CN116968053B - Explosion-proof mobile cooperative robot and control method thereof - Google Patents
Explosion-proof mobile cooperative robot and control method thereof Download PDFInfo
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- CN116968053B CN116968053B CN202311152271.4A CN202311152271A CN116968053B CN 116968053 B CN116968053 B CN 116968053B CN 202311152271 A CN202311152271 A CN 202311152271A CN 116968053 B CN116968053 B CN 116968053B
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- 230000000007 visual effect Effects 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 9
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- 238000012423 maintenance Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 239000000565 sealant Substances 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses an explosion-proof mobile cooperative robot and a control method thereof, wherein the explosion-proof mobile cooperative robot comprises a mobile base and a cooperative robot arm, an air storage tank, an air inlet valve, a pressure sensor, a pressure relief valve, a robot arm positive pressure air transmission pipeline and a base positive pressure air transmission pipeline are arranged in an inner cavity of the mobile base, an air inlet end of the air storage tank is connected with an air inlet joint, the air inlet valve is arranged at the air inlet joint, the air transmission end of the air storage tank is connected with the robot arm positive pressure air transmission pipeline and the base positive pressure air transmission pipeline through the air transmission valve, the base positive pressure air transmission pipeline is communicated with the inner cavity of the mobile base, a first pressure sensor is arranged in the air storage tank, and a second pressure sensor is arranged in the inner cavity of the mobile base. The invention realizes positive pressure explosion prevention in mobile work, has the function of predicting the effective duration of explosion prevention and alarming the explosion prevention failure, and is used for solving the problem that a mobile cooperative machine works in a place needing explosion prevention.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an explosion-proof mobile cooperative robot and a control method thereof.
Background
Mobile collaborative robots are robotic systems capable of performing tasks in a human work environment in cooperation with human workers, which have autonomous mobility and interact with humans to perform a variety of tasks in cooperation, including materials handling, line collaboration, patrol, security, and the like. Besides improving the working efficiency and reducing the labor intensity, the device can also improve the working safety, reduce the risk of injury of personnel and provide more convenient and efficient service experience for people.
Explosion-proof robots are robots specially used for working in explosion-dangerous environments, are designed to be capable of operating in environments where dangerous substances such as explosive gases, steam or dust exist, and in some dangerous situations, in order to improve working efficiency and alleviate manual labor intensity, a mobile collaborative robot with an explosion-proof function is required.
At present, the research on the explosion-proof robot is mainly focused on a robot body sealing structure of a fixed station and positive pressure explosion-proof control logic, and the research on the positive pressure explosion-proof of a mobile robot is less, even if the mobile explosion-proof robot is involved, the mobile robot is only a fixed track type robot, and the free track movement function of the mobile cooperative robot is not provided, as in the patent: CN (CN)
215294562U, CN 115509154A positive pressure explosion-proof robot and control method thereof, controller and storage medium, CN 209633050U, CN 115351792A, movable explosion-proof technology for spraying large target, moreover, the existing positive pressure explosion-proof technology of the robot does not have the explosion-proof effective duration prediction and the explosion-proof failure alarm technology of various conditions. For this reason, it is necessary to develop an explosion-proof mobile cooperative robot and a control method thereof.
Disclosure of Invention
The invention aims to provide an explosion-proof mobile cooperative robot and a control method thereof, which are used for overcoming the defects in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the explosion-proof mobile cooperative robot comprises a mobile base 1 and a cooperative robot arm 2 arranged on the mobile base 1, wherein an inner cavity of the mobile base 1 is provided with a gas storage tank 5, a gas inlet valve 6, a pressure sensor, a pressure relief valve 8, a robot arm positive pressure gas pipeline 9 and a base positive pressure gas pipeline 10, the gas inlet end of the gas storage tank 5 is connected with a gas inlet joint 12, the gas inlet joint 12 is provided with a gas inlet valve 6, the gas delivery end of the gas storage tank 5 is connected with the robot arm positive pressure gas pipeline 9 and the base positive pressure gas pipeline 10 through a gas delivery valve 13, the base positive pressure gas pipeline 10 is communicated with the inner cavity of the mobile base 1, a first pressure sensor 7 is arranged in the gas storage tank 5, and a second pressure sensor 11 is arranged in the inner cavity of the mobile base 1;
if the explosion-proof mobile cooperative robot is in the safe area, the air inlet joint 12 is connected with the high-pressure air source 15 of the base station 14 to supplement the high-pressure air to the air storage tank 5, and if the first pressure sensor 7 determines that the pressure in the air storage tank 5 is less than the highest air storage pressure P Gas storage When the air inlet valve 6 is in an open state, the pressure in the air storage tank 5 is equal to the highest air storage pressure P Gas storage When the intake valve 6 is closed;
if the explosion-proof movable cooperative robot stays in the explosion-proof area, the explosion-proof movable cooperative robot is connected with an explosion-proof power socket 17 and an explosion-proof air source socket 18 of the fixed workbench 16.
Further, the joint of the movable base 1 and the cooperative robot arm 2 is sealed by a rubber sealing ring or sealant, and the inner cavity of the movable base 1 is communicated with the inner cavity of the cooperative robot arm 2.
Further, when the explosion-proof mobile cooperative robot is required to perform positive pressure explosion-proof, the air delivery valve 13 is opened to deliver air to the cavity of the mobile base 1 until the second pressure sensor 11 detects that the air pressure in the cavity reaches the maximum air pressure P required by the positive pressure explosion-proof max When the gas transmission valve 13 is closed; if the air pressure of the cavity of the movable base 1 is greater than P max At the time, the pressure relief valve 8 is used for exhausting until the air pressure is less than P max 。
Further, when the explosion-proof mobile cooperative robot is separated from the explosion-proof power socket 17 and the explosion-proof air source socket 18, positive pressure air is supplied to the inner cavity of the mobile base 1 through the air storage tank 5 for a plurality of times, and when the air pressure of the inner cavity of the mobile base 1 is reduced to the minimum air pressure P required by positive pressure explosion prevention min When the air pressure in the inner cavity of the movable base 1 is equal to the maximum air pressure P required by positive pressure explosion prevention, the air transmission valve 13 is opened max The gas delivery valve 13 is closed.
The invention also provides a control method of the explosion-proof mobile cooperative robot, which comprises the steps of predicting the effective duration of explosion prevention and predicting the explosion-proof failure alarm;
the prediction of the explosion-proof effective duration comprises the following steps:
s1, predicting maximum pressure P required by explosion prevention of inner cavity pressure of the movable base 1 from positive pressure through curve fitting max To the minimum air pressure P required by positive pressure explosion prevention min Time interval T of (2);
s2, predicting the inflation times of the air storage tank according to the time interval T;
s3, predicting explosion-proof effective duration according to the inflation times of the air storage tank;
the prediction of the explosion-proof failure alarm comprises the following steps:
s4, judging whether the failure time of the explosion-proof mobile cooperative robot is longer than the working time, if so, executing the step S5, otherwise, starting the gradual failure prediction flow of the step S7;
s5, judging the subsequent primary time interval T n+1 If the predicted value is smaller than the set value, continuing to execute the step S6, otherwise starting the sudden failure prediction flow of the step S8;
s6, continuing to work the explosion-proof mobile cooperative robot, and judging whether the air pressure of the inner cavity of the mobile base 1 is larger than the minimum air pressure P required by positive pressure explosion prevention in real time min If yes, continuing to work until the work is finished, otherwise, judging that the explosion-proof mobile cooperative robot with insufficient air pressure stops working;
s7, before starting a work task of the explosion-proof mobile cooperative robot, judging whether the demand time of the work task is met or not according to the predicted explosion-proof effective duration, if not, early warning in advance and prompting to perform explosion-proof maintenance, and if so, executing the work task;
s8, reading the data of the first pressure sensor 7 as P Residual of And utilize P Residual of Calculating the inflatable times j, and estimating the explosion-proof failure time t=j×t Actual n+1 * K is an installation coefficient, and the value range is 0-1;
s9, if the explosion-proof failure time t is smaller than the time of returning to the charging and inflating base station, immediately stopping working, cutting off a power supply, performing audible and visual alarm, and if the explosion-proof failure time t is smaller than the residual time required by the task and larger than the time of returning to the charging and inflating base station, immediately stopping working, returning to the base station, and performing audible and visual alarm; if t is greater than the residual time required by the task, returning to the base station after completing the task, and carrying out audible and visual alarm.
Further, the step S1 specifically includes:
s10, collecting data for counting m time intervals T, wherein m is more than 10;
s11, performing curve fitting by using a least square method by using m data;
s12, judging a correlation coefficient value between the fitted curve and the original m data, if the correlation coefficient value is larger than 0.8, considering that the accuracy of the fitted curve at the moment can be applied to the subsequent time prediction, and if the correlation coefficient value is smaller than 0.8, considering that the accuracy of the fitted curve at the moment can not be applied to the subsequent time prediction;
s13, generating a new interval time T along with continuous operation of the explosion-proof mobile cooperative robot new Will T new Together with the previously collected data as raw data, curve fitting is performed again.
Further, the step S2 specifically includes:
s20, when the movable cooperative robot starts to work, the air pressure of the air storage tank 5 is P Gas storage ，P Gas storage Should be greater than the maximum pressure P required by positive pressure explosion protection max According to the ideal gas state equation: pv=nrt, where P represents the pressure of the gas, V represents the volume of the gas, n represents the amount of substance of the gas, R represents the gas constant, and T represents the absolute temperature of the gas;
s21, assuming that the temperature and the amount of the substance of the gas in the gas tank 5 are kept constant before and after the release, then:
P gas storage *V Gas storage ＝P max *V
Wherein V is Gas storage Is the volume of the air storage tank, V is the air storage tank P Gas storage Air pressure release is P max The volume of the rear part;
s22, set V Cavity(s) For the sum of the volumes of the cavities of the mobile chassis and the co-operating robot arm, the number of inflations j=v/V of the air reservoir.
Further, the step S3 specifically includes:
s30, dividing the inflatable times j into an integer part i and a decimal part d, wherein the integer part i represents the completed internal air pressure of the cavity from P min Charged to P max The fractional part d is not full to P max Is a part of (2);
s31, predicting according to the single time interval T, wherein the i time intervals are respectively T n+1 、T n+2 、....、T n+i ；
S32, fractional part according to time T n+i+1 Is the duty ratio estimation of T d ＝d*T n+i+1 ；
S33, the predicted value of the explosion-proof effective duration is T n+1 +T n+2 +....+T n+i +T d 。
Compared with the prior art, the invention has the advantages that: the invention can realize positive pressure explosion prevention in mobile work, has the function of predicting the effective duration of explosion prevention and alarming the explosion prevention failure, and is used for solving the working problem of a mobile cooperative machine in a place needing explosion prevention.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of an explosion-proof mobile cooperative robot of the present invention;
FIG. 2 is a cross-sectional view of the explosion-proof mobile cooperative robot of the present invention;
FIG. 3 is a schematic view of the explosion-proof mobile cooperative robot of the present invention in a safe zone and an explosion-proof zone;
FIG. 4 is a schematic diagram of the inflation process of the explosion-proof mobile cooperative robot of the present invention;
FIG. 5 shows the pressure in the cavity of the present invention from P max To P min Schematic diagram of time interval T as a function of times;
FIG. 6 is a flow chart of the present invention for curve fitting a time interval T;
fig. 7 is a graph of time interval to inflation times for an explosion-proof failure in accordance with the present invention.
FIG. 8 is a flow chart of the determination of an explosion-proof failure alarm in the present invention.
In the figure: the automatic air supply system comprises a mobile base 1, a cooperative robot arm 2, a touch screen 3, an emergency stop button 4, an air storage tank 5, an air inlet valve 6, a first pressure sensor 7, a pressure relief valve 8, a robot arm positive pressure air pipeline 9, a base positive pressure air pipeline 10, a second pressure sensor 11, an air inlet joint 12, an air supply valve 13, a base station 14, a high-pressure air source 15, a fixed workbench 16, an explosion-proof power socket 17, an explosion-proof air source socket 18 and a power supply 19.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present invention.
Referring to fig. 1-3, the embodiment discloses an explosion-proof mobile collaborative robot, which comprises a mobile base 1 and a collaborative robot arm 2 arranged on the mobile base 1, wherein an inner cavity of the mobile base 1 is provided with a gas storage tank 5, a gas inlet valve 6, a pressure sensor, a pressure relief valve 8, a robot arm positive pressure gas pipeline 9 and a base positive pressure gas pipeline 10, the gas inlet end of the gas storage tank 5 is connected with a gas inlet joint 12, the gas inlet joint 12 is provided with the gas inlet valve 6, the gas delivery end of the gas storage tank 5 is connected with the robot arm positive pressure gas pipeline 9 and the base positive pressure gas pipeline 10 through a gas delivery valve 13, the base positive pressure gas pipeline 10 is communicated with the inner cavity of the mobile base 1, a first pressure sensor 7 is arranged in the gas storage tank 5, and a second pressure sensor 11 is arranged in the inner cavity of the mobile base 1.
In this embodiment, high-pressure gas can be stored in the gas storage tank, if the explosion-proof mobile cooperative robot is in a safe area (can be located at a base station of the mobile cooperative robot), the gas inlet connector 12 is connected with the high-pressure gas source 15 of the base station 14 to supplement high-pressure gas to the gas storage tank 5, the first pressure sensor 7 detects the pressure in the gas storage tank 5, and the highest gas storage pressure is set to be P Gas storage If the first pressure sensor is used for supplementing high-pressure gasThe device 7 judges that the pressure in the air storage tank 5 is smaller than the highest pressure P of the air storage Gas storage When the air inlet valve 6 is in an open state, the pressure in the air storage tank 5 is equal to the highest air storage pressure P Gas storage At this time, the intake valve 6 is closed.
If the explosion-proof mobile cooperative robot stays in the explosion-proof area (stays at a certain station for a long time, for example, at a fixed workbench), the explosion-proof mobile cooperative robot connects the explosion-proof power supply socket 17 and the explosion-proof air supply socket 18 of the fixed workbench 16.
In this embodiment, the connection between the mobile base 1 and the cooperative robot arm 2 is sealed by a rubber sealing ring or sealant, and the inner cavity of the mobile base 1 is communicated with the inner cavity of the cooperative robot arm 2, so that the air pressures in the two cavities can be approximately considered to be equal, and the air pressure in the cavity is detected by using the second pressure sensor 11.
In the embodiment, the maximum air pressure required by positive pressure explosion prevention of the explosion-proof mobile cooperative robot is P max The minimum air pressure is P min 。
When the explosion-proof mobile cooperative robot is required to perform positive pressure explosion-proof, the air delivery valve 13 is opened to deliver air to the cavity of the mobile base 1 until the second pressure sensor 11 detects that the air pressure in the cavity reaches the maximum air pressure P required by positive pressure explosion-proof max When the gas transmission valve 13 is closed; if the air pressure of the cavity of the movable base 1 is greater than P max In the event of an abnormality, the pressure may be relieved by the relief valve 8 until the air pressure is less than P max 。
In the embodiment, before the explosion-proof mobile cooperative robot leaves the base station to start working, the air inlet valve 6 and the pressure relief valve 8 are simultaneously opened, so that the air in the cavity is rapidly discharged, and the cleanness of the air in the cavity is ensured.
In this embodiment, the movable base 1 directly performs positive pressure gas transmission through the base positive pressure gas transmission pipeline 10, the cooperative robot arm 2 leads to terminal gas transmission through the robot arm positive pressure gas transmission pipeline 9, and the airflow direction flows from the terminal to the base, as shown by the arrow in fig. 2, so as to ensure that each part of the robot arm has a reliable positive pressure protection function.
In this embodiment, the movable base 1 and the cooperative robot arm 2 are not completely sealed, and the sealed portion is groundPhenomena such as damage, corrosion and breakage, so that the internal cavity is required to be inflated frequently to realize positive pressure explosion prevention, the positive pressure to the external environment is maintained, and the air pressure P in the air storage tank is ensured 1 Is greater than the maximum pressure P required by positive pressure explosion prevention max When the explosion-proof mobile cooperative robot is separated from the explosion-proof power socket 17 and the explosion-proof air source socket 18 (after separating from the charging and inflating base stations), positive pressure air can be supplied to the inner cavity of the mobile base 1 through the air storage tank 5 for a plurality of times, and when the air pressure of the inner cavity of the mobile base 1 is reduced to the minimum air pressure P required by positive pressure explosion prevention min When the air pressure in the inner cavity of the movable base 1 is equal to the maximum air pressure P required by positive pressure explosion prevention, the air transmission valve 13 is opened max The gas transmission valve 13 is closed, and the inflation process is schematically shown in fig. 4.
The invention also provides a control method of the explosion-proof mobile cooperative robot, which comprises the steps of predicting the effective duration of explosion prevention and predicting the explosion-proof failure alarm;
compared with a common cooperative robot, the explosion-proof movable cooperative robot has a more complex structure and more parts, is in movable operation, and cannot continuously and stably supply air by a fixed station. In this embodiment, the positive pressure air supply is performed by the air storage tank 5 inside the device, but the air storage tank is limited in volume, the capacity of the air storage tank is limited, and the positive pressure air supply time is limited, so that it is necessary to predict the effective duration of explosion protection.
Calculating the explosion-proof effective duration of the explosion-proof mobile cooperative robot of the embodiment, wherein factors to be considered are that the pressure in a single cavity is equal to P max To P min Time interval T between them, and air storage tank can make the air pressure in cavity be regulated from P min To P max Is a number of times (1).
The explosion-proof effective duration prediction of the embodiment comprises the following steps:
s1, predicting the maximum pressure P required by explosion prevention of the inner cavity pressure of the movable base 1 from positive pressure through curve fitting max To the minimum air pressure P required by positive pressure explosion prevention min Time of (2) interval T.
Specifically, the pressure in each cavity is automatically collected from P max To P min Time interval T betweenThe time interval T is continuously reduced under the influence of factors such as abrasion, corrosion, failure and the like at the sealing part. The collection times T are ordered in sequence and the data curve fitted as shown in fig. 5.
The curve fitting can be realized by a least square method, a polynomial fitting and other methods, the curve fitting accuracy can be measured by a correlation coefficient, a standard deviation and other methods, and referring to fig. 6, the steps of the curve fitting described by the least square method and the correlation coefficient in the embodiment are as follows:
step S10, collecting data of m time intervals T, wherein m is generally greater than 10.
Step S11, performing curve fitting by using a least square method by using m data.
And S12, judging the correlation coefficient value between the fitted curve and the original m data, wherein the correlation coefficient value is used for measuring the correlation between the actual data and the fitted curve, if the correlation coefficient value is larger than 0.8, the accuracy of the fitted curve at the moment is considered to be acceptable and can be applied to the subsequent time prediction, and if the correlation coefficient value is smaller than 0.8, the accuracy of the fitted curve at the moment is considered to be poor and can not be applied to the subsequent time prediction.
Step S13, generating a new interval time T along with the continuous operation of the explosion-proof mobile cooperative robot new Will T new Together with the previously collected data as raw data, curve fitting is performed again.
After the fit curve is judged to be available, the following interval time T can be predicted, and the predicted following interval time T of 1 times is set as T n+1 The following 2 times of interval time is T n+2 The subsequent interval time of i times is T n+i 。
S2, predicting the inflation times of the air storage tank according to the time interval T, wherein the method specifically comprises the following steps:
step S20, when the movable cooperative robot starts to work, the air pressure of the air storage tank 5 is P Gas storage ，P Gas storage Should be greater than the maximum pressure P required by positive pressure explosion protection max According to the ideal gas state equation: pv=nrt, where P represents the pressure of the gas, V represents the volume of the gas, n represents the amount of the substance of the gas, R represents the gas constant, and T representsAbsolute temperature of the gas;
step S21, assuming that the temperature of the gas in the gas tank 5 and the amount of the substance are kept constant before and after the release, is that:
P gas storage *V Gas storage ＝P max *V
Wherein V is Gas storage Is the volume of the air storage tank, V is the air storage tank P Gas storage Air pressure release is P max The volume of the rear part;
step S22, set V Cavity(s) For moving the sum of the volumes of the chassis and the cavity of the co-operating robot arm, the number of inflatable times j=v/V of the air reservoir Cavity(s) 。
Step S3, predicting the explosion-proof effective duration according to the inflation times of the air storage tank, wherein the method specifically comprises the following steps:
step S30, dividing the inflatable times j into an integer part i and a fractional part d, i.e. j=i+d, wherein the integer part i represents the completed pressure in the cavity from P min Charged to P max The fractional part d is not full to P max Is a part of the same.
Step S31, predicting according to the single time interval T, wherein the i time intervals are T respectively n+1 、T n+2 、....、T n+i 。
Step S32, decimal part is according to time T n+i+1 Is the duty ratio estimation of T d ＝d*T n+i+1 。
S33, predicting the explosion-proof effective duration to be T n+1 +T n+2 +....+T n+i +T d 。
The explosion-proof failure of the mobile cooperative robot is represented by the fact that the equipment cavity cannot maintain a positive pressure environment with the outside, and the following three failure conditions are: 1. gradual failure. The equipment sealing part is worn, corroded and the like, so that the equipment sealing effect is gradually deteriorated, and the final explosion-proof effective time is shortened to the time when the task requirement cannot be met. The user can set the time required by the task through the touch screen 3, and according to the prediction of the explosion-proof effective time, whether the time required by the task is met or not can be judged before the task starts, if the time required by the task is not met, the early warning is carried out in advance by the touch screen of the equipment, and the user is prompted to carry out explosion-proof maintenance. 2. And suddenly fails. Device sealThe sealing effect of the equipment is suddenly deteriorated due to the damage of the part, the working state is processed according to the specific condition of the sealing deterioration, if the T is actual n+1 Less than 80% of the predicted value, a catastrophic failure may be considered to occur. 3. The air pressure is insufficient and fails. Whenever the device is in operation, the air pressure in the cavity of the device is lower than P for whatever reason min The equipment immediately stops working, cuts off the power supply and gives an audible and visual alarm.
Referring again to fig. 8, the prediction of the explosion-proof failure alarm of the present embodiment includes the following steps:
step S4, judging whether the failure time of the explosion-proof mobile cooperative robot is longer than the working time, if so, executing step S5, otherwise, starting the gradual failure prediction flow of step S7;
step S5, judging the subsequent primary time interval T n+1 If the predicted value is smaller than the set value, continuing to execute the step S6, otherwise starting the sudden failure prediction flow of the step S8;
step S6, continuing to work the explosion-proof mobile cooperative robot, and judging whether the air pressure of the inner cavity of the mobile base 1 is larger than the minimum air pressure P required by positive pressure explosion prevention in real time min If yes, continuing to work until the work is finished, otherwise, judging that the explosion-proof mobile cooperative robot with insufficient air pressure stops working;
step S7, before the work task of the explosion-proof mobile cooperative robot starts, judging whether the demand time of the work task is met or not according to the predicted explosion-proof effective duration, if not, early warning and prompting the explosion-proof maintenance, and if so, executing the work task;
step S8, reading the data of the first pressure sensor 7 as P Residual of And utilize P Residual of Calculating the inflatable times j, and estimating the explosion-proof failure time t=j×t Actual n+1 * K is an installation coefficient, and the value range is 0-1;
step S9, if the explosion-proof failure time t is smaller than the time of returning to the charging and inflating base station, immediately stopping working, cutting off a power supply, performing audible and visual alarm, and if the explosion-proof failure time t is smaller than the residual time required by the task and larger than the time of returning to the charging and inflating base station, immediately stopping working, returning to the base station, and performing audible and visual alarm; if t is greater than the residual time required by the task, returning to the base station after completing the task, and carrying out audible and visual alarm.
According to the invention, the air storage tank is arranged on the movable base, so that the movable cooperative robot can be separated from an external air source for a long time, and movable positive pressure explosion prevention is realized.
According to the invention, the data of the positive pressure air leakage duration of the cavity is collected, counted and fitted, the subsequent positive pressure air leakage duration is predicted, and the explosion-proof effective duration prediction of the mobile cooperative robot is performed by combining the inflation frequency calculation of the air storage tank, so that the user can grasp the explosion-proof performance of the equipment conveniently.
According to the invention, through judging the working time and the positive pressure air leakage time of the actual cavity, the explosion-proof failure alarm under various conditions is carried out, so that a user can reliably apply the explosion-proof mobile cooperative robot.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, the patentees may make various modifications or alterations within the scope of the appended claims, and are intended to be within the scope of the invention as described in the claims.
Claims (4)
1. The control method of the explosion-proof mobile cooperative robot is characterized by comprising a mobile base (1) and a cooperative robot arm (2) arranged on the mobile base (1), wherein an inner cavity of the mobile base (1) is provided with an air storage tank (5), an air inlet valve (6), a pressure sensor, a pressure release valve (8), a robot arm positive pressure air pipeline (9) and a base positive pressure air pipeline (10), an air inlet end of the air storage tank (5) is connected with an air inlet joint (12), an air inlet valve (6) is arranged at the air inlet joint (12), an air conveying end of the air storage tank (5) is connected with the robot arm positive pressure air pipeline (9) and the base positive pressure air pipeline (10) through an air conveying valve (13), the base positive pressure air pipeline (10) is communicated with an inner cavity of the mobile base (1), a first pressure sensor (7) is arranged in the air storage tank (5), and a second pressure sensor (11) is arranged in the inner cavity of the mobile base (1);
if the explosion-proof mobile cooperative robot is in a safe area, the air inlet joint (12) is connected with a high-pressure air source (15) of the base station (14) to supplement high-pressure air to the air storage tank (5), and if the first pressure sensor (7) judges that the pressure in the air storage tank (5) is smaller than the highest air storage pressure P Gas storage When the air inlet valve (6) is in an open state, the pressure in the air storage tank (5) is equal to the highest air storage pressure P Gas storage When the air inlet valve (6) is closed;
if the explosion-proof movable cooperative robot stays in the explosion-proof area, the explosion-proof movable cooperative robot is connected with an explosion-proof power socket (17) and an explosion-proof air source socket (18) of the fixed workbench (16);
the joint of the movable base (1) and the cooperative robot arm (2) is sealed by a rubber sealing ring or sealant, and the inner cavity of the movable base (1) is communicated with the inner cavity of the cooperative robot arm (2);
when the explosion-proof mobile cooperative robot is required to perform positive pressure explosion-proof, the air conveying valve (13) is opened to convey air to the cavity of the mobile base (1) until the second pressure sensor (11) detects that the air pressure in the cavity reaches the maximum air pressure P required by positive pressure explosion-proof max When the air delivery valve (13) is closed; if the air pressure of the cavity of the movable base (1) is greater than P max When the pressure is lower than P, the pressure is released by the pressure release valve (8) max ；
When the explosion-proof mobile cooperative robot is separated from the explosion-proof power socket (17) and the explosion-proof air source socket (18), positive pressure air is supplied to the inner cavity of the mobile base (1) for a plurality of times through the air storage tank (5), and when the air pressure of the inner cavity of the mobile base (1) is reduced to the minimum air pressure P required by positive pressure explosion min When the air delivery valve (13) is opened and the air pressure in the inner cavity of the movable base (1) is equal to the maximum air pressure P required by positive pressure explosion prevention max The gas transmission valve (13) is closed;
the control method of the explosion-proof mobile cooperative robot comprises the steps of predicting the effective duration of explosion prevention and predicting the alarm of explosion prevention failure;
the prediction of the explosion-proof effective duration comprises the following steps:
s1, predicting the maximum pressure P required by explosion prevention of the inner cavity pressure of the movable base (1) from positive pressure through curve fitting max To positive pressureMinimum air pressure P required for explosion min Time interval T of (2);
s2, predicting the inflation times of the air storage tank according to the time interval T;
s3, predicting explosion-proof effective duration according to the inflation times of the air storage tank;
the prediction of the explosion-proof failure alarm comprises the following steps:
s4, judging whether the failure time of the explosion-proof mobile cooperative robot is longer than the working time, if so, executing the step S5, otherwise, starting the gradual failure prediction flow of the step S7;
s5, judging the subsequent primary time interval T n+1 If the predicted value is smaller than the set value, continuing to execute the step S6, otherwise starting the sudden failure prediction flow of the step S8;
s6, continuing to work the explosion-proof mobile cooperative robot, and judging whether the air pressure of the inner cavity of the mobile base (1) is larger than the minimum air pressure P required by positive pressure explosion prevention in real time min If yes, continuing to work until the work is finished, otherwise, judging that the explosion-proof mobile cooperative robot with insufficient air pressure stops working;
s7, before starting a work task of the explosion-proof mobile cooperative robot, judging whether the demand time of the work task is met or not according to the predicted explosion-proof effective duration, if not, early warning in advance and prompting to perform explosion-proof maintenance, and if so, executing the work task;
s8, reading data of the first pressure sensor (7) as P Residual of And utilize P Residual of Calculating the inflatable times j, and estimating the explosion-proof failure time t=j×t Actual n+1 * K is an installation coefficient, and the value range is 0-1;
s9, if the explosion-proof failure time t is smaller than the time of returning to the charging and inflating base station, immediately stopping working, cutting off a power supply, performing audible and visual alarm, and if the explosion-proof failure time t is smaller than the residual time required by the task and larger than the time of returning to the charging and inflating base station, immediately stopping working, returning to the base station, and performing audible and visual alarm; if t is greater than the residual time required by the task, returning to the base station after completing the task, and carrying out audible and visual alarm.
2. The control method according to claim 1, wherein the step S1 specifically includes:
s10, collecting data for counting m time intervals T, wherein m is more than 10;
s11, performing curve fitting by using a least square method by using m data;
s12, judging a correlation coefficient value between the fitted curve and the original m data, if the correlation coefficient value is larger than 0.8, considering that the accuracy of the fitted curve at the moment can be applied to the subsequent time prediction, and if the correlation coefficient value is smaller than 0.8, considering that the accuracy of the fitted curve at the moment can not be applied to the subsequent time prediction;
s13, generating a new interval time T along with continuous operation of the explosion-proof mobile cooperative robot new Will T new Together with the previously collected data as raw data, curve fitting is performed again.
3. The control method according to claim 2, wherein the step S2 specifically includes:
s20, when the movable cooperative robot starts to work, the air pressure of the air storage tank (5) is P Gas storage ，P Gas storage Should be greater than the maximum pressure P required by positive pressure explosion protection max According to the ideal gas state equation: pv=nrt, where P represents the pressure of the gas, V represents the volume of the gas, n represents the amount of substance of the gas, R represents the gas constant, and T represents the absolute temperature of the gas;
s21, assuming that the temperature and the amount of substances of the gas in the gas storage tank (5) are kept unchanged before and after release, then:
P gas storage *V Gas storage ＝P max *V
Wherein V is Gas storage Is the volume of the air storage tank, V is the air storage tank P Gas storage Air pressure release is P max The volume of the rear part;
s22, set V Cavity(s) For moving the sum of the volumes of the chassis and the cavity of the co-operating robot arm, the number of inflatable times j=v/V of the air reservoir Cavity(s) 。
4. The control method according to claim 2, wherein the step S3 specifically includes:
s30, dividing the inflatable times j into an integer part i and a decimal part d, wherein the integer part i represents the completed internal air pressure of the cavity from P min Charged to P max The fractional part d is not full to P max Is a part of (2);
s31, predicting according to the single time interval T, wherein the i time intervals are respectively T n+1 、T n+2 、....、T n+i ；
S32, fractional part according to time T n+i+1 Is the duty ratio estimation of T d ＝d*T n+i+1 ；
S33, the predicted value of the explosion-proof effective duration is T n+1 +T n+2 +....+T n+i +T d 。
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| CN116968053A (en) | 2023-10-31 |
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