CN110861124B - Safety anti-collision system under mechanical arm operation state - Google Patents
Safety anti-collision system under mechanical arm operation state Download PDFInfo
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- CN110861124B CN110861124B CN201911181777.1A CN201911181777A CN110861124B CN 110861124 B CN110861124 B CN 110861124B CN 201911181777 A CN201911181777 A CN 201911181777A CN 110861124 B CN110861124 B CN 110861124B
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- layer
- protective layer
- mechanical arm
- conductor layer
- collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a safety collision prevention system under a mechanical arm operation state, which adopts the technical scheme that: the anti-collision device comprises a first anti-collision system and a second anti-collision system, wherein the first anti-collision system comprises a rigid protective layer, a piezoelectric vibration induction layer, a first flexible protective layer, a static induction layer and a second flexible protective layer which are sequentially laid, the rigid protective layer is used for being attached to the surface of a mechanical arm, the static induction layer is provided with a conductor layer, and a low-voltage alternating current electric field can be formed in the conductor layer; and the second anti-collision system comprises a safety protection bracelet capable of sensing position information and sending an alarm signal. The invention adopts a comprehensive mode of various safety protection systems, and has high detection precision and high reaction speed.
Description
Technical Field
The invention relates to the technical field of safety protection, in particular to a safety collision prevention system for a mechanical arm in an operating state.
Background
When the mechanical arm performs field operation, an operator needs to observe the operation condition of the mechanical arm at a short distance, and adjust the mechanical arm in real time according to the work experience of the operator. When the operator judges that the distance between the mechanical arm and other equipment and the workpiece is greater than the safe distance, determining that the mechanical arm can operate according to a set track; when the operator judges that the distance between the mechanical arm and other equipment and the workpiece is in the critical safety distance, the operator needs to immediately adjust the mechanical arm and enable the mechanical arm to be in a position larger than the safety distance, and the operation track of the mechanical arm is reset to ensure the safe operation of the mechanical arm.
However, the safe distance between the mechanical arm and the charged equipment is judged only by the subjective experience of the operator, so that certain errors exist, and the operator can easily neglect the distance between the mechanical arm and the charged equipment when being attentive to the operation content, so that the technical scheme cannot effectively ensure the safe operation of the equipment. In addition to this, the work space of the human-machine cooperative robot intersects with the work space of the worker, and there is a possibility that physical contact may occur between the human-machine cooperative robot and the worker.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a safety collision prevention system under the mechanical arm operation state, which adopts a comprehensive mode of various safety protection systems, and has high detection precision and high reaction speed.
The invention adopts the following technical scheme:
a safety collision prevention system under a mechanical arm operation state comprises:
the first anti-collision system comprises a rigid protective layer, a piezoelectric vibration induction layer, a first flexible protective layer, a static induction layer and a second flexible protective layer which are sequentially laid, wherein the rigid protective layer is used for being attached to the surface of the mechanical arm, the static induction layer is provided with a conductor layer, and a low-voltage alternating current electric field can be formed in the conductor layer;
and the second anti-collision system comprises a safety protection bracelet capable of sensing position information and sending an alarm signal.
Furthermore, the piezoelectric vibration induction layer is formed by paving a plurality of piezoelectric sensors to form an array.
Further, the conductor layer is connected with a controller.
Furthermore, the piezoelectric vibration induction layer is provided with a positioning sensor, and the positioning sensor senses position information and transmits signals to the controller.
Furthermore, the first flexible protective layer is made of a silicone resin material, and the second flexible protective layer is made of a highly conductive silicone rubber material.
Furthermore, the rigid protection layer is composed of a plurality of layers of metal plates, and the rigid protection layer is provided with a connecting hole.
Further, the safety protection bracelet carries out information interaction with arm control cabinet, the controller of first anticollision system through wireless mode.
Further, safety protection bracelet installation pilot lamp, bee calling organ, position response module and scram control unit, scram control unit is triggered by the button.
Further, the position sensing module is a GPS positioning module.
Further, the battery is installed to the safety protection bracelet.
Compared with the prior art, the invention has the beneficial effects that:
(1) the anti-collision system comprises the protective layer and the safety protection bracelet, wherein the protective layer is laid on the surface of the mechanical arm, and equipment does not need to be transformed on a large scale; the protection layer is matched with the safety protection bracelet to realize the anti-collision function of the mechanical arm, personnel and workpieces;
(2) the invention has the static induction layer, can induce the static generated by the human body, can generate induction when the human body does not contact the protective layer, stops the action of the mechanical arm in advance, and has better safety protection function;
(3) the invention has the piezoelectric vibration sensing array and the positioning sensor, can monitor the vibration condition of the mechanical arm and the position of the mechanical arm in a three-dimensional space, and has higher sensing precision.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of a first collision avoidance system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second collision avoidance system according to a first embodiment of the present invention;
the device comprises a first flexible protective layer, a second flexible protective layer, a static induction layer, a first flexible protective layer, a piezoelectric vibration induction layer, a rigid protective layer, a connecting hole, a lead, an indicator light, a position induction module, a button and a connecting hole, wherein the flexible protective layer is 1, the second flexible protective layer is 2, the static induction layer is 3, the first flexible protective layer is 4, the piezoelectric vibration induction layer is 5, the rigid protective layer.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.
The terms "mounted", "connected", "fixed", and the like in the present application should be understood broadly, and for example, the terms "mounted", "connected", and "fixed" may be fixedly connected, detachably connected, or integrated; the two components can be connected directly or indirectly through an intermediate medium, or the two components can be connected internally or in an interaction relationship, and the terms can be understood by those skilled in the art according to specific situations.
The first embodiment is as follows:
the invention is described in detail below with reference to fig. 1-2, and specifically, the structure is as follows:
the embodiment provides a system is prevented bumping safely under arm operating condition, mainly is applied to the safety protection under the large-scale heavy load multi freedom arm operation situation, and system and second anticollision are prevented to the first anticollision system including, and first anticollision system is the multilayer protective layer of laying on the arm surface, and the system is prevented for the safety protection bracelet of wearing by constructor to the second anticollision. In the present embodiment, the protective layer is provided in a rectangular shape.
The first anti-collision system comprises a rigid protective layer 5, a piezoelectric vibration induction layer 4, a first flexible protective layer 3, a static induction layer 2 and a second flexible protective layer 1 which are sequentially paved from the surface of the mechanical arm outwards, wherein the rigid protective layer 5 is composed of a plurality of layers of metal plates, the rigid protective layer 5 is provided with a connecting hole 6, and the plurality of layers of metal plates are fixed through the connecting hole 6. In this embodiment, the metal sheet is the iron metal sheet, plays firm protective layer, prevents to warp, the effect of being convenient for installation, and the vibration condition of arm self can effectively be transmitted to the metal material simultaneously.
The piezoelectric vibration induction layer 4 is formed by paving a plurality of piezoelectric sensors to form an array and is used for monitoring the vibration condition of the mechanical arm; when the mechanical arm is overloaded or mistakenly touches other workpieces and the like, the mechanical arm control console detects abnormal vibration signals and sends out alarm signals to stop the mechanical arm to act, so that danger is prevented. The robot arm console is prior art and will not be described herein. The piezoelectric vibration induction layer 4 is provided with a positioning sensor which is a GPS (global positioning system), can sense the position of the mechanical arm in a three-dimensional space and transmits signals to the controller in real time.
The first flexible protection layer 3 is made of silicone, and the hardness and elasticity of the silicone can be changed in a wide range by adjusting the molecular structure of the resin. When the content of trifunctional or tetrafunctional chain links is higher, namely the crosslinking density is higher, the silicone resin with high hardness and low elasticity can be obtained, so that the silicone resin can meet the requirement on plasticity by properly matching soft and hard silicone resins without using a special plasticizer.
First flexible protective layer 3 is the stereoplasm resin in the one side that is close to piezoelectricity vibration response layer 4, plays the effect of protection piezoelectric array, and the silicon resin is good to materials such as iron adhesion, can effectively adhere on piezoelectricity vibration response layer and rigid protection layer 5, plays the effect of effective connection to whole protective layer. First flexible protective layer 3 one side is softer material, like plastic foam for protect piezoelectric array not receive external force and strike and damage, can play the effect of certain isolated vibration signal and signal of telecommunication simultaneously, avoid playing the interference to more outer static induction layer 2.
The static induction layer 2 is provided with a conductor layer positioned in the middle and flexible protective layers on the upper surface and the lower surface of the conductor layer, the conductor layer is connected with a lead wire 7, the lead wire 7 is connected to a power supply module of the controller, the lead wire 7 is distributed at four corners or four edges of the conductor layer, and a low-voltage alternating current electric field is formed in the conductor layer. Because the human electric field, the human body or safety protection bracelet and conductor interlamellar can form a coupling capacitance, and the electric current that four sides electrode sent can flow to the contact, and the electric current intensity is in inverse proportion with the distance that the finger reaches the electrode, and the controller just can calculate the proportion and the intensity of electric current, accurately calculates the position of touch point. The calculation formula is as follows:
where g (i, j) is the voltage level on the electrostatic induction layer 2, and i, j represent the position of the opposite electrode.
Meanwhile, when the electrostatic force of the electrostatic induction layer 2 is used as target stimulation, the electrostatic force perception threshold value is increased in a ramp function mode through mechanical vibration, and the resolution threshold value is not changed obviously. The electrostatic force touch reappearing mode changes the friction between a human body and the protection by generating electrostatic attraction between the finger tips and the capacitor added with the electric signal, achieves the effect of increasing the tangential touch feedback force, is that the human body generates induction when the protection layer is not released, stops the action of the mechanical arm in advance, and has better safety protection function. The flexible protective layer of the static induction layer 2 can protect the conductor layer and can effectively prevent the influence of external environmental factors on the protective layer.
The second flexible protective layer 1 is made of highly conductive silicone rubber, the conductive silicone rubber is one of composite conductive high polymer materials, the second flexible protective layer is made of a rubber elastomer serving as a matrix and conductive filler, and the second flexible protective layer not only retains the elasticity of the matrix rubber, but also has the conductivity of the conductive filler. The material has good conductivity, and can effectively transmit and sense human static electricity to the static induction layer 2 at the lower layer. Meanwhile, the silicon rubber has the elasticity of matrix rubber, can protect the static induction layer, and can protect a certain degree when the mechanical arm mistakenly touches a worker.
The safety protection bracelet carries out information interaction with the controller of arm control cabinet, first anticollision system through wireless mode. Specifically, safety protection bracelet installation pilot lamp 8, bee calling organ, position response module 9 and scram control unit 10, pilot lamp 8, bee calling organ, position response module 9 and scram control unit connection director, and each module is by the unified power supply of battery, scram control unit connection button 10. Position sensing module 9 is GPS orientation module, can respond to the record staff position, and through the GPS information comparison with the protective layer detection, when the staff walked to the arm working range, pilot lamp and bee calling organ sent alarm signal, and the suggestion constructor walked to safe position. Meanwhile, the safety protection bracelet is provided with an emergency stop control unit, when constructors find that the safety protection bracelet is in a dangerous condition, or the mechanical arm works abnormally, the emergency stop control unit can be triggered by pressing the button 10, and the mechanical arm stops working.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. The utility model provides a system is prevented bumping safely under arm operation state which characterized in that includes:
the first anti-collision system comprises a rigid protective layer, a piezoelectric vibration induction layer, a first flexible protective layer, a static induction layer and a second flexible protective layer which are sequentially laid, wherein the rigid protective layer is used for being attached to the surface of the mechanical arm, the static induction layer is provided with a conductor layer, and a low-voltage alternating current electric field can be formed in the conductor layer;
the second anti-collision system comprises a safety protection bracelet capable of sensing position information and sending an alarm signal;
the static induction layer is provided with a conductor layer positioned in the middle and flexible protective layers on the upper surface and the lower surface of the conductor layer, the conductor layer is connected with lead wires, the lead wires are distributed at four corners or four edges of the conductor layer, a low-voltage alternating current electric field is formed in the conductor layer, a coupling capacitor is formed between a human body or a safety protection bracelet and the conductor layer, currents emitted by electrodes on the four edges flow to a contact, the intensity of the currents is inversely proportional to the distance from a finger to the electrodes, the controller calculates the proportion and the intensity of the currents, and the position of a touch point is;
the piezoelectric vibration sensing layer is formed by paving a plurality of piezoelectric sensors to monitor the vibration condition of the mechanical arm, is provided with a positioning sensor, is a GPS (global positioning system), can sense the position of the mechanical arm in a three-dimensional space, and transmits signals to the controller in real time.
2. The system of claim 1, wherein the conductive layer is connected to the controller.
3. The system of claim 1, wherein the first flexible protective layer is made of silicone, and the second flexible protective layer is made of highly conductive silicone.
4. The system of claim 1, wherein the rigid protective layer comprises a plurality of metal plates, and the rigid protective layer has a connection hole.
5. The system of claim 1, wherein the safety bracelet wirelessly interacts information with the console of the robot and the controller of the first anti-collision system.
6. The system of claim 1, wherein the safety bracelet is provided with an indicator light, a buzzer, a position sensing module and an emergency stop control unit, and the emergency stop control unit is triggered by a button.
7. The system of claim 6, wherein the position sensing module is a GPS module.
8. The system of claim 1, wherein the safety bracelet is equipped with a battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911181777.1A CN110861124B (en) | 2019-11-27 | 2019-11-27 | Safety anti-collision system under mechanical arm operation state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911181777.1A CN110861124B (en) | 2019-11-27 | 2019-11-27 | Safety anti-collision system under mechanical arm operation state |
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| Publication Number | Publication Date |
|---|---|
| CN110861124A CN110861124A (en) | 2020-03-06 |
| CN110861124B true CN110861124B (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911181777.1A Expired - Fee Related CN110861124B (en) | 2019-11-27 | 2019-11-27 | Safety anti-collision system under mechanical arm operation state |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015220517A1 (en) * | 2015-10-21 | 2017-04-27 | Kuka Systems Gmbh | MRK system and method for controlling a MRK system |
| JP6481635B2 (en) * | 2016-02-15 | 2019-03-13 | オムロン株式会社 | Contact determination device, control device, contact determination system, contact determination method, and contact determination program |
| ITUA20163522A1 (en) * | 2016-05-17 | 2017-11-17 | Comau Spa | "Sensorized coverage for an industrial device" |
| DE112017005497T5 (en) * | 2016-10-31 | 2019-08-08 | Life Robotics Inc. | APPROXIMATION SENSOR DEVICE AND ROBOT ARM MECHANISM |
| JP2018155712A (en) * | 2017-03-21 | 2018-10-04 | 住友理工株式会社 | Sensor device |
| CN107891450A (en) * | 2018-01-17 | 2018-04-10 | 深圳市美卡达科技有限公司 | The security system and control method of manipulator anticollision |
| EP3569366B1 (en) * | 2018-05-17 | 2023-06-28 | Siemens Aktiengesellschaft | Robot control method and apparatus |
| CN109470386B (en) * | 2018-11-09 | 2020-11-10 | 福州大学 | Force/position touch sensor detection system and detection method |
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| CN110861124A (en) | 2020-03-06 |
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Granted publication date: 20210511 Termination date: 20211127 |