The utility model discloses a real-time failure detection device of a hybrid driven flexible wire parallel robot. The device comprises three parts, namely a sensor group, a signal processing center and a control center. When the parallel robot runs, the sensor group is connected with a measurement industrial personal computer of the signal processing center through a conditioning circuit and a wireless sending and receiving circuit, the measurement industrial personal computer of the signal processing center is connected with a main industrial personal computer of the control center through a communication device, and the industrial personal computer is connected with a vision sensor in the sensor group through a servo motor, so signal acquisition, signal conditioning, signal analysis, final motor positioning and failure point displaying on the vision sensor are finished. The device has the advantages that: common various failures of the robot can be effectively and timely detected; a system is quick in response and high in signal processing ability, reliability and working efficiency; failure points can be precisely and effectively detected; and the site state of the industrial personal computer can be observed directly due to the adoption of the vision sensor.
Description
Technical field
The utility model relates to a kind of Three Degree Of Freedom robot checkout gear and method, particularly a kind of combination drive rope parallel robot real time fail checkout gear that softens.
Background technology
The gentle rope parallel robot of Three Degree Of Freedom combination drive is applied to fields such as big part assembling, motion simulation, space articulation, processing and manufacturing rapidly with characteristics such as its high rigidity, high accuracy, high capacity and compact conformations.In number of patent application is 200910233341.2 patent documentation; " spatial three-dimensional translational degree of freedom (DOF) combination drive flexible cable parallel mechanism " disclosed; The gentle rope parallel robot mechanism of this combination drive has created special hybrid drive; This mechanism is a kind of novel, simple in structure, and compatible characteristics of the high efficiency of traditional parallel robot, high-bearing capacity, high adjustability and heavy load running etc., remedied the defective that flexibility that traditional mechanical lacks and servo control mechanism can not bear big load.Realize the gentle rope parallel robot of the new spatial three-dimensional translating free degree of high-performance motion output.In number of patent application is 201010580191.5 patent documentation; " gentle rope parallel robot control device of Three Degree Of Freedom combination drive and method " disclosed; Flexibility, stability and the accuracy of the gentle rope parallel robot motion of perfect this combination drive provide a kind of gentle rope parallel robot control device of novel, the comparatively advanced spatial three-dimensional translational free degree and method.Though remedied the inertia of parallel institution big, non-linear and the parameter perturbation, weight block that the are subject to system model influence of external interference such as RANDOM WIND at the volley; But still occur parallel robot easily and comprise outage, faults such as load overload etc.; Can not realize real-time monitoring; Can not guarantee the efficiency operation of parallel robot, directly influence mechanism stability and reliability, the safety in utilization of robot and life-span also will reduce greatly.
Summary of the invention
The purpose of the utility model is that a kind of combination drive rope parallel robot real time fail checkout gear that softens will be provided; Solve parallel robot and occur comprising faults such as outage, load overload easily; Can not realize real-time monitoring; The efficiency operation of parallel robot be can not guarantee, mechanism stability and reliability problems directly influenced.
The purpose of the utility model realizes through following technical scheme: the checkout gear of the utility model mainly is made up of sensor groups, signal processing center and control centre's three parts; Wherein said sensor groups comprises gravity sensor, grating displacement sensor, tension pick-up, vision sensor; Described signal processing center comprises signal conditioning circuit, wireless signal transmission circuit, micro controller unit and measurement industrial computer; Described control centre comprises warning circuit, feedback circuit, main industrial computer, display device and servomotor; When parallel robot moves; Sensor groups is connected with the measurement industrial computer of signal processing center through modulate circuit and wireless transceiver circuit; The measurement industrial computer of signal processing center is connected with the main industrial computer of control centre through communicator; Main industrial computer links to each other with vision sensor in the sensor groups through servomotor, and signals collecting, conditioning, analysis and final motor are located, vision sensor presents the trouble point thereby accomplish.
Described sensor groups has 10 sensors, comprises 1 of gravity sensor, 3 of grating displacement sensors, 4 and 2 vision sensors of tension pick-up; Wherein said gravity sensor and grating displacement sensor are installed on the article carrying platform of gentle rope parallel robot, and tension pick-up is installed on four gentle ropes; On described 3 grating displacement sensor article carrying platforms, 3 grating displacement sensor displacements of measured X direction, Y direction, Z direction respectively; Described 4 tension pick-ups are installed in respectively on 4 gentle ropes, and each group structure is identical; Described 2 vision sensors are installed in the top and the bottom of parallel robot platform respectively, and gentle rope and the weight to parallel institution carries out video monitoring respectively, and each sensor all is connected to the signal conditioning circuit of signal processing center.
Described signal processing center comprises signal conditioning circuit, mould/number conversion chip, micro controller unit, clock chip, wireless signal transceiving chip, wireless signal antenna, outside expanded circuit interface and measures industrial computer; Wherein said 2 wireless signal transceiving chips are connected with 2 wireless signal antennas respectively and form 2 receiving and transmitting signal groups; Clock chip inserts micro controller unit and measures industrial computer; Signal conditioning circuit links to each other with modulus conversion chip; Modulus conversion chip is connected with micro controller unit; The output of micro controller unit is received one group of wireless signal and is sent chip and outside expanded circuit interface, and another receiving and transmitting signal group inserts measures industrial computer.
Described control centre comprises main industrial computer, alarm module, LED display module, LCD display module and servomotor; Described alarm module, LED display module, LCD display module and servomotor are connected with main industrial computer respectively; Main industrial computer is connected with the parallel robot control system of control device, and the output of servomotor links to each other with the vision sensor that is installed in table top.
Beneficial effect: gentle compound real time fail checkout gear of rope parallel robot multisensor of this Three Degree Of Freedom combination drive and method can detect the various common fault of robot effectively, timely.The distribution pattern that adopts has that system responses is quick, information processing capability strong, good reliability; The multisensor composite construction that adopts can more accurate and effective detection failure point; The wireless receiving and dispatching structure has improved the anti-interference of system, more convenient layout various kinds of sensors; The vision sensor that adopts can in time be observed the industry control field conditions intuitively.The application of the utility model can strengthen the stability and the reliability of the gentle rope parallel robot of combination drive greatly, thereby improves the operating efficiency of parallel robot.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the control principle block diagram of the utility model.
The specific embodiment
An embodiment to the utility model is described further below in conjunction with accompanying drawing:
As shown in Figure 1, the main primary structure that represents said checkout gear with the gentle artificial platform of rope combination drive parallel manipulator of Three Degree Of Freedom.The gentle rope combination drive parallel robot of the Three Degree Of Freedom of the utility model mainly by four gentle ropes,,,, 4, one vision sensor supports of 1, four hybrid drive of a 3-freedom parallel mechanism platform, 3, one article carrying platforms of 2, four gentle Sarasotas 5 constitute.Wherein four gentle Sarasotas become rectangle vertically to be fixed on the 3-freedom parallel mechanism platform, four gentle ropes,,, two ends are connected with four hybrid drives with article carrying platform respectively, and are around on the pulley of gentle Sarasota.Vision sensor vertically is fixed on the 3-freedom parallel mechanism platform, and support one end extends to the article carrying platform upper end, and the other end extends to the article carrying platform lower end.Said article carrying platform will be placed weight block.In this instance, gravity sensor A selects the piezoelectric type gravity sensor for use, is pasted on the article carrying platform.Displacement transducer B selects three similar grating displacement sensors for use, is respectively directions X grating displacement sensor, Y direction grating displacement sensor, Z direction grating displacement sensor, is pasted on the article carrying platform equally.Tension pick-up C selects four similar strain chip tension pick-ups for use, respectively correspondence be pasted on four gentle ropes,,, on, be respectively first tension pick-up, second tension pick-up, the 3rd tension pick-up, the 4th tension pick-up.Said vision sensor,, select two similar CCD vision image sensors for use, be installed on vision sensor support upper end, be installed on vision sensor support lower end.
Among Fig. 2, the utility model mainly comprises sensor groups, signal processing center and control centre's three parts composition.Sensor groups is connected with the measurement industrial computer of signal processing center through modulate circuit and wireless transceiver circuit; The measurement industrial computer of signal processing center is connected with the main industrial computer of control centre through communicator, and main industrial computer passes through servomotor and links to each other with vision sensor in the sensor groups.Described sensor groups has 10 sensors, comprises 1 of gravity sensor, 3 of grating displacement sensors, 4 and 2 vision sensors of tension pick-up.Wherein gravity sensor and grating displacement sensor are installed on the article carrying platform of gentle rope parallel robot, and tension pick-up is installed on four gentle ropes.Described 3 grating displacement sensors are installed on the article carrying platform respectively; 3 grating displacement sensor displacements of measured X direction, Y direction, Z direction respectively; 4 tension pick-ups on gentle rope; Each group structure is identical, and 2 vision sensors are installed in the top and the bottom of vision sensor support respectively, and gentle rope and the weight to parallel institution carries out video monitoring respectively.Each sensor all is connected to the signal conditioning circuit of signal processing center.Described signal processing center comprises signal conditioning circuit, mould/number conversion chip, micro controller unit, clock chip, wireless signal transceiving chip, wireless signal antenna, outside expanded circuit interface and measures industrial computer.Wherein 2 wireless signal transceiving chips are connected with 2 wireless signal antennas respectively and form 2 receiving and transmitting signal groups; Clock chip inserts micro controller unit and measures industrial computer; Signal conditioning circuit links to each other with modulus conversion chip; Modulus conversion chip is connected with micro controller unit, receives one group of wireless signal from micro controller unit and sends chip and outside expanded circuit interface, and another receiving and transmitting signal group inserts measures industrial computer.Described control centre comprises main industrial computer, alarm module, LED display module, LCD display module and servomotor.Alarm module, LED display module, LCD display module and servomotor are connected respectively at main industrial computer, and main industrial computer is connected with the parallel robot control system of control device, and the output of servomotor links to each other with the vision sensor that is installed in table top.Described wireless receiving and dispatching is that UWB radio transmitting and receiving chip and PCB antenna are formed; Wherein the output of UWB wireless transmission chip is connected with the PCB antenna; The input of receiving chip is connected with antenna, and the UWB transmitting chip is connected with the measurement industrial computer respectively at micro-control unit again.Described communicator is selected for use private communication RS-232/RS-485 converter to be used for the master control industrial computer and is measured the communication between the industrial computer.Adopt isa bus to link to each other between the controller, the setting, the program that are used for equipment are downloaded and operating signal transmission.
Claims (4)
1. the gentle rope parallel robot real time fail checkout gear of a combination drive, it is characterized in that: checkout gear comprises sensor groups, signal processing center and control centre's three parts; Wherein said sensor groups comprises gravity sensor, grating displacement sensor, tension pick-up, vision sensor; Described signal processing center comprises signal conditioning circuit, wireless signal transmission circuit, micro controller unit and measurement industrial computer; Described control centre comprises warning circuit, feedback circuit, main industrial computer, display device and servomotor; When parallel robot moves; Sensor groups is connected with the measurement industrial computer of signal processing center through modulate circuit and wireless transceiver circuit; The measurement industrial computer of signal processing center is connected with the main industrial computer of control centre through communicator; Main industrial computer links to each other with vision sensor in the sensor groups through servomotor, and signals collecting, conditioning, analysis and final motor are located, vision sensor presents the trouble point thereby accomplish.
2. the combination drive according to claim 1 rope parallel robot real time fail checkout gear that softens; It is characterized in that: described sensor groups has 10 sensors, comprises 1 of gravity sensor, 3 of grating displacement sensors, 4 and 2 vision sensors of tension pick-up; Wherein said gravity sensor and grating displacement sensor are installed on the article carrying platform of gentle rope parallel robot, and tension pick-up is installed on four gentle ropes; On described 3 grating displacement sensor article carrying platforms, 3 grating displacement sensor displacements of measured X direction, Y direction, Z direction respectively; Described 4 tension pick-ups are installed in respectively on 4 gentle ropes, and each group structure is identical; Described 2 vision sensors are installed in the top and the bottom of parallel robot platform respectively, and gentle rope and the weight to parallel institution carries out video monitoring respectively, and each sensor all is connected to the signal conditioning circuit of signal processing center.
3. the combination drive according to claim 1 rope parallel robot real time fail checkout gear that softens; It is characterized in that: described signal processing center comprises signal conditioning circuit, mould/number conversion chip, micro controller unit, clock chip, wireless signal transceiving chip, wireless signal antenna, outside expanded circuit interface and measures industrial computer; Wherein said 2 wireless signal transceiving chips are connected with 2 wireless signal antennas respectively and form 2 receiving and transmitting signal groups; Clock chip inserts micro controller unit and measures industrial computer; Signal conditioning circuit links to each other with modulus conversion chip; Modulus conversion chip is connected with micro controller unit, and the output of micro controller unit is received one group of wireless signal and sent chip and outside expanded circuit interface, and another receiving and transmitting signal group inserts measures industrial computer.
4. the combination drive according to claim 1 rope parallel robot real time fail checkout gear that softens; It is characterized in that: described control centre comprises main industrial computer, alarm module, LED display module, LCD display module and servomotor; Described alarm module, LED display module, LCD display module and servomotor are connected with main industrial computer respectively; Main industrial computer is connected with the parallel robot control system of control device, and the output of servomotor links to each other with the vision sensor that is installed in table top.
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| CN2011203487016U CN202271384U (en) | 2011-09-19 | 2011-09-19 | Real-time failure detection device of hybrid driven flexible wire parallel robot |
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| CN2011203487016U CN202271384U (en) | 2011-09-19 | 2011-09-19 | Real-time failure detection device of hybrid driven flexible wire parallel robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431036A (en) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | Hybrid-driven wire parallel robot real-time fault detection device and method |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN104440877A (en) * | 2014-11-06 | 2015-03-25 | 清华大学 | Rope parallel robot for overhauling large vertical storage tank |
| CN105690403A (en) * | 2016-04-18 | 2016-06-22 | 李伟民 | Steel cable robot |
| CN106826770A (en) * | 2017-03-17 | 2017-06-13 | 中国民航大学 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
| CN107813342A (en) * | 2017-10-31 | 2018-03-20 | 西安科技大学 | A kind of wire saws parallel robot Trinity structural stability evaluation method |
| CN111216844A (en) * | 2020-02-14 | 2020-06-02 | 武汉理工大学 | Traction system applied to tunnel ship navigation |
-
2011
- 2011-09-19 CN CN2011203487016U patent/CN202271384U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431036A (en) * | 2011-09-19 | 2012-05-02 | 中国矿业大学 | Hybrid-driven wire parallel robot real-time fault detection device and method |
| CN102431036B (en) * | 2011-09-19 | 2014-07-16 | 中国矿业大学 | Hybrid-driven wire parallel robot real-time fault detection device and method |
| CN103831819A (en) * | 2014-03-12 | 2014-06-04 | 合肥工业大学 | Modularized reconstructible soft rope parallel mechanism experiment platform |
| CN103831819B (en) * | 2014-03-12 | 2015-11-18 | 合肥工业大学 | A kind of modular reconfigurable flexible cable parallel mechanism experiment porch |
| CN104440877A (en) * | 2014-11-06 | 2015-03-25 | 清华大学 | Rope parallel robot for overhauling large vertical storage tank |
| CN104440877B (en) * | 2014-11-06 | 2016-01-20 | 清华大学 | A kind of large-scale vertical storage tank maintenance rope parallel robot |
| CN105690403A (en) * | 2016-04-18 | 2016-06-22 | 李伟民 | Steel cable robot |
| CN106826770A (en) * | 2017-03-17 | 2017-06-13 | 中国民航大学 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
| CN107813342A (en) * | 2017-10-31 | 2018-03-20 | 西安科技大学 | A kind of wire saws parallel robot Trinity structural stability evaluation method |
| CN111216844A (en) * | 2020-02-14 | 2020-06-02 | 武汉理工大学 | Traction system applied to tunnel ship navigation |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120613 Termination date: 20140919 |
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| EXPY | Termination of patent right or utility model |