CN108515520A

CN108515520A - Collision prevention formula industrial robot

Info

Publication number: CN108515520A
Application number: CN201810333491.XA
Authority: CN
Inventors: 叶敏
Original assignee: Ningbo De Shen Machinery And Equipment Co Ltd
Current assignee: Ningbo Longrui Machinery Manufacture Co ltd
Priority date: 2018-04-13
Filing date: 2018-04-13
Publication date: 2018-09-11
Anticipated expiration: 2038-04-13
Also published as: CN108515520B

Abstract

The present invention relates to industrial robot apparatus fields, and in particular to collision prevention formula industrial robot includes the robot body with self-clamping module, walking module, infrared distance measurement alignment modules, water storage part, controller and jet module；Infrared distance measurement alignment modules detect the distance of worker in direction of advance；Water storage part is for storing clear water；Controller obtains the distance detected and is judged, when distance value is less than threshold value, controller controls jet module and is ejected into from worker of the distance value less than threshold value from clear water is extracted in water storage part；The clear water extracted from water storage part is ejected into from worker by jet module；Further include being equipped with reflecting module and collection module with the matching used wearing part of robot body, wearing part；Reflecting module reflects the light beam of infrared distance measurement alignment modules；Collection module is used to be collected storage to the clear water that jet module injection comes.The present invention reminds worker to pay attention to avoiding by spraying the impact force of clear water, while massaging worker.

Description

Collision prevention formula industrial robot

Technical field

The present invention relates to industrial robot apparatus fields, and in particular to collision prevention formula industrial robot.

Background technology

With the internationalization of industrial technology development, intelligentize and informatization, the application of industrial robot is more and more extensive, work Industry robot is multi-joint manipulator or multivariant installations towards industrial circle, and industrial robot can be with acceptor Class is commanded or is run according to the program of advance layout.In some integrated mills, administrative staff can purchase industrial robot Mitigate the labor intensity and the amount of labour of worker, such as transfer robot, industrial robot shares part work to improve worker Working efficiency, be finally reached maximizing the benefits.

Existing industrial robot is moved when operating in the factory by desired trajectory, is deposited in advance in industrial robot Containing prevents the technology and methods of collision, such as the patent of Publication No. CN101512453A discloses a kind of side preventing collision Method, this method are obtained by estimating that the remaining time between industrial robot and object before colliding determines industrial robot Dwell time, the remaining time before the colliding of estimation is compared with the dwell time of industrial robot, and Remaining time before estimated collide close to industrial robot dwell time when, stop industrial robot or Object.

But the independence of worker makes the motion track of worker be not fixed, arbitrariness is also big for worker's motion track, and shows There is the collision-proof method of industrial robot by allowing the industrial robot that will collide worker to be stopped, to avoid industry Robot collides worker, and the industrial robot evacuation worker that is stopped reduces machine task efficiency.

Invention content

The invention is intended to provide a kind of collision prevention formula industrial robot, to solve working efficiency when industrial robot avoids worker The problem of reduction.

Collision prevention formula industrial robot in this programme, including robot body, the robot body include self-clamping module And walking module, the robot body further include infrared distance measurement alignment modules, water storage part, controller and jet module；

The infrared distance measurement alignment modules be used to be directed at worker and detect worker in robot body and direction of advance away from From；

The water storage part is for storing clear water；

The controller obtains the distance of infrared distance measurement alignment modules and is judged, when distance value is less than threshold value, institute It states controller control jet module and is ejected into from worker of the distance value less than threshold value from clear water is extracted in water storage part；

The jet module extracts clear water in water storage part according to the control of controller, and the jet module is by the clear water of extraction It is ejected at worker；

Further include matching used with robot body and for the wearing part that worker uses, the wearing part is equipped with reflection Module and collection module；

The reflecting module is for reflecting the light beam of infrared distance measurement alignment modules；

The collection module is used to be collected storage to the clear water that jet module injection comes.

The application method and advantageous effect of this programme be：In the robot body course of work, infrared distance measurement alignment modules Worker in direction of advance is detected at a distance from robot body, such as infrared distance measurement alignment modules can first emit light extraction Shu Ranhou receives the light beam after the wearing part reflection with worker, when worker is less than threshold value at a distance from robot body, Controller controls the worker in robot body alignment direction of advance, and controller controls jet module and extracts clear water from water storage part, The clear water of extraction is ejected at worker by jet module.

Clear water is ejected by the robot body in this programme when worker enters in the detection range of robot body At worker, the form for dressing part such as clothes is set on due to worker with, so impact force when clear water is ejected at worker Worker can be reminded to pay attention to avoiding, worker avoids robot body and is stopped without robot body, improves robot body Working efficiency, the impact force of clear water can also massage worker, mitigate the fatigue strength of worker, and clear water has mobility and not Senior general worker can be crossed because of impact force to shift onto, be ejected into the clear water at worker since the blocking of wearing part will not be directly sprayed onto worker's On clothes, the clothes of worker is avoided to be drenched, meanwhile, it is ejected into the clear water at worker and storage is collected by collection module, keep away Exempt from the environment that clear water makes worker work to become moist through.

Compared with prior art, this programme by detection workman at a distance from robot body, and in worker and robot The distance of ontology is less than threshold value and sprays clear water from robot body to worker backward, and clear water impact force both reminded worker to keep away It allows, moreover it is possible to worker be massaged, robot body is without the evacuation worker that is first stopped, the continuity of robot body work More preferably, moreover, applying a reaction force to robot body when clear water ejects robot body, reduce robot body and exist Impact force when worker is struck, the impact force of clear water also pushes worker open, and robot body is avoided to knock worker down.

It explains：Threshold value is the safe distance value of worker and robot, allows worker can be when robot body is moved through next There is enough time to be avoided.

Further, the water storage part is located at robot body at walking module.

Since water storage part stores a certain amount of clear water, the weight of water storage part is larger, and water storage part can close to walking module It realizes and counterweight is carried out to robot body, make the decentralization of robot body, robot is avoided to encounter barrier in the process of walking Hinder object and topples over.

Further, the jet module further includes heater strip and heat safe elastomeric bladder, and the heater strip is used for extraction Clear water heating, the mouth of pouring water of metal is installed in the elastomeric bladder, check valve, the mouth use of pouring water are equipped in the mouth of pouring water In pouring into elastic tumour for the clear water after heating, the elastomeric bladder for having poured into clear water is ejected at worker by the jet module.

By heater strip clear water is heated during jet module extracts clear water, jet module will extract and heated Water afterwards directly pours into elastomeric bladder, and due to having check valve in the mouth of pouring water of elastomeric bladder, clear water will not after being poured into elastomeric bladder It is extruded, elastomeric bladder, which is ejected into the collection module at worker, to be stored, and it is certain that the clear water after heating can be such that elastomeric bladder has Temperature, elastomeric bladder, which is spurted into collection module, to remind worker avoid by temperature and impact force, while in clear water Heat can also carry out hot compress, impact force and heat to worker and carry out double-reminding to worker, and worker is also pushed open, avoided by impact force Robot body is collided with worker.

Further, the collection module is equipped with the inductive switch that can be triggered by elastomeric bladder, and the collection module is equipped with Start after inductive switch is triggered by kneading disk, the basin that rubs starts and is automatically stopped after rubbing six circles, it is described press kneading disk On offer card hole, the inner wall of the card hole is equipped with magnet piece, it is described by kneading disk for being rubbed to worker.

After elastomeric bladder spurts into collection module, inductive switch is triggered, and rubs one section of timing length of disk startup, i.e., is opened by kneading disk It is automatically stopped after dynamic a period of time, during rubbing elastomeric bladder by kneading disk, since there is elastomeric bladder certain elasticity and metal to fill Water nozzle attracts each other with the magnet of card hole inner wall, and the mouth that makes to pour water is caught in card hole, the position of elastomeric bladder is fixed, by pressing kneading disk Worker is touched to remind worker to avoid in advance with elastomeric bladder, meanwhile, the heat of elastomeric bladder and can by the extruding force of kneading disk Worker is massaged.

Further, the collection module includes collection port and storage bag, and the collection port is used to enter storage bag for clear water Interior, the reflecting module includes polylith atr plate, the atr plate be evenly distributed on in the storage bag of collection port face On wall.

When light beam projects on the atr plate of collection module, the reflected beams that infrared distance measurement alignment modules receive are reacted The amount for being sprayed to the clear water on ground is reduced convenient for spurting into clear water in storage bag in the position of collection port.

Further, the robot body is additionally provided with height buffer rail, is evenly distributed on the height buffer rail multiple Electromagnet, the infrared distance measurement alignment modules also measure the beam angle received, and the controller is according to beam angle Control electromagnet is powered successively, and the jet module is equipped with the metal derby for being adsorbed onto on electromagnet.

Since the height of each worker is different, the height of collection port can also exist poor when wearing part is set on individual Different, so be powered successively according to beam angle is received to control electromagnet, electromagnet attracts each other after being powered with metal derby, allows spray It penetrates the sequence that module is powered according to electromagnet to slide on height buffer rail, position and the height of jet module is adjusted, due to quilt The clear water ejected can make parabolic motion under the effect of gravity, so changing position and the height of jet module, clear water be made to use up It may mostly spurt into the storage bag of collection module, too many clear water is avoided to be sprinkled upon on the ground.

Further, the robot body is located at the both sides of direction of advance equipped with buffer module, the buffer module packet Soft sheath body, power supply and galvanometer are included, two pieces are installed in the soft sheath body can be from the electrode plate of lateral compression, the electrode Plate forms closed circuit by conducting wire and power supply and galvanometer, and the galvanometer is connect with controller signals, the electrode plate phase It is mutually parallel, it is filled with insulation dielectric between the electrode plate, is installed at the top of the soft sheath body for being sprayed for insulation dielectric The jet pipe gone out.

Since infrared distance measurement alignment modules are detected to the target in robot body direction of advance, robot body There are check frequency on the both sides of direction of advance, when worker from the both sides of robot body close to when, robot body can not Worker is reminded to avoid, thus it is close from robot body both sides in worker and when being expressed to buffer module, in soft sheath body Electrode plate be squeezed power, since soft sheath body is easy to generate deformation in stress, so soft sheath body is hit by worker When two electrode plates fit together, insulation dielectric is sprayed from jet pipe, and closed circuit connection, galvanometer detects electric current, controls Device processed controls robot body according to the current signal of galvanometer and is stopped, and is produced from the side of robot body to blind area in worker Just stop robot work when raw collision, worker had not only been avoided to be knocked down, but also reduce the number that robot body is stopped, ensures The working efficiency of robot body.

Description of the drawings

Fig. 1 is the structural schematic diagram of collision prevention formula industrial robot embodiment of the present invention；

Fig. 2 is the schematic block diagram of collision prevention formula industrial robot embodiment of the present invention；

Fig. 3 is the functional block diagram of robot body and wearing part in Fig. 2；

Fig. 4 is the structural schematic diagram of holder in collision prevention formula industrial robot embodiment of the present invention；

Fig. 5 is the structural schematic diagram that part is dressed in collision prevention formula industrial robot embodiment of the present invention；

Fig. 6 is the schematic diagram of buffer module in collision prevention formula industrial robot embodiment of the present invention.

Specific implementation mode

Below by the further details of explanation of specific implementation mode.

Reference numeral in Figure of description includes：Robot body 1, self-clamping module 2, walking module 3, water storage part 4, spray Penetrate module 5, infrared distance measurement alignment modules 6, height buffer rail 7, holder 8, injection road 9, pipeline 10, magnetic clutch button 11, pneumatic dress It sets 12, elastomeric bladder 13, push plate 14, compression spring 15, dress part 16, collection port 17, by kneading disk 18, storage bag 19, buffer module 20, spray Pipe 21, electrode plate 22, insulation dielectric 23, soft sheath body 24.

Collision prevention formula industrial robot, as shown in Figure 1, Figure 2 and Figure 3, including robot body 1 and be used for robot body 1 Matching used wearing part 16, robot body 1 include self-clamping module 2, walking module 3, infrared distance measurement alignment modules 6, water storage Portion 4, controller and jet module 5, with wearing part 16 is set on for worker, wearing part 16 is equipped with reflecting module and collects mould Block.

Infrared distance measurement alignment modules 6 for transmitting and receiving light beam to detect worker in robot body 1 and direction of advance Distance, infrared distance measurement alignment modules 6 include transmitter unit, receiving unit and angle measuring unit, transmitter unit is launched more Light beam, receiving unit receive reflected light beam, the beam angle that angle measuring unit measurement receives；

Water storage part 4 is located at robot body 1 at walking module 3, and walking module 3 can pass through universal wheel and its power knot Structure is moved, and water storage part 4 is connected with the pipeline 10 of conveying clear water, storage for storing clear water between water storage part 4 and jet module 5 Water portion 4 includes water tank, and clear water is stored in water tank, and pipeline 10 is connected to the bottom of water tank.

As shown in figure 4, arranging more heater strips connecting 5 at one end of jet module close to pipeline 10, heater strip is to extracting Clear water heated, heat safe elastomeric bladder 13 is installed in the exit that clear water is extracted in pipeline 10, the size of elastomeric bladder 13 with It can be injected into subject to collection port 17, the exit installation magnetic clutch button 11 of pipeline 10 is welded with metal in elastomeric bladder 13 It pours water mouth, elastomeric bladder 13 is buckled in mouth of pouring water in magnetic clutch button 11, and mouth of pouring water is located at the exit of pipeline 10, pacifies in mouth of pouring water Equipped with check valve, the holder 8 of bar shaped is welded on the vertical direction for placing 13 position of elastomeric bladder, 8 bottom of holder passes through pressure Spring 15 connects a push plate 14, stacks multiple elastomeric bladders 13 in push plate 14, the number of elastomeric bladder 13 according to the size of holder 8 into Row is placed, and conveniently can repeatedly be used, and holder 8 opens up injection road 9, spray in the horizontal direction that elastomeric bladder 13 is ejected It penetrates 9 and the pneumatic device 12 for ejecting elastomeric bladder 13 is installed；

Robot body 1 is equipped with height buffer rail 7, and multiple electromagnet, electromagnet are evenly distributed on height buffer rail 7 Number set according to the height that each height is adjusted, the height such as adjusted every time can be 1cm, and controller is according to beam angle Degree control electromagnet is powered successively, and the metal derby for being adsorbed onto on electromagnet is welded on jet module 5；

Controller obtains the distance of infrared distance measurement alignment modules 6 and is judged, when distance value is less than threshold value, controller Control jet module 5 is ejected into from clear water is extracted in water storage part 4 from worker of the distance value less than threshold value；

Jet module 5 extracts clear water in water storage part 4 according to the control of controller and pours into elastomeric bladder 13, and jet module 5 will The elastomeric bladder 13 for pouring into clear water after heating is ejected at worker, and jet module 5 can install pumping when extracting clear water on pipeline 10 Water pump；

Reflecting module includes polylith atr plate, atr plate be evenly distributed on in the storage bag 19 of 17 face of collection port On wall, the number of atr plate, which is subject to, has covered collection port 17, and atr plate is used for the light beam to infrared distance measurement alignment modules 6 It is reflected.

As shown in figure 5, the collection module on wearing part 16 includes collection port 17, storage bag 19, can be triggered by elastomeric bladder 13 Inductive switch and start after inductive switch is triggered by kneading disk, the basin that rubs starts and is automatically stopped after rubbing six circles 18, the top that collection port 17 is opened in storage bag 19 enters for clear water in storage bag 19, and storage bag 19 has certain receiving empty Between elastomeric bladder 13 or clear water are stored, inductive switch can be pressure sensitive unit, and pressure sensitive unit is mounted on storage With waterproof in the interlayer of bag 19, pressure sensitive unit is detected the clear water of storage or the gravity of elastomeric bladder 13, by kneading disk 18 On side cloth of the storage bag 19 far from worker's body side, card hole is offered on side by rubbing for kneading disk 18, card hole It is covered with magnet piece on inner wall, elastomeric bladder 13 is applied towards worker's body side extruding force by kneading disk 18.

As shown in fig. 6, being bonded with buffer module 20, buffer module 20 on the both sides that robot body is located at direction of advance Including soft sheath body 24, power supply and galvanometer, two pieces are bonded in soft sheath body 24 can be from the electrode plate 22 of lateral compression, electrode Plate 22 forms closed circuit by conducting wire and power supply and galvanometer, and galvanometer is connect with controller signals, and electrode plate 22 is mutually flat Row, be filled with insulation dielectric 23 between electrode plate 22, and 24 top of soft sheath body is installed with for being sprayed for insulation dielectric 23 Jet pipe 21.

Since infrared distance measurement alignment modules are detected to the target in robot body direction of advance, robot body There are check frequency on the both sides of direction of advance, when worker from the both sides of robot body close to when, robot body can not Worker is reminded to avoid, so close from robot body both sides in worker and when being expressed to buffer module 20, soft sheath body Electrode plate 22 in 24 is squeezed power, since soft sheath body 24 is easy to generate deformation in stress, so soft sheath body 24 by Two electrode plates 22 fit together when being hit to worker, and insulation dielectric 23 is sprayed from jet pipe 21, closed circuit connection, electricity Flowmeter detects electric current, and controller controls robot body according to the current signal of galvanometer and is stopped, in worker from machine Just stop robot work when the lateral blind area of human body generates collision, worker had not only been avoided to be knocked down, but also reduces robot body The number being stopped ensures the working efficiency of robot body.

When specifically used, by infrared distance measurement alignment modules 6 in direction of advance in 1 course of work of robot body Worker is detected at a distance from robot body 1, such as transmitter unit can first launch light beam, and then receiving unit receives warp Dress part 16 on atr plate reflection after light beam, controller according to transmitting, receive light beam time difference and ray velocity obtain away from From when worker is less than threshold value at a distance from robot body 1, threshold value is configured according to actual demand, controller control Robot body 1 is directed at the worker in direction of advance, and the technology of controller control robot alignment direction of advance target belongs to The prior art, controller control suction pump from water storage part 4 extract clear water, clear water by being heated by heater strip when pipeline 10, Clear water after heating is poured into from the exit of pipeline 10 in elastomeric bladder 13, with the increase of clear water in elastomeric bladder 13, elastomeric bladder 13 Gravity increase, elastomeric bladder 13 due to gravity move down until elastomeric bladder 13 mouth of pouring water be separated from magnetic clutch button 11 enter injection In road 9, elastomeric bladder 13 is ejected at worker by the pneumatic device 12 sprayed in road 9, and elastomeric bladder 13 has wrapped clear water, avoids Clear water is directly trickled down on the ground.

Before ejecting elastomeric bladder 13, because the height of each worker is different, when wearing part 16 is set on individual The height of collection port 17 can also have differences, so be powered successively according to beam angle is received to control electromagnet, electromagnet according to Secondary energization can be oriented to the height of jet module 5, electromagnet be powered after attract each other with metal derby, allow jet module 5 according to The sequence being powered according to electromagnet is slided on height buffer rail 7, position and the height of jet module 5 is adjusted, due to being ejected Elastomeric bladder 13 can make parabolic motion under the effect of gravity, so change jet module 5 position and height, make elastomeric bladder 13 It spurts into as much as possible in the storage bag 19 of collection module, improves the probability that elastomeric bladder 13 is injected into collection module.

It, can be first using the light beam that level altitude is subject to as base when basis receives beam angle control electromagnet and is powered successively Standard, such as the altitude datum are subject to the height values of more worker, and such as 156cm, the beam divergence that this altitude datum receives lacks light Line intensity is big, when receiving from altitude datum light beam below, controller control successively in downward direction on electromagnetism Tie Tong Electricity, when receiving the light beam more than altitude datum, controller controls the electromagnet on direction upwards in turn and is powered, thus Adjust position and the height of jet module 5.

When elastomeric bladder 13 is ejected at worker, elastomeric bladder 13 is entered from collection port 17 in storage bag 19, the weight of reservoir bag Amount increases, and inductive switch is triggered, i.e. pressure sensitive unit senses pressure, allows and starts one section of timing length by kneading disk 18, that is, presses Kneading disk 18 is automatically stopped after starting a period of time, can be rubbed in a rotative pattern by kneading disk 18, elastomeric bladder is rubbed by kneading disk 18 During 13, since there is elastomeric bladder 13 certain elasticity and metal mouth of pouring water to attract each other with the magnet of card hole inner wall, make filling Water nozzle is caught in card hole, and the position of elastomeric bladder 13 is fixed, and work is reminded by touching worker with elastomeric bladder 13 by kneading disk 18 People avoids in advance, meanwhile, he the heat of elastomeric bladder 13 and worker can be massaged by the extruding force of kneading disk 18, mitigates worker Feeling of fatigue.

The present embodiment detects the distance of the worker in direction of advance in 1 course of work of robot body, when worker enters When in range, to elastomeric bladder 13 of worker's injection with hot water, elastomeric bladder 13, impact of the elastomeric bladder 13 to worker are then rubbed The pressure that the conduction of heat and while rubbing apply in power, hot water reminds worker to pay attention to avoiding, at the same rub the pressure of application together with Heat can massage worker, mitigate the degree of fatigue of worker.

Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme Excessive description.It, without departing from the structure of the invention, can be with it should be pointed out that for those skilled in the art Several modifications and improvements are made, these should also be considered as protection scope of the present invention, these all do not interfere with what the present invention was implemented Effect and patent practicability.The scope of protection required by this application should be based on the content of the claims, in specification The records such as specific implementation mode can be used for explaining the content of claim.

Claims

1. collision prevention formula industrial robot, including robot body, the robot body includes self-clamping module and walking module, It is characterized in that：The robot body further includes infrared distance measurement alignment modules, water storage part, controller and jet module；

The infrared distance measurement alignment modules for be directed at worker and detect robot body in direction of advance at a distance from worker；

The water storage part is for storing clear water；

The controller obtains the distance of infrared distance measurement alignment modules and is judged, when distance value is less than threshold value, the control Device processed controls jet module and is ejected into from worker of the distance value less than threshold value from clear water is extracted in water storage part；

The jet module extracts clear water in water storage part according to the control of controller, and the jet module sprays the clear water of extraction To at worker；

Further include matching used with robot body and for the wearing part that worker uses, the wearing part is equipped with reflecting module And collection module；

2. collision prevention formula industrial robot according to claim 1, it is characterised in that：The water storage part is located at robot body At walking module.

3. collision prevention formula industrial robot according to claim 1, it is characterised in that：The jet module further includes heater strip With heat safe elastomeric bladder, the heater strip is used to heat to the clear water extracted, and pouring water for metal is installed in the elastomeric bladder Mouth, the mouth of pouring water is interior to be equipped with check valve, and the mouth of pouring water for the clear water after heating for pouring into elastic tumour, the injection mould The elastomeric bladder for having poured into clear water is ejected at worker by block.

4. collision prevention formula industrial robot according to claim 3, it is characterised in that：The collection module is equipped with can be by bullet Property capsule triggering inductive switch, the collection module be equipped with start after inductive switch is triggered by kneading disk, it is described to rub Basin starts and is automatically stopped after rubbing six circles, and described by card hole is offered on kneading disk, the inner wall of the card hole is equipped with magnet piece, It is described to be used to rub worker by kneading disk.

5. collision prevention formula industrial robot according to claim 1, it is characterised in that：The collection module include collection port and Storage bag, for the collection port for entering in storage bag for clear water, the reflecting module includes polylith atr plate, described to be all-trans Plate is penetrated to be evenly distributed on the storage bag inner wall with collection port face.

6. collision prevention formula industrial robot according to claim 5, it is characterised in that：The robot body is additionally provided with height Buffer rail is evenly distributed with multiple electromagnet, light of the infrared distance measurement alignment modules also to receiving on the height buffer rail Beam angle degree measures, and the controller controls electromagnet according to beam angle and is powered successively, and the jet module, which is equipped with, to be used In the metal derby being adsorbed onto on electromagnet.

7. collision prevention formula industrial robot according to claim 1, it is characterised in that：The robot body is located at advance side To both sides be equipped with buffer module, the buffer module includes soft sheath body, power supply and galvanometer, solid in the soft sheath body Closed circuit, institute can be formed by conducting wire and power supply and galvanometer from the electrode plate of lateral compression, the electrode plate equipped with two pieces It states galvanometer to connect with controller signals, the electrode plate is mutually parallel, and insulation dielectric is filled between the electrode plate, described The jet pipe for being sprayed for insulation dielectric is installed at the top of soft sheath body.