CN217331035U

CN217331035U - Cantilever shaft position detection system

Info

Publication number: CN217331035U
Application number: CN202220449975.2U
Authority: CN
Inventors: 李�杰
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-03-03
Filing date: 2022-03-03
Publication date: 2022-08-30
Anticipated expiration: 2032-03-03

Abstract

The utility model provides a cantilever shaft position detecting system. The cantilever shaft position detection system comprises a position detection mechanism, the position detection mechanism comprises a laser emitting device and a laser position detection device, the laser emitting device is used for emitting detection laser, the laser position detection device is used for determining the deviation amount of the incident position of the detection laser and the center position of the laser position detection device, and the deviation amount can be used for reflecting the current position deviation of the cantilever shaft and the machine butt joint shaft. The whole system utilizes the self characteristics of the laser, so that the position detection is not influenced by the detection distance and the environment, a scheme of visual detection can be well replaced, the anti-interference performance is stronger, and the detection precision of the current position deviation is higher.

Description

Cantilever shaft position detection system

Technical Field

The utility model relates to a commodity circulation transport technical field, in particular to cantilever axle position detecting system.

Background

In order to reduce the labor intensity of operators in the logistics handling process, a loading device (such as a single-cantilever loading robot) can be usually adopted to realize automatic loading of heavier materials. The feeding device mainly comprises a base, an upright post arranged on the base, a cantilever shaft arranged on the upright post, a pushing mechanism and a controller, wherein the cantilever shaft is usually provided with a position detection mechanism for detecting the relative position of the cantilever shaft and a machine platform butt joint shaft of the butt joint device. When the material is loaded, in order to accurately adjust the position of the cantilever shaft, and thereby ensure that the cantilever shaft and the machine platform butt joint shaft are accurately butted, the current position deviation of the cantilever shaft and the machine platform shaft needs to be accurately detected at first.

The existing position detection system for detecting the relative position of the cantilever shaft and the machine butt joint shaft mainly depends on visual detection, that is, the end face of the machine butt joint shaft marked with the end face central point in advance is shot, and then a controller in a feeding device finally determines the current position deviation of the cantilever shaft and the machine butt joint shaft according to the obtained shot image.

However, the definition of the shot image obtained by the position detection system is easily limited by the detection distance and the focal length, the requirements on the light source and the reflection of the measured object are high, when the detection distance is long or the reflection of the measured object is strong, the definition of the shot image is poor, the detection precision of the current position deviation is influenced, and the position adjustment of the cantilever shaft is inaccurate.

SUMMERY OF THE UTILITY MODEL

The utility model provides a cantilever shaft position detecting system can be used to solve conventional cantilever shaft position detecting system and when the measuring distance is far away or the measured object reflection of light is stronger, the definition of shooting the image is relatively poor, and then influences the detection precision of current position deviation, causes the unsafe technical problem of position control of cantilever shaft.

In a first aspect, an embodiment of the present invention provides a cantilever shaft position detecting system, which includes a position detecting mechanism, where the position detecting mechanism includes a laser emitting device and a laser position detecting device;

the laser emitting device is arranged on the end face of the machine platform butt joint shaft and used for emitting detection laser;

the laser position detection device is arranged on the end face of the cantilever shaft and used for determining the deviation amount of the incident position of the detection laser and the center position of the laser position detection device, and the deviation amount is used for reflecting the current position deviation of the cantilever shaft and the machine butt joint shaft.

In an optional embodiment, the laser position detecting device is a PSD device, and a center of the PSD device is disposed at a center position of an end face of the cantilever shaft.

In an alternative embodiment, the laser emitting device is installed at a central position of an end surface of the machine platform butt joint shaft.

In an optional embodiment, the system further comprises a controller;

the controller is configured to determine a current position deviation between the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, the installation position of the laser position detection device, the installation position of the laser emitting device, a distance between an end face of the cantilever shaft and an end face of the machine platform butt joint shaft, and an incident angle of the detection laser.

In a second aspect, an embodiment of the present invention provides a cantilever shaft position detecting system, which includes a position detecting mechanism, where the position detecting mechanism includes a laser emitting device, a laser position detecting device, and a reflecting plate;

the laser emitting device is arranged on the end face of the cantilever shaft and used for emitting detection laser;

the reflecting plate is arranged on the end face of a machine platform butt joint shaft and used for generating reflected laser according to the detection laser and sending the reflected laser to the end face of the cantilever shaft;

the laser position detection device is arranged on the end face of the cantilever shaft and used for determining the deviation amount of the incident position of the reflected laser and the central position of the laser position detection device, and the deviation amount is used for reflecting the current position deviation of the cantilever shaft and the machine butt joint shaft.

In an alternative embodiment, the laser emitting device is mounted at one end of the end face of the cantilever shaft.

In an optional embodiment, the system further comprises a controller;

the controller is configured to determine a current position deviation of the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, the installation position of the laser position detection device, the installation position of the reflection plate, the incident angle of the reflected laser, and a distance between an end face of the cantilever shaft and an end face of the machine platform butt joint shaft.

Therefore, the embodiment of the utility model provides a cantilever shaft position detecting system, in cantilever shaft position detecting system, including position detection mechanism, position detection mechanism includes laser emission device and laser position detection device, and laser emission device is used for launching the detection laser, and laser position detection device is used for confirming the deviation volume that detects the incident position of laser and laser position detection device's central point and put, and the deviation volume can be used for reflecting the current position deviation of cantilever shaft and board butt joint axle. The whole system utilizes the self characteristics of the laser, so that the position detection is not influenced by the detection distance and the environment, a scheme of visual detection can be well replaced, the anti-interference performance is stronger, and the detection precision of the current position deviation is higher.

Drawings

Fig. 1 is a schematic view of a docking scenario of a feeding device and a target device;

FIG. 2 is a schematic view of an end face of a cantilever shaft with a vision inspection device mounted thereon;

fig. 3 is a schematic structural diagram of a cantilever shaft position detecting system according to a first embodiment of the present invention;

fig. 4a is a schematic structural diagram of an example of a position detection mechanism according to a first embodiment of the present invention;

fig. 4b is a schematic structural diagram of another position detection mechanism according to the first embodiment of the present invention;

fig. 4c is a schematic structural diagram of another position detecting mechanism according to the first embodiment of the present invention;

fig. 4d is a schematic structural diagram of another position detecting mechanism according to the first embodiment of the present invention;

fig. 5 is a schematic structural diagram of a cantilever shaft position detecting system according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of another position detecting mechanism according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

First, an application scenario of the embodiment of the present invention is explained with reference to the drawings.

Fig. 1 exemplarily shows a schematic view of a docking scenario between a feeding device and a target device, as shown in fig. 1, the feeding device includes a cantilever shaft 11 and a pushing mechanism 12, and the target device includes a machine docking shaft 21, where the cantilever shaft 11 and the machine docking shaft 21 are both parallel to the ground. In the feeding process, after detecting the current position deviation of the cantilever shaft 11 and the machine platform butt joint shaft 21, adjusting the position of the cantilever shaft 11 until the cantilever shaft 11 and the machine platform butt joint shaft 21 are in butt joint, and then pushing a material A sleeved on the cantilever shaft 11 onto the machine platform butt joint shaft 21 by the pushing mechanism 12, thereby completing the automatic feeding of the material.

When detecting the current position deviation between the cantilever shaft 11 and the machine platform butt joint shaft 21, the adopted position detection mechanism is usually a visual detection device, such as a camera, fig. 2 exemplarily shows a schematic view of an end surface of the cantilever shaft on which the visual detection device is installed, as shown in fig. 2, a is a material sleeved on the cantilever shaft 11, and the visual detection device 111 is installed in the center of the end surface of the cantilever shaft 11.

In the above-mentioned application scene, the definition of the shooting image that position detection system obtained easily receives the restriction of detection distance and focus, and is higher to the requirement of light source, measured object reflection of light moreover, when detection distance is far away or measured object reflection of light is stronger, the definition of shooting image is relatively poor, and then influences the detection precision of current position deviation, causes the position control inaccuracy of cantilever shaft.

In order to solve conventional cantilever axle position detecting system when the measuring distance is far away or the measured object reflection of light is stronger, the definition of shooting the image is relatively poor, and then influences the detection precision of current position deviation, causes the unsafe technical problem of position control of cantilever axle, the embodiment of the utility model provides a cantilever axle position detecting system.

It should be noted that the embodiment of the present invention provides a cantilever shaft that can translate along the horizontal direction and the vertical direction, optionally, can also pitch along the horizontal direction and the vertical direction, and the pitch is that the root of cantilever shaft is fixed, and whole cantilever shaft swings.

It should be noted that, in order to improve position detection precision and regulation efficiency, the embodiment of the utility model provides a cantilever shaft position detecting system is after cantilever shaft moves to preset initial position, and the use is restarted, wherein predetermine initial position and be located the position within the range of predetermineeing with the distance of board butt joint axle terminal surface, that is to say, should carry out initial coarse adjustment to cantilever shaft for after cantilever shaft is close to board butt joint axle as far as, launch again the embodiment of the utility model provides a system is favorable to improving regulation efficiency.

A cantilever shaft position detecting system according to a first embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 3 schematically illustrates a structural schematic diagram of a cantilever position detecting system provided by the first embodiment of the present invention, as shown in fig. 3, the cantilever position detecting system provided by the first embodiment of the present invention includes a position detecting mechanism 13, and the position detecting mechanism 13 includes a laser emitting device 131 and a laser position detecting device 132.

The laser emitting device 131 is installed on the end surface of the machine docking shaft 21 and is used for emitting detection laser.

Specifically, the emission direction of the detection laser may form a certain emission angle with the end surface of the machine docking shaft 21, and preferably, the emission angle may be 90 degrees.

In one possible embodiment, the laser emitting device 131 may be installed at a central position of the end surface of the machine docking shaft 21.

Therefore, the installation mode is favorable for simplifying the subsequent process of determining the current position deviation of the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, and the position detection efficiency can be improved.

In other possible embodiments, the distance between the laser emitting device 131 and the center position of the end surface of the machine docking shaft 21 may also be greater than zero, and the specific installation position of the laser emitting device 131 on the end surface of the machine docking shaft 21 is not limited.

The laser position detection device 132 is mounted on the end surface of the cantilever shaft 11, and determines the amount of deviation between the incident position of the detection laser light and the center position of the laser position detection device 132.

The deviation amount is used for reflecting the current position deviation of the cantilever shaft 11 and the machine docking shaft 21.

The deviation amount is a vector, and includes a deviation distance and a direction.

It should be further noted that, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 in the embodiment of the present invention represents the position deviation between the center of the end surface of the cantilever shaft 11 and the center of the end surface of the machine docking shaft 21. The current position offset is also a vector, including the current offset distance and the offset direction.

In one possible embodiment, the center position of the laser position detection device 132 may be set at the center position of the end surface of the cantilever shaft 11.

Therefore, the installation mode is favorable for simplifying the subsequent process of determining the current position deviation of the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, and the position detection efficiency can be further improved.

In other possible embodiments, the distance between the laser position detection device 132 and the center position of the end surface of the cantilever shaft 11 may be greater than zero, and the specific installation position of the laser position detection device 132 on the end surface of the cantilever shaft 11 is not limited.

For example, as shown in fig. 3, the laser emitting device 131 is installed at a center position of the end surface of the machine docking shaft 21, that is, a position corresponding to a point Q2, an angle θ is formed between the emitted detection laser and the end surface of the machine docking shaft 21, where θ is 90 degrees, an incident position of the detection laser is a position corresponding to a point P, a center of the laser position detecting device 132 is disposed at a center position of the end surface of the cantilever shaft 11, that is, a position corresponding to a point Q1, and the laser position detecting device 132 can detect a deviation amount between the point P and the point Q1, where the deviation amount detected by the laser position detecting device 132 is a current position deviation between the cantilever shaft and the machine docking shaft.

Therefore, by adopting the position mounting mode of the above example, the position detection process can be greatly simplified, so that the deviation detected by the laser position detection device 132 is the current position deviation of the cantilever shaft and the machine platform butt joint shaft, the detection process is simple and efficient, and the practicability is high.

In one possible embodiment, the laser position detection device 132 may be a PSD device.

Specifically, a Position Sensor (PSD) Device is an optical detector capable of measuring the continuous Position of a light spot on the surface of the detector, and is a novel photoelectric Device, also called a coordinate photocell, which is a non-split Device capable of converting the Position of the light spot on a photosensitive surface into an electrical signal, and the PSD mainly comprises a P substrate, a PIN photodiode and a surface resistor, and has the advantages of high Position resolution, high response speed, simple processing circuit, and the like. The PSD device itself has a function of determining the amount of deviation between the incident position of the detection laser light and the center position of the PSD device.

Further, the center of the PSD device is disposed at the center position of the end face of the cantilever shaft 11.

Furthermore, the utility model discloses cantilever axle position detecting system that first embodiment provided still includes the controller (not shown in fig. 3), and the controller is connected with laser position detection device 132, and the controller is used for confirming cantilever axle 11 and the current position deviation of board butt joint axle 21 according to the deviation amount, the mounted position of laser position detection device 132, the mounted position of laser emitter 131, the terminal surface of cantilever axle 11 and the distance of board butt joint axle 21's terminal surface to and the incident angle who detects laser.

In one possible embodiment, the mounting position of the laser position detecting device 132 may be represented by a positional deviation of the center of the laser position detecting device 132 from the center of the end surface of the cantilever shaft 11. The installation position of the laser emitting device 131 can be represented by the position deviation between the laser emitting device 131 and the center of the end face of the machine docking shaft 21. The distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21 can be represented by the shortest distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21.

Specifically, the controller may determine the current position deviation of the cantilever shaft 11 and the machine docking shaft 21 according to the deviation amount, the position deviation between the center of the laser position detection device 132 and the center of the end surface of the cantilever shaft 11, the position deviation between the laser emitting device 131 and the center of the end surface of the machine docking shaft 21, the distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21, and the incident angle of the detection laser.

Preferably, the center of the laser position detecting device 132 is disposed at the center of the end face of the cantilever shaft 11, the laser emitting device 131 is disposed at the center of the end face of the machine table docking shaft 21, and the incident angle of the detection laser is 90 degrees. At this time, the controller determines the deviation amount as the current position deviation of the cantilever shaft 11 and the machine docking shaft 21.

In addition, in a special case where the laser position detection device 132 and the laser emitting device 131 are not provided in the above-described preferred manner, the actual mounting position of the laser position detection device 132, the actual mounting position of the laser emitting device 131, and the emission angle of the detected laser light all affect the calculation of the current positional deviation.

The following describes a specific determination method of the current position deviation in a special case by using a specific example. For the sake of clarity, it is assumed that the cantilever shaft 11 and the machine docking shaft 21 have only a positional deviation in the vertical direction (i.e., the longitudinal direction perpendicular to the central axis of the cantilever shaft 11), and have no deviation in other directions.

It should be noted that, if the positional deviation between the cantilever shaft 11 and the machine docking shaft 21 is not a complete vertical direction (i.e. a longitudinal direction perpendicular to the central axis of the cantilever shaft 11) or a horizontal direction (i.e. a horizontal direction perpendicular to the central axis of the cantilever shaft 11), that is, if the deviation measured by the laser position detection device 132 is not a complete vertical direction or a complete horizontal direction, the deviation can be projected to the vertical direction and the horizontal direction, and then the corresponding positional deviation can be calculated in each direction. In a special case, if the installation positions of the laser position detecting device 132 and the laser emitting device 131 are not on the horizontal and vertical symmetry axes of the end surface of the cantilever shaft 11 or the machine docking shaft 21, the position deviation of the installation positions should be projected to the vertical direction and the horizontal direction respectively and then participate in the calculation.

Example one:

fig. 4a exemplarily shows an exemplary structural schematic diagram of a position detection mechanism provided by the first embodiment of the present invention, as shown in fig. 4a, the laser position detection device 132 is installed directly above the end face center Q1 of the cantilever shaft 11, the laser emitting device 131 is installed directly above the end face center Q2 of the machine docking shaft 21, and in the present case, the position of the cantilever shaft 11 is higher than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the center of the laser position detecting device 132 and the end face center Q1 of the cantilever shaft 11 is Y, the position deviation between the laser emitting device 131 and the end face center Q2 of the machine docking shaft 21 is Z, the distance between the end face of the cantilever shaft 11 and the end face of the machine docking shaft 21 is L, the incident angle of the detected laser light is θ, and P is the irradiation point of the detected laser light, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end face center Q2 of the machine docking shaft 21 on the end face of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is (L/tan θ) -X-Y + Z.

Example two:

fig. 4b exemplarily shows an exemplary structural schematic diagram of another position detecting mechanism provided by the first embodiment of the present invention, as shown in fig. 4b, the laser position detecting device 132 is installed directly above the end face center Q1 of the cantilever shaft 11, the laser emitting device 131 is installed directly above the end face center Q2 of the machine docking shaft 21, and in the present case, the position of the cantilever shaft 11 is lower than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the center of the laser position detecting device 132 and the end face center Q1 of the cantilever shaft 11 is Y, the position deviation between the laser emitting device 131 and the end face center Q2 of the machine docking shaft 21 is Z, the distance between the end face of the cantilever shaft 11 and the end face of the machine docking shaft 21 is L, the incident angle of the detected laser light is θ, and P is the irradiation point of the detected laser light, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end face center Q2 of the machine docking shaft 21 on the end face of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is (L/tan θ) + X + Y-Z.

Example three:

fig. 4c schematically illustrates an example structure of another position detecting mechanism provided by the first embodiment of the present invention, and as shown in fig. 4c, the laser position detecting device 132 is installed directly above the end face center Q1 of the cantilever shaft 11, and the laser emitting device 131 is installed directly below the end face center Q2 of the machine docking shaft 21, in this case, the position of the cantilever shaft 11 is higher than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the center of the laser position detecting device 132 and the end face center Q1 of the cantilever shaft 11 is Y, the position deviation between the laser emitting device 131 and the end face center Q2 of the machine docking shaft 21 is Z, the distance between the end face of the cantilever shaft 11 and the end face of the machine docking shaft 21 is L, the incident angle of the detected laser light is θ, and P is the irradiation point of the detected laser light, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end face center Q2 of the machine docking shaft 21 on the end face of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is (L/tan θ) -X-Y-Z.

Example four:

fig. 4d schematically shows an example structure diagram of another position detection mechanism provided by the first embodiment of the present invention, as shown in fig. 4d, the laser position detection device 132 is installed directly above the end face center Q1 of the cantilever shaft 11, the laser emitting device 131 is installed directly below the end face center Q2 of the machine docking shaft 21, and in the present case, the position of the cantilever shaft 11 is lower than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the center of the laser position detecting device 132 and the end face center Q1 of the cantilever shaft 11 is Y, the position deviation between the laser emitting device 131 and the end face center Q2 of the machine docking shaft 21 is Z, the distance between the end face of the cantilever shaft 11 and the end face of the machine docking shaft 21 is L, the incident angle of the detected laser light is θ, and P is the irradiation point of the detected laser light, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end face center Q2 of the machine docking shaft 21 on the end face of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is (L/tan θ) + X + Y + Z.

For other examples of different positions, geometric analysis may be performed on specific situations and then calculation may be performed to obtain the current position deviation, which is not described herein again.

Therefore, the utility model discloses a cantilever shaft position detecting system that the first embodiment provided mainly utilizes laser position detection device to detect the deviation volume, confirms the current position deviation of cantilever shaft and board butt joint axle according to the deviation volume that detects, and entire system utilizes the self characteristic of laser for the position detection does not receive the influence of measuring distance and environment, can substitute visual detection's scheme betterly, and interference immunity is stronger, and current position deviation's detection precision is higher.

The following describes a cantilever position detecting method for a cantilever position detecting system according to a first embodiment of the present invention, and please refer to the first embodiment of the present invention for details that are not disclosed.

Specifically, cantilever shaft position detecting system includes position detection mechanism and controller, and position detection mechanism includes laser emitter and laser position detection device, and wherein, laser emitter installs on the terminal surface of board butt joint axle, and laser position detection device installs on the terminal surface of cantilever shaft. The utility model discloses the cantilever shaft position detecting system that the first embodiment provided, when practical application, specifically carry out the cantilever shaft position detection through following step:

step one, a laser emitting device emits detection laser.

And step two, the laser position detection device determines the deviation amount of the incident position of the detection laser and the central position of the laser position detection device.

And step three, the controller determines the current position deviation of the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, the installation position of the laser position detection device, the installation position of the laser emission device, the distance between the end face of the cantilever shaft and the end face of the machine platform butt joint shaft and the detection laser incidence angle.

In an alternative embodiment, the laser position detecting device is a PSD device, and the center of the PSD device is disposed at the center of the end face of the cantilever shaft.

In an alternative embodiment, the laser emitting device is installed at the center of the end surface of the machine platform butt joint shaft.

The utility model discloses a cantilever shaft position detecting system that second embodiment provided, it is right below to combine the figure the utility model discloses a cantilever shaft position detecting system that second embodiment provided explains.

Fig. 5 schematically illustrates a structural schematic diagram of a cantilever shaft position detecting system provided by a second embodiment of the present invention, as shown in fig. 5, the cantilever shaft position detecting system provided by the second embodiment of the present invention includes a position detecting mechanism 13, and the position detecting mechanism 13 includes a laser emitting device 131, a laser position detecting device 132, and a reflection plate 133.

The laser emitting device 131 is mounted on the end face of the cantilever shaft 11 and emits detection laser.

Specifically, in order to reflect on the reflection plate 133, the emission direction of the detection laser light should be at a certain emission angle with respect to the end surface of the cantilever shaft 11.

In one possible embodiment, the laser emitting device 131 is mounted at one end of the end face of the cantilever shaft 11.

In other possible embodiments, the laser emitting device 131 may also be installed between the center of the end face of the cantilever shaft 11 and one end, and the specific installation position is not limited.

The reflection plate 133 is installed on the end surface of the machine docking shaft 21, and is configured to generate reflected laser light according to the detection laser light and send the reflected laser light to the end surface of the cantilever shaft 11.

Specifically, the reflective plate 133 is parallel to the end surface of the machine docking shaft 21, and plays a role in reflection, and the detection laser light irradiated on the reflective plate 133 forms a reflected laser light, and is reflected back to the end surface of the cantilever shaft 11.

The laser position detection device 132 is attached to the end surface of the cantilever shaft 11, and determines the amount of deviation between the incident position of the reflected laser light and the center position of the laser position detection device 132.

In other possible embodiments, the laser position detection device 132 may not be disposed at the center of the end surface of the cantilever shaft 11, and the specific mounting position is not limited.

For example, as shown in fig. 5, the laser emitting device 131 is installed at one end of the end surface of the cantilever shaft 11, that is, at a position corresponding to a point Q3, the emitted detection laser forms an angle θ with the end surface of the cantilever shaft 11, the reflection plate 133 is installed between one end of the end surface of the machine platform docking shaft 21 and a central position Q2, the detection laser irradiates the reflection plate 133 to form a reflection laser, an incident position of the reflection laser is a position corresponding to a point P, a center of the laser position detecting device 132 is disposed at a central position of the end surface of the cantilever shaft 11, that is, at a position corresponding to a point Q1, and the laser position detecting device 132 can detect a deviation amount between the point P and the point Q1.

Specifically, the PSD device itself has a function of determining the amount of deviation of the incident position of the reflected laser light from the center position of the PSD device.

Furthermore, the utility model discloses cantilever axle position detecting system that second embodiment provided still includes the controller (not shown in fig. 5), and the controller is connected with laser position detection device 132, and the controller is used for confirming cantilever axle 11 and the current position deviation of board butt joint axle 21 according to the deviation amount, the mounted position of laser position detection device 132, the mounted position of reflecting plate 133, the incident angle of reflection laser to and the distance of the terminal surface of cantilever axle 11 and the board butt joint axle 21's terminal surface.

In one possible embodiment, the mounting position of the laser position detecting device 132 may be represented by a positional deviation of the center of the laser position detecting device 132 from the center of the end surface of the cantilever shaft 11. The mounting position of the laser emitting device 131 can be represented by a positional deviation of the laser emitting device 131 from the center of the end face of the cantilever shaft 11. The installation position of the reflection plate 133 can be represented by a positional deviation between the reflection plate 133 and the center of the end surface of the machine docking shaft 21. The distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21 can be represented by the shortest distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21.

Specifically, the controller may determine the current position deviation of the cantilever shaft 11 and the machine docking shaft 21 according to the deviation amount, the position deviation between the center of the laser position detection device 132 and the center of the end surface of the cantilever shaft 11, the position deviation between the reflection plate 133 and the center of the end surface of the machine docking shaft 21, the incident angle of the reflected laser, and the distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21.

Since the actual mounting position of the laser position detecting device 132, the actual mounting position of the reflection plate 133, and the emission angle of the detection laser all affect the calculation of the current position deviation, for the sake of better clarity, a specific determination manner of the current position deviation will be described below by using specific examples.

In the example, it is assumed that there is only a positional deviation between the cantilever shaft 11 and the machine docking shaft 21 in the vertical direction (i.e., the longitudinal direction perpendicular to the central axis of the cantilever shaft 11), and there is no deviation in the other directions.

It should be noted that, if the positional deviation between the cantilever shaft 11 and the machine docking shaft 21 is not a complete vertical direction (i.e. a longitudinal direction perpendicular to the central axis of the cantilever shaft 11) or a horizontal direction (i.e. a horizontal direction perpendicular to the central axis of the cantilever shaft 11), that is, if the deviation measured by the laser position detection device 132 is not a complete vertical direction or a complete horizontal direction, the deviation can be projected to the vertical direction and the horizontal direction, and then the corresponding positional deviation can be calculated in each direction. In a special case, if the installation positions of the laser position detecting device 132, the laser emitting device 131 and the reflection plate 133 are not on the horizontal and vertical symmetry axes of the end surface of the cantilever shaft 11 or the machine docking shaft 21, the position deviations of the installation positions should be projected to the vertical direction and the horizontal direction, respectively, and then participate in the calculation.

Example five:

taking the structure shown in fig. 5 as an example, the laser position detecting device 132 is installed at the center Q1 of the end surface of the cantilever shaft 11, the laser emitting device 131 is installed at the top Q3 of the end surface of the cantilever shaft 11, and in the present case, the position of the cantilever shaft 11 is higher than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the reflective plate 133 and the end surface center Q2 of the machine docking shaft 21 is Z, the distance between the end surface of the cantilever shaft 11 and the end surface of the machine docking shaft 21 is L, the incident angle of the reflected laser is θ, and P is the irradiation point of the detected laser, the current position deviation between the cantilever shaft 11 and the machine docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end surface center Q2 of the machine docking shaft 21 on the end surface of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is Z- (L/tan θ) + X.

Example six:

fig. 6 schematically illustrates an exemplary structure of another position detecting mechanism provided by the second embodiment of the present invention, as shown in fig. 6, the laser position detecting device 132 is installed at the center Q1 of the end surface of the cantilever shaft 11, the laser emitting device 131 is installed at the top end Q3 of the end surface of the cantilever shaft 11, and in the present case, the position of the cantilever shaft 11 is lower than the position of the machine docking shaft 21.

Assuming that the deviation detected by the laser position detecting device 132 is X, the position deviation between the reflective plate 133 and the end surface center Q2 of the machine platform docking shaft 21 is Z, the distance between the end surface of the cantilever shaft 11 and the end surface of the machine platform docking shaft 21 is L, the incident angle of the reflected laser is θ, and P is the irradiation point of the detected laser, the current position deviation between the cantilever shaft 11 and the machine platform docking shaft 21 can be regarded as the length of a line segment Q1Q2 ' in the vertical direction, where Q2 ' is the projection of the end surface center Q2 of the machine platform docking shaft 21 on the end surface of the cantilever shaft 11, and therefore, the value of the current position deviation (i.e., the length of the line segment Q1Q2 ') is Z + (L/tan θ) -X.

Therefore, the utility model provides a pair of cantilever shaft position detecting system, adopt the reflecting plate to come to detect laser reflection to laser position detection device on, the deviation volume that detects according to laser position detection device confirms cantilever shaft and the current position deviation of board butt joint axle, entire system utilizes laser to detect, because the self characteristic of laser for the position detection does not receive the influence of measuring distance and environment, can replace visual detection's scheme betterly, interference immunity is stronger, the detection precision of current position deviation is higher.

The following describes a cantilever position detecting method for a cantilever position detecting system according to a second embodiment of the present invention, and please refer to the second embodiment of the present invention for details that are not disclosed.

Specifically, cantilever axle position detecting system includes position detection mechanism and controller, and position detection mechanism includes laser emitter, laser position detection device and reflecting plate, and wherein, laser emitter installs on the terminal surface of cantilever axle, and the reflecting plate is installed on the terminal surface of board butt joint axle, and laser position detection device installs on the terminal surface of cantilever axle. The utility model discloses cantilever shaft position detecting system that second embodiment provided specifically carries out cantilever shaft position detection through following step when in actual application

Step one, a laser emitting device emits detection laser.

And step two, the reflecting plate generates reflected laser according to the detection laser and sends the reflected laser to the end face of the cantilever shaft.

And step three, the laser position detection device determines the deviation amount of the incident position of the reflected laser and the central position of the laser position detection device.

And step four, the controller determines the current position deviation of the cantilever shaft and the machine platform butt joint shaft according to the deviation amount, the installation position of the laser position detection device, the installation position of the reflection plate, the incident angle of the reflected laser and the distance between the end face of the cantilever shaft and the end face of the machine platform butt joint shaft.

The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.

Claims

1. A cantilever shaft position detection system comprises a position detection mechanism, and is characterized in that the position detection mechanism comprises a laser emitting device and a laser position detection device;

2. The cantilever shaft position detecting system of claim 1, wherein the laser position detecting device is a PSD device, and the center of the PSD device is disposed at the center of the end face of the cantilever shaft.

3. The system of claim 1 or 2, wherein the laser emitting device is installed at a center position of an end surface of the machine docking shaft.

4. The cantilever shaft position detection system of claim 1, further comprising a controller;

5. A cantilever shaft position detection system comprises a position detection mechanism, and is characterized in that the position detection mechanism comprises a laser emitting device, a laser position detection device and a reflecting plate;

6. The system of claim 5, wherein the laser position detection device is a PSD device, and the center of the PSD device is disposed at the center of the end face of the cantilever shaft.

7. The cantilever shaft position detecting system according to claim 5 or 6, wherein the laser emitting device is mounted at one end of the end surface of the cantilever shaft.

8. The cantilever shaft position detection system of claim 5, further comprising a controller;