CN208505449U - A kind of special-shaped workpiece detection grabbing device based on supersonic array - Google Patents
A kind of special-shaped workpiece detection grabbing device based on supersonic array Download PDFInfo
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- CN208505449U CN208505449U CN201821234875.8U CN201821234875U CN208505449U CN 208505449 U CN208505449 U CN 208505449U CN 201821234875 U CN201821234875 U CN 201821234875U CN 208505449 U CN208505449 U CN 208505449U
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Abstract
The utility model discloses a kind of, and the special-shaped workpiece based on supersonic array detects grabbing device, including frame, array of ultrasonic sensors fixed plate, gasket, transport box, weighing sensor, array of ultrasonic sensors, control cabinet, single-chip microcontroller, power module, key switch, display screen, buzzer and mechanical arm；The top for being fixed on frame on one side of array of ultrasonic sensors fixed plate, another side are equipped with array of ultrasonic sensors；Array of ultrasonic sensors is rearranged by ultrasonic sensor, and transport box can be completely covered；Each ultrasonic sensor is connect with single-chip microcontroller；Weighing sensor is mounted on the bottom of frame, and the upper end is connect with gasket, and is connect with single-chip microcontroller；Transport box is placed on gasket；Control cabinet is mounted on frame；Single-chip microcontroller, power module, key switch, display screen and buzzer are installed in control cabinet；Mechanical arm, buzzer, display screen, key switch and power module are connect with single-chip microcontroller.
Description
Technical field
The utility model relates to workpiece sensing and crawl field, specifically a kind of special-shaped workpiece detection based on supersonic array
Grabbing device.
Background technique
The form of workpiece is various, can be divided into regular and irregular two types, and the crawl of regular workpiece is very convenient,
But there are many problems for the crawl of irregular workpiece: 1, piece count is indefinite: workpiece shapes irregularly lead to each transport box
Middle piece count is uncertain；2, workpiece is lodged and left: workpiece shapes irregularly lead to put irregular, crawl in transport box
It may cause the lodging of other workpiece in workpiece fabrication or even workpiece omission occur；3, human problems: needing manpower intervention, and checking is
The no residue for having workpiece, cost of labor is high, and low efficiency.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of based on supersonic array
Special-shaped workpiece detect grabbing device.
The technical solution that the utility model solves the technical problem is to provide a kind of special-shaped workpiece based on supersonic array
Detect grabbing device, it is characterised in that the device includes frame, array of ultrasonic sensors fixed plate, gasket, transport box, weighing
Sensor, array of ultrasonic sensors, control cabinet, single-chip microcontroller, power module, key switch, display screen, buzzer and machinery
Arm；
The top for being fixed on frame on one side of the array of ultrasonic sensors fixed plate, another side are equipped with ultrasonic wave biography
Sensor array；The array of ultrasonic sensors is rearranged by ultrasonic sensor, and transport box can be completely covered；It is each super
Sonic sensor is connect with single-chip microcontroller；The weighing sensor is mounted on the bottom of frame, and the upper end is connect with gasket, and
It is connect with single-chip microcontroller；Transport box is placed on the gasket；The control cabinet is mounted on frame；The single-chip microcontroller, power module,
Key switch, display screen and buzzer are installed in control cabinet；The mechanical arm, buzzer, display screen, key switch and electricity
Source module is connect with single-chip microcontroller.
Compared with prior art, the utility model beneficial effect is:
(1) for the device in known single workpiece and transfer box weight, weighing sensor is to the workpiece in transport box
Weigh, obtain the number of workpiece, after device grabbing workpiece, weigh transport box again, if weight is referred to as transhipment
Case self weight then workpiece exhaustive, otherwise alarm has workpiece omission.
(2) in terms of the device workpiece grabbing path planning, the distance of workpiece is measured using array of ultrasonic sensors, really
The arrangement situation of the position of highest workpiece and workpiece in transport box is determined, to carry out workpiece grabbing by planning path.And aobvious
The number pieces after number pieces and crawl when showing the screen display time, starting, are observed convenient for patrol.
(3) device reduces required worker's number, saves the time, reduces cost, and can find to grab faster
Lodging phenomenon during taking and leave phenomenon.
Detailed description of the invention
Fig. 1 is a kind of special-shaped workpiece detection grabbing device overall structure of embodiment of the utility model based on supersonic array
Main view.
Fig. 2 is a kind of special-shaped workpiece detection grabbing device overall structure of embodiment of the utility model based on supersonic array
Left view.
Fig. 3 is the module connection that the utility model detects a kind of embodiment of grabbing device based on the special-shaped workpiece of supersonic array
Schematic block diagram.
Specific embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described originally practical new
Type does not limit the protection scope of the claim of this application.
The utility model provides a kind of special-shaped workpiece detection grabbing device based on supersonic array (referring to Fig. 1-3, referred to as
Device), it is characterised in that the device includes frame 1, array of ultrasonic sensors fixed plate 2, gasket 3, transport box 4, weighing biography
Sensor 5, array of ultrasonic sensors 6, control cabinet 7, single-chip microcontroller 8, power module 9, key switch 10, display screen 11, buzzer
12 and mechanical arm 13；
The frame 1 is the main body cover of device；The array of ultrasonic sensors fixed plate 2 is fixed on frame on one side
1 top is equipped with array of ultrasonic sensors 6 for insulation durable material, such as organic glass, another side；The ultrasound
Wave sensor array 6 is made of ultrasonic sensor close-packed arrays, and transport box 4, i.e. ultrasonic sensor battle array can be completely covered
The area of column 6 be not less than transport box 4 upper surface area, for measure measurement workpiece surface and ultrasonic sensor between away from
From；Each ultrasonic sensor is connect with single-chip microcontroller 8, and the data measured are transferred to single-chip microcontroller 8；Each ultrasonic sensor
Height apart from horizontal plane of transmitting terminal and receiving end it is all the same；Hair between two neighboring ultrasonic sensor in the row direction
The transmitting terminal phase of sending end and receiving end arranged for interval, the i.e. receiving end of this ultrasonic sensor and next ultrasonic sensor
It is adjacent；The transmitting terminal between two neighboring ultrasonic sensor and receiving end are adjacently positioned in a column direction, i.e. this supersonic sensing
The receiving end of device is adjacent with the receiving end of next ultrasonic sensor, the transmitting terminal of this ultrasonic sensor and next ultrasound
The transmitting terminal of wave sensor is adjacent；The weighing sensor 5 is mounted on the bottom of frame 1, and the upper end connect with gasket 3, is used to
The weight of transport box 4 and workpiece is measured, and is connect with single-chip microcontroller 8, the data measured are transferred to single-chip microcontroller 8；The gasket 3
Upper placement transport box 4, for protecting weighing sensor 5 and to 4 one planar supports of transport box；The control cabinet 7 is mounted on
On frame 1；The single-chip microcontroller 8 is mounted in control cabinet 7, is the control centre of whole system；The power module 9 is mounted on control
In case 7 processed, power supply is provided for entire control system；The key switch 10 is mounted in control cabinet 7, controls opening for whole system
It is disconnected；The display screen 11 is mounted in control cabinet 7, the work after number pieces and crawl when for showing the time, starting
Number of packages mesh；The buzzer 12 is mounted on the top of frame 1, sounds an alarm in the case where there is the remaining situation of workpiece.The mechanical arm
13, buzzer 12, display screen 11, key switch 10 and power module 9 are connect with single-chip microcontroller 8.
The HC-SR04 ultrasound measurement module of the model Risym company of the ultrasonic sensor, measurement distance are 2cm
To 450cm, precision is up to 3mm, incudes angle very much not in 15 degree.
The working principle and workflow of special-shaped workpiece detection grabbing device of the utility model based on supersonic array are:
(1) when working beginning, transport box 4 is transported in frame 1, is placed on gasket 3, connects by whole device initialization
Energization source module 9, whole device is powered, and presses the button switch 10, starter；
(2) entire detection process is completed in transport box transport process, to save the time；Weighing sensor 5 is surveyed first
The total weight (G gross weight) of transport box 4 is measured, and the data measured are transferred to single-chip microcontroller 8, single-chip microcontroller 8 is by the transport box 4 that sets
Weight (G transport box) and each workpiece weight (G workpiece), calculate the Number of Jobs (N) in transport box 4, calculation formula
Are as follows: N=(G gross weight-G transport box)/G workpiece shows Number of Jobs N on display screen 11, and number is observed and recorded convenient for worker
According to；Meanwhile single-chip microcontroller 8 sends a signal to array of ultrasonic sensors 6, ultrasonic sensor can issue ultrasonic wave to transport box 4
Surface piece, and the ultrasonic wave returned is received by array of ultrasonic sensors 6, and time interval (t) will be obtained and be transferred to
The distance between ultrasonic sensor and surface piece s can be obtained by formula s=340t/2 in single-chip microcontroller 8.Because of ultrasonic probe
It can be said that being point sound source, but its sending is spherical wave.It is exactly field angle that ultrasonic probe, which has an important parameter,
Field angle refers to using the extended line of sensor central axes as axis, thus outward, until energy intensity is reduced at half (- 3dB),
This angle is referred to as field angle.Ultrasonic wave in field angle can be used as significant wave and measure, but in beam angle range
The ultrasonic wave with certain energy is equally existed outside, if two beam ultrasonic waves at a distance of closer, may generate interference each other.
Therefore, each ultrasonic sensor in array of ultrasonic sensors 6 cannot carry out simultaneously in measurement；First by triangle letter
Number theorem calculates the minimum distance that ultrasonic wave does not interfere with each other, H=h*tan7.5 ° of minimum distance, and h is ultrasonic sensor battle array
Column 6 arrive the distance of 4 bottom of transport box；Data are successively sent and received by ultrasonic sensor by this minimum distance, entire ultrasound
A length of 45mm of wave sensor array, width 20mm；With behavior example, the ultrasonic wave in a line determined according to this minimum distance is passed
Length/H of sensor number n=array of ultrasonic sensors, n is positive integer, and when there is remainder, n rounds up；Ultrasonic sensor
Transmitting terminal S (1+n) issue ultrasonic wave, and by the receiving end M (1+n) of ultrasonic sensor receive return ultrasonic wave, when
When single-chip microcontroller 8 receives the data of ultrasonic sensor measurement, the transmitting terminal S (2+n) for controlling ultrasonic sensor is emitted into ultrasound
Wave, and the ultrasonic wave returned is received by the receiving end M (2+n) of ultrasonic sensor；The similarly ultrasonic sensor on planning column；
Thus measurement method had not only been avoided that the interference between ultrasonic sensor, but also can quickly detect the position of workpiece；Single-chip microcontroller 8 will connect
The data received are compared, and the workpiece of the top in transport box 4 is judged according to distance s value；
(3) after judging, single-chip microcontroller 8 will cook up Optimal Grasp path, Optimal Grasp path are as follows: grab first most
Upper end workpiece, then grab time high point ... and grabbed until by the biggish point of gap；Then press by close from one jiao in transport box 4 and
Remote path order crawl, until grabbing workpiece sum n times；It is optimal according to what is planned that single-chip microcontroller 8 will control mechanical arm 13
Crawl path is grabbed, and can reduce lodging phenomenon in this way；After mechanical arm 13 completes crawl task, weighing sensor 5 will
Weighing measurement can be carried out again, and transfers data to single-chip microcontroller 8, and single-chip microcontroller 8 presses formula N=(G gross weight-G transport box)/G work
Part calculates workpiece either with or without residue, if not having workpiece remaining in transport box 4, can show that workpiece grabbing is complete in display screen 11
Finish；If there is workpiece residue, then remaining number pieces can be shown, and single-chip microcontroller 8 can control buzzer 12 and sound the alarm, and mention
Wake up patrol worker；
(4) after the completion of crawl, patrol worker presses the button switch 10, device is closed, and the confession for module 9 of cutting off the power
Electricity.
The utility model does not address place and is suitable for the prior art.
Claims (5)
1. a kind of special-shaped workpiece based on supersonic array detects grabbing device, it is characterised in that the device includes frame, ultrasonic wave
Sensor array fixed plate, gasket, transport box, weighing sensor, array of ultrasonic sensors, control cabinet, single-chip microcontroller, power supply mould
Block, key switch, display screen, buzzer and mechanical arm；
The top for being fixed on frame on one side of the array of ultrasonic sensors fixed plate, another side are equipped with ultrasonic sensor
Array；The array of ultrasonic sensors is rearranged by ultrasonic sensor, and transport box can be completely covered；Each ultrasonic wave
Sensor is connect with single-chip microcontroller；The weighing sensor is mounted on the bottom of frame, and the upper end is connect with gasket, and with list
The connection of piece machine；Transport box is placed on the gasket；The control cabinet is mounted on frame；The single-chip microcontroller, power module, key
Switch, display screen and buzzer are installed in control cabinet；The mechanical arm, buzzer, display screen, key switch and power supply mould
Block is connect with single-chip microcontroller.
2. the special-shaped workpiece according to claim 1 based on supersonic array detects grabbing device, it is characterised in that ultrasonic wave
Sensor array fixed plate is insulating materials.
3. the special-shaped workpiece according to claim 1 based on supersonic array detects grabbing device, it is characterised in that Mei Gechao
Height of the transmitting terminal and receiving end of sonic sensor apart from horizontal plane is all the same.
4. the special-shaped workpiece according to claim 1 based on supersonic array detects grabbing device, it is characterised in that the side of being expert at
Transmitting terminal and receiving end arranged for interval between upward two neighboring ultrasonic sensor；Two neighboring ultrasonic wave in a column direction
Transmitting terminal and receiving end between sensor are adjacently positioned.
5. the special-shaped workpiece according to claim 1 based on supersonic array detects grabbing device, it is characterised in that described super
The HC-SR04 ultrasound measurement module of the model Risym company of sonic sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234875.8U CN208505449U (en) | 2018-08-02 | 2018-08-02 | A kind of special-shaped workpiece detection grabbing device based on supersonic array |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821234875.8U CN208505449U (en) | 2018-08-02 | 2018-08-02 | A kind of special-shaped workpiece detection grabbing device based on supersonic array |
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| CN208505449U true CN208505449U (en) | 2019-02-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709621A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection grabbing device based on supersonic array |
| CN111999779A (en) * | 2020-10-28 | 2020-11-27 | 天津开发区精诺瀚海数据科技有限公司 | Special-shaped metal workpiece intelligent transfer box based on photoelectric sensor |
-
2018
- 2018-08-02 CN CN201821234875.8U patent/CN208505449U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108709621A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection grabbing device based on supersonic array |
| CN108709621B (en) * | 2018-08-02 | 2024-04-26 | 河北工业大学 | Abnormal workpiece detection grabbing device based on ultrasonic array |
| CN111999779A (en) * | 2020-10-28 | 2020-11-27 | 天津开发区精诺瀚海数据科技有限公司 | Special-shaped metal workpiece intelligent transfer box based on photoelectric sensor |
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