CN108340412A - A kind of industrial machinery arm safety guard - Google Patents
A kind of industrial machinery arm safety guard Download PDFInfo
- Publication number
- CN108340412A CN108340412A CN201810224881.3A CN201810224881A CN108340412A CN 108340412 A CN108340412 A CN 108340412A CN 201810224881 A CN201810224881 A CN 201810224881A CN 108340412 A CN108340412 A CN 108340412A
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- CN
- China
- Prior art keywords
- grid electrode
- direction grid
- safety guard
- industrial machinery
- machinery arm
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
Abstract
The present invention discloses a kind of industrial machinery arm safety guard, including multiple crust devices and sampling processing device, and multiple crust devices are coated on the outer surface of mechanical arm body and are electrically connected with sampling processing device；Crust device includes base, X-direction grid electrode, Y-direction grid electrode and elastic layer, and X-direction grid electrode and Y-direction grid electrode are distributed in coordinate form in base, and elastic layer is filled between X-direction grid electrode and Y-direction grid electrode.Safety guard provided by the invention can make the physical contact between worker and robot carry out directly perception and rapid judgement, need not acquire the status information of industrial robot joint motor, simple in structure, fast response time；Crust device integrally keeps soft, not only improves crust device and fits closely the shell shape of industrial machinery arm, and is conducive to avoid generating injury to worker during man-machine contact.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of industrial machinery arm safety guard.
Background technology
Man-machine collaboration type mechanical arm is the robot for referring to share working region in the production line with people.Man-machine collaboration machine
The working space of device people intersects with the working space of worker, and is likely to occur object between man-machine collaboration robot and worker
Reason contact.It should also have the ability for identifying man-machine contact, and hard other than having the function of general industry robot
Has the function of ensureing man-machine touch-safe on part and software.
Patent document CN105555490A is disclosed according to the work station arrangement that the man-machine contact extent of injury is different and divides,
The man-machine contact being likely to occur is prejudged with relative position of the robot in working space by perceiving people.Patent document
102005027522 B4 of DE, which disclose a kind of device, the industrial machinery arm of capacitive sensor, is perceived by capacitance sensor
The distance between mechanical arm and barrier.Though the two can play the role of perceiving people and robotic contact to a certain extent,
But due to the setting of relative position and the position limitation of sensor, it cannot meet and rapidly and effectively be connect
Feedback is touched even it is also possible to there is feedback blind spot.
Invention content
The object of the present invention is to provide a kind of industrial machinery arm safety guards, above-mentioned of the existing technology to solve
Problem can make the physical contact between worker and robot carry out directly perception and rapid judgement, need not acquire industrial machine
The status information of person joint's motor, simple in structure, fast response time.
To achieve the above object, the present invention provides following schemes：The present invention provides a kind of industrial machinery arm safeguard protection
Device, including including multiple crust devices and sampling processing device, multiple crust devices are coated on the outer of mechanical arm body
Surface is simultaneously electrically connected with the sampling processing device；The crust device includes base, X-direction grid electrode, Y-direction grid electricity
Pole and elastic layer, the X-direction grid electrode and Y-direction grid electrode are distributed in coordinate form in the base, the bullet
Property layer is filled between the X-direction grid electrode and Y-direction grid electrode.
Optionally, the X-direction grid electrode is in 90 degree of cross-distributions in length direction with Y-direction grid electrode, in thickness
Elastic layer described in alternating floor between spending on direction.
Optionally, the X-direction grid electrode, Y-direction grid electrode and elastic layer constitute a capacitor, capacitance
Size changes with the change of vertical range between electrode.
Optionally, the sampling processing device includes mechanical arm controller, bus cable, harvester and processing unit,
Each crust device is all connected with there are one the harvester, and multiple harvesters are connected by the bus cable
It forms data link and is ultimately connected to the processing unit, signal is fed back to the mechanical arm and controlled by the processing unit
Device, the machinery arm controller control the mechanical arm body and respond.
Optionally, the harvester includes X-direction grid electrode conducting wire, X-direction signal sorting device, X-direction sampling letter
Number line and sampling controller, the X-direction grid electrode is by the X-direction grid electrode conducting wire and the X-direction signal point
Device is selected to be connected, the X-direction signal sorting device acquires each described successively under the control via the X-direction sampled signal line
The voltage signal of X-direction grid electrode, and transmit information back to the sampling controller；The sampling apparatus further includes Y-direction grid
Lattice electrode cable, Y-direction signal sorting device and X-direction sampled signal line, the Y-direction grid electrode pass through the Y-direction grid
Lattice electrode cable is connected with the Y-direction signal sorting device, and the Y-direction signal sorting device is sampling letter via the Y-direction
The voltage signal of each Y-direction grid electrode is acquired successively under the control of number line, and transmits information back to the controlling of sampling
Device.
Optionally, the sampling controller is connect by bus signal line with bus control unit, and the bus control unit is logical
It crosses after the bus cable is connected with each other with sampling apparatus described in other and is finally connect with the processing unit.
Optionally, be additionally provided with surface layer on the outside of the crust device, the surface layer by acid and alkali-resistance flexible wear-resistant material system
At.
Optionally, the plastic film that the base is big by tensile strength, gluing performance is good is made；The elastic layer is by having
The opaque material of elasticity is made.
Optionally, the X-direction grid electrode and Y-direction grid electrode cut into grid by conductive metal film respectively
Shape, each grid are connected by signal wire with the acquisition processing device.
The present invention achieves following technique effect compared with the existing technology：
(1) crust device provided by the invention can with the physical contact between worker and robot carry out directly perceive and it is fast
Speed judges, need not acquire the status information of industrial robot joint motor, simple in structure, fast response time；
(2) crust device integrally keeps soft, not only improves the shell shape that crust device fits closely industrial machinery arm,
Be conducive to avoid generating injury to worker during man-machine contact again；
(3) shape of crust device can be changed, and can provide contact protection function for various forms of industrial machinery arms,
With good adaptability.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall mechanism schematic diagram of industrial machinery arm safety guard of the present invention；
Fig. 2 is the arrangement and connection relationship diagram of crust device；
Wherein, 1 mechanical arm body；2 crust devices；3 bus cables；4 harvesters；5 processing units；6 mechanical arms control
Device；201 bases；202X direction grid electrodes；203 elastic layers；204Y direction grid electrodes；205 surface layers；401X direction grid electricity
Polar conductor；402X direction signal sorters；The directions 403X sampled signal line；404 sampling controllers；405Y direction grid electrodes are led
Line；406Y direction signal sorters；The directions 407Y sampled signal line；408 bus signal lines；409 bus control units.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of industrial machinery arm safety guards, above-mentioned of the existing technology to solve
Problem can make the physical contact between worker and robot carry out directly perception and rapid judgement, need not acquire industrial machine
The status information of person joint's motor, simple in structure, fast response time.
Industrial machinery arm safety guard provided by the invention, including filled including multiple crust devices and sampling processing
It sets, multiple crust devices are coated on the outer surface of mechanical arm body and are electrically connected with sampling processing device；Crust device includes base
Layer, X-direction grid electrode, Y-direction grid electrode and elastic layer, X-direction grid electrode and Y-direction grid electrode are in coordinate form
It is distributed in base, elastic layer is filled between X-direction grid electrode and Y-direction grid electrode.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Please refer to Fig.1-2, wherein Fig. 1 is the overall mechanism schematic diagram of industrial machinery arm safety guard of the present invention；Figure
2 be the arrangement and connection relationship diagram of crust device.
A kind of mechanical arm Flexible Safety crust device using multilayered structure provided by the invention, as shown in Figure 1, including machine
Tool arm body 1, crust device 2, bus cable 3, harvester 4, processing unit 5, mechanical arm controller 6.
2 gluing of crust device is on the outer surface that mechanical arm body 1 needs to carry out in the region of collision detection.Each is adopted
Whether acquisition means 4 are connect with one piece of outer leather jacket 2, set for outside leather jacket and touched in 2 power supplies, and detection crust device 2
It hits, and the position that collision occurs.Harvester 4 is connected by bus cable 3 with other harvesters 4, and data-link is formed
Road is simultaneously ultimately connected to processing unit 5.Processing unit 5 collects all collision alarms, to mechanical arm controller 6 after being handled
Feedback, responds collision situation by 6 control machinery arm body 1 of controller.
Crust device 2 has layered structure as shown in Figure 2, including base 201, X-direction grid electrode 202, elastic layer
203, Y-direction grid electrode 204, surface layer 205.Wherein base 201 is made of the ambroin film of stretch-proof, has good
Glueability can be fitted closely with mechanical arm outer surface after gluing.X-direction grid electrode 202 and Y-direction grid electrode 204
It is to be made of conductive metal film and conductive metal film is cut into grid shape, each grid passes through signal wire and acquisition
Processing unit is connected.Elastic layer 203 is made of the insulating materials with certain elasticity, is filled in X-direction grid electrode 202 and Y
Between direction grid electrode 204.In order to identify the position of collision generation, X-direction grid electrode 202 and Y-direction grid
Electrode 204 is in 90 degree of cross-distributions in electrode length direction；The elastic layer 203 that alternating floor insulate between on thickness of electrode direction,
Form composite construction.X-direction grid electrode 202, Y-direction grid electrode 204 and elastic layer 203 constitute a capacitor,
Capacitance size changes with the change of vertical range between electrode.By measuring X-direction grid electrode 202 and Y-direction grid
The variation of capacitance between electrode 204, can sense mechanism arm whether collide with external environment.Surface layer 205 be by oil resistant,
Acid and alkali-resistance, rub resistance ambroin film be made, provide protection for device.When mechanical arm and worker or external environment occur
When physical contact, the elastic layer 203 of crust device 2 is compressed under the action of contact force at contact point, causes X-direction grid electric
It is special to change the capacitance that collision occurs at point for pole 202 and distance change of the Y-direction grid electrode 204 on thickness of electrode direction
Property, triggering collection processing unit action, notice mechanical arm responds.
Connection type between crust device 2 and harvester 4 as shown in Fig. 2, X-direction grid electrode 202 conductive gold
Belong to film by X-direction grid electrode conducting wire 401 to be connected with X-direction signal sorting device 402.X-direction signal sorting device 402 is passing through
Under control by X-direction sampled signal line 403, the voltage letter of each electrode in X-direction grid electrode 202 is acquired successively
Number, realize the signal acquisition to X-direction grid electrode 202, and sampled result is passed back controlling of sampling by sampled signal line 403
Device 404.Similarly, the conductive metal film of Y-direction grid electrode 204 is believed by Y-direction grid electrode conducting wire 405 and Y-direction
Number sorter 406 is connected, and in the Y direction under the control of sampled signal line 407, completes to each electrode in Y-direction grid electrode 204
Signal acquisition, and pass result back sampling controller 404 via Y-direction sampled signal line 407.Sampling controller 404 is in the future
From X-direction grid electrode 202 and collision occurs for the sampled result from Y-direction grid electrode 204 directions X-Y where position
Coordinate is calculated, and result of calculation is sent to bus control unit 409 by bus signal line 408.Bus control unit 409 is logical
It crosses bus cable 3 to be connected with each other with other harvesters 4, finally be connect with processing unit 5.
Specific case is applied in the present invention, and principle and implementation of the present invention are described, above example
Illustrate the method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (9)
1. a kind of industrial machinery arm safety guard, it is characterised in that：Including including multiple crust devices and sampling processing dress
It sets, multiple crust devices are coated on the outer surface of mechanical arm body and are electrically connected with the sampling processing device；It is described outer
Leather jacket is set including base, X-direction grid electrode, Y-direction grid electrode and elastic layer, the X-direction grid electrode and Y-direction grid
Lattice electrode is distributed in coordinate form in the base, and the elastic layer is filled in the X-direction grid electrode and Y-direction grid
Between electrode.
2. industrial machinery arm safety guard according to claim 1, it is characterised in that：The X-direction grid electrode
In length direction be in 90 degree of cross-distributions with Y-direction grid electrode, in a thickness direction between elastic layer described in alternating floor.
3. industrial machinery arm safety guard according to claim 2, it is characterised in that：The X-direction grid electrode,
Y-direction grid electrode and elastic layer constitute a capacitor, and capacitance size changes with the change of vertical range between electrode
Become.
4. industrial machinery arm safety guard according to claim 1, it is characterised in that：The sampling processing device packet
Mechanical arm controller, bus cable, harvester and processing unit are included, each crust device is all connected with to be adopted there are one described
Acquisition means, multiple harvesters connect to form data link and be ultimately connected to the processing dress by the bus cable
It sets, signal is fed back to the mechanical arm controller by the processing unit, and the machinery arm controller controls the mechanical arm sheet
Body responds.
5. industrial machinery arm safety guard according to claim 4, it is characterised in that：The harvester includes X
Direction grid electrode cable, X-direction signal sorting device, X-direction sampled signal line and sampling controller, the X-direction grid electricity
Pole is connected by the X-direction grid electrode conducting wire with the X-direction signal sorting device, and the X-direction signal sorting device is passing through
By acquiring the voltage signal of each X-direction grid electrode under the control of the X-direction sampled signal line successively, and by information
Pass the sampling controller back；The sampling apparatus further includes Y-direction grid electrode conducting wire, Y-direction signal sorting device and X-direction
Sampled signal line, the Y-direction grid electrode pass through the Y-direction grid electrode conducting wire and the Y-direction signal sorting device phase
Even, the Y-direction signal sorting device acquires each Y-direction successively under the control via the Y-direction sampled signal line
The voltage signal of grid electrode, and transmit information back to the sampling controller.
6. industrial machinery arm safety guard according to claim 5, it is characterised in that：The sampling controller passes through
Bus signal line is connect with bus control unit, and the bus control unit passes through the bus cable and sampling apparatus phase described in other
It is finally connect with the processing unit after connecting.
7. industrial machinery arm safety guard according to claim 1, it is characterised in that：On the outside of the crust device also
It is provided with surface layer, the surface layer is made of the flexible wear-resistant material of acid and alkali-resistance.
8. industrial machinery arm safety guard according to claim 1, it is characterised in that：The base is by tensile strength
Greatly, the good plastic film of gluing performance is made；The elastic layer is made of flexible opaque material.
9. industrial machinery arm safety guard according to claim 1, it is characterised in that：The X-direction grid electrode
Grid shape is cut by conductive metal film respectively with Y-direction grid electrode, each grid is adopted by signal wire with described
Collect processing unit to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224881.3A CN108340412A (en) | 2018-03-19 | 2018-03-19 | A kind of industrial machinery arm safety guard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810224881.3A CN108340412A (en) | 2018-03-19 | 2018-03-19 | A kind of industrial machinery arm safety guard |
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| Publication Number | Publication Date |
|---|---|
| CN108340412A true CN108340412A (en) | 2018-07-31 |
Family
ID=62958070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810224881.3A Pending CN108340412A (en) | 2018-03-19 | 2018-03-19 | A kind of industrial machinery arm safety guard |
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| Country | Link |
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| CN (1) | CN108340412A (en) |
Cited By (2)
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| CN109597410A (en) * | 2018-11-28 | 2019-04-09 | 北京航天自动控制研究所 | A kind of the movable detection platform and autonomous method for searching of autonomous path planning |
| CN113059593A (en) * | 2021-03-25 | 2021-07-02 | 上海智能制造功能平台有限公司 | Robot safety protection device and method |
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| JP2003089091A (en) * | 2001-09-14 | 2003-03-25 | National Institute Of Advanced Industrial & Technology | Controller for robot with touch sensors |
| CN103386684A (en) * | 2013-08-21 | 2013-11-13 | 福州大学 | Device and design method for preventing robot from generating accidental collision |
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Application publication date: 20180731 |
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