CN110434895A - A kind of robot guard system and method - Google Patents
A kind of robot guard system and method Download PDFInfo
- Publication number
- CN110434895A CN110434895A CN201810413878.6A CN201810413878A CN110434895A CN 110434895 A CN110434895 A CN 110434895A CN 201810413878 A CN201810413878 A CN 201810413878A CN 110434895 A CN110434895 A CN 110434895A
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- Prior art keywords
- safe
- robot
- safe grating
- laser scanner
- signal
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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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot guard systems, which is characterized in that the robot guard system includes safe grating group and laser scanner；The safe grating group includes control circuit and multiple safe gratings, the control circuit judges whether the safe grating group breaks down for the detection signal based on the safe grating group, if a failure occurs, then the control circuit is sent to the mark of enabling signal and the safe grating to break down to the laser scanner；The laser scanner is when receiving the enabling signal, based on the mark of the safe grating to break down, replaces the safe grating to break down and works.The invention can reduce the generation of accident, avoid the injures and deaths of personnel, while reduce because improving production efficiency because shutting down phenomenon caused by failure.
Description
Technical field
The present invention relates to a kind of robot control field more particularly to a kind of robot guard system and methods.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace mankind's work
The work of work, such as production industry, construction industry, or the work of storage transport.
Since robot is kind of an automated mechanical device, during storing in a warehouse transport, the security protection one of robot
It is directly the emphasis of people's research, if this is because encountering various burst accidents in process of production, it is easy to cause production to be transported
Defeated line stops working, and influences production efficiency, causes economic loss, meanwhile, it reduces operating personnel and comes to harm in the work environment
A possibility that, the personal safety of effective protection operating personnel.
Summary of the invention
In view of the above-mentioned problems, present invention seek to address that problem as described above.It is an object of the present invention to provide solutions
One of problem above robot guard system and method.
A kind of robot guard system, which is characterized in that the robot guard system includes safe grating group and laser
Scanner；
The safe grating group includes control circuit and multiple safe gratings, and the control circuit is used to be based on the safety
The detection signal of grating group judges whether the safe grating group breaks down, if a failure occurs, then by the control circuit
The mark of enabling signal and the safe grating to break down is sent to the laser scanner；
The laser scanner is when receiving the enabling signal, the mark based on the safe grating to break down
Know, replaces the safe grating to break down and work.
Wherein, the robot guard system further includes safety output end, the control circuit of the safe grating group
Signal is detected for generating, the safety output end receives detection signal, and generates feedback signal, and the control circuit receives
Feedback signal, and test result signal is issued to laser scanner.
Wherein, the laser scanner includes auxiliary judgment module, and the auxiliary judgment module is for detecting safe grating
State, the auxiliary judgment module include the laser scanner, and the laser scanner is to each of described safe grating group
Safe grating issues detection signal.
Wherein, the safe grating group includes 4 safe gratings, and 4 safe gratings are at square profile.
Wherein, the safe grating group includes 8 safe gratings, and 8 safe gratings are distributed at octagon.
Wherein, the safe laser scanner includes at least one, and the safe laser scanner quantity is less than or waits
In the quantity of the safe grating.
Wherein, the safe laser scanner includes encoder and motor.
Wherein, the guard system further includes alarm system, and the alarm system is connect with the control system.
Wherein, a kind of robot means of defence, including robot guard system described in claim 1-8 any one, step
Suddenly the safe grating of (1) described safe grating group breaks down；The alarm of step (2) robot is shut down；Step (3) is described
Control circuit sends the mark of enabling signal and the safe grating to break down to the laser scanner；Step (4) is described to swash
Photoscanner receives the mark of the enabling signal with the safe grating to break down；Step (5) is broken down based on described
The mark of safe grating, the laser scanner replace the safe grating to break down and work.
Wherein, the inside detection signal based on the safe grating judges whether the safe grating breaks down, specifically
It include: the control circuit timing generation detection signal of (1) described safe grating group；(2) the detection signal generated is to safety
Output end is detected, and when safety output end does not have object, safety output end enters Temporarily Closed state, and safety output end produces
Raw feedback signal；(3) if control circuit receives feedback signal, judge that safe grating is normal, if control circuit does not have
Feedback signal is received, then judges that safe grating goes wrong, and generates test result signal；(4) laser scanner receives
Test result signal.
Wherein, the safe laser scanner further includes auxiliary judgment mechanism, specifically includes (1) described safe laser scanning
Instrument is every 2-5min according to the direction for successively rotating to each safe grating in the safe grating group clockwise, (2)
Judge that the output end of each safe grating detects that signal and the output end of the safe laser scanner detect signal
Whether consistent, (3) when detection signal is inconsistent, the control system issues substitution signal, (4) described safe laser scanning
Instrument receives the substitution signal, substitutes the safe grating work in the safe grating group of failure.
Wherein, the safe laser scanner includes multiple, and multiple safe laser scanners substitute the safety light
Grid work.
Wherein, the safe laser scanner is rotated by the encoder and the motor.
Wherein, the alarm system receives the fault-signal and alarms.
Wherein, the robot means of defence includes 4 states, driving status, fork truck state, malfunction and standby shape
State；
When robot is in driving status, the safe grating starting, robot normally travel；When robot is in fork
When car state, the safe grating in robot fork truck direction, the normal forklift workability of robot are released by control system；Work as robot
In malfunction, alarm system alarm, robot is shut down, and failure safe grating is closed；When robot is in standby, machine
Device people's run switch is closed, and grating is closed, and robot is standby.
The present invention provides a kind of robot guard system and methods, by the way that laser scanner is replaced what this broke down
Safe grating works, and can not influence the normal work of daily warehouse supply line, avoids because stopping caused by failure
Machine phenomenon improves production efficiency, while ensure that robot in the safety of the course of work, avoids the generation of unexpected injury.
Being described below for exemplary embodiment is read with reference to the drawings, other property features of the invention and advantage will
It is apparent from.
Detailed description of the invention
It is incorporated into specification and the attached drawing for constituting part of specification shows the embodiment of the present invention, and with
Principle for explaining the present invention together is described.In the drawings, similar appended drawing reference is for indicating similar element.Under
Attached drawing in the description of face is some embodiments of the present invention, rather than whole embodiments.Those of ordinary skill in the art are come
It says, without creative efforts, other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 schematically illustrates robot guard system and method structure chart of the present invention；
Fig. 2 schematically illustrates robot guard system of the present invention and method detection judges structure chart；
Fig. 3 schematically illustrates robot guard system of the present invention and method auxiliary detection judges structure chart.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.It needs
Illustrate, in the absence of conflict, the features in the embodiments and the embodiments of the present application can mutual any combination.
A kind of robot guard system, the robot guard system may include safe grating group and laser scanner；
In order to enhance the function of robot inherently safe protection, safe grating group may include control circuit and multiple safety
Grating, control circuit can be used for the detection signal based on safe grating group and judge whether safe grating group breaks down, if
It breaks down, then control circuit is sent to the mark of enabling signal and the safe grating to break down to laser scanner.
Laser scanner, based on the mark of the safe grating to break down, is swashed when receiving enabling signal by rotating
Photoscanner direction replaces the safe grating to break down and works.
The detection of robot security's grating failure is mainly the internal judgment mechanism by safe grating group to realize
, the control circuit of safe grating group can be used for generating detection signal, and safety output end can receive the detection signal, and
Feedback signal is generated, control circuit receives feedback signal, and issues test result signal to laser scanner.
In some cases, problem may occur for the control circuit of the safe grating of robot guard system, for occurring
The safe grating of failure cannot issue fault-signal, so that the safe grating of robot loses the ability of judgement, in view of above-mentioned
Problem, the robot guard system further include auxiliary judgment module, and auxiliary judgment module is used to detect the state of safe grating, tool
Body, auxiliary judgment module includes laser scanner, and laser scanner timing is issued to each safe grating of safe grating group
Signal is detected, general frequency is that 30-60s is to send in the period to detect signal to each safe grating of safe grating group.
In one embodiment, safe grating group may include 4 safe gratings, and 4 safe gratings are at square profile.
The quantity of certain safe grating group not only can only there are four, in one embodiment, safe grating group includes
8 safe gratings, 8 safe gratings are distributed at octagon, and robot is allowed to carry out multi-faceted accurate work.
Also, in the robot guard system, safe laser scanner includes at least one, but is not limited to 1, example
Such as, 2,4, multiple safe laser scanners are all disposed in robot, and generally speaking, safe laser scanner quantity is answered
Less than or equal to the quantity of safe grating.
The safe laser scanner may include encoder and motor.
Meanwhile the guard system can also include alarm system, alarm system is connect with control system.
Preferred embodiment 1, safe grating group include 4 safe gratings, 1 safe laser scanner, and 4 safe gratings are set
It sets in robot surrounding, 1 safe laser scanner is arranged in robot.
Preferred embodiment 2, safe grating group include 4 safe gratings, 2 safe laser scanners.4 safe gratings are set
It sets in robot surrounding, 2 safe laser scanners are arranged in robot.
Preferred embodiment 3, safe grating group include 4 safe gratings, 4 safe laser scanners.4 safe gratings are set
It sets in robot surrounding, 4 safe laser scanners are arranged in robot.
Preferred embodiment 4, safe grating group include 8 safe gratings, 1 safe laser scanner.8 safe gratings are set
It sets in robot surrounding, 1 safe laser scanner is arranged in robot.
Preferred embodiment 5, safe grating group include 8 safe gratings, 4 safe laser scanners, and 8 safe gratings are set
It sets in robot surrounding, 4 safe laser scanners are arranged in robot.
A kind of robot means of defence may include the robot guard system, specifically includes the following steps:
Step (1) breaks down when the safe grating of safe grating group；
The alarm of step (2) robot is shut down；
The safety that control circuit in step (3) safe grating group sends enabling signal to laser scanner and breaks down
The mark of grating；
Step (4) laser scanner receives the mark of enabling signal and the safe grating to break down；
The mark of step (5) based on the safe grating to break down, laser scanner replace the safety light to break down
Grid work.
In step (1), it is to judge safety light based on the inside of safe grating detection signal that safe grating, which breaks down,
Whether grid break down, and specific testing mechanism includes:
(5) the control circuit timing of safe grating group generates detection signal, and general frequency is 0.5-1s；
(6) the detection signal generated detects the safety output end of guard system, when safety output end does not have object
When, safety output end enters Temporarily Closed state, and safety output end generates feedback signal；
(7) if control circuit receives feedback signal, judge that safe grating is normal, if control circuit does not receive
To feedback signal, then judge that safe grating goes wrong, and generate test result signal；
(8) laser scanner receives test result signal.
In order to verify whether the judgment mechanism of safe grating occurs problem, robot means of defence system further includes that auxiliary is sentenced
Disconnected method, is mainly realized by safe laser scanner, is specifically included:
(9) safe laser scanner is every 2-5min according to successively rotating to each safety in safe grating group clockwise
The direction of grating；
(10) judge that the output end of each safe grating detects that signal and the output end of safe laser scanner detect
Whether signal is consistent；
(11) when detection signal is inconsistent, control system issues substitution signal；
(12) safe laser scanner receives substitution signal, substitutes the safe grating work of the failure in safe grating group.
Safe laser scanner may include multiple in step (4), and multiple safe laser scanners can substitute safety light
Grid work.
Also, safe laser scanner is to carry out rotation by encoder and motor to replace the safety to break down
Grating works.
The robot means of defence further includes alarm system, and alarm system receives fault-signal and alarms.
When routine work, robot means of defence is in 4 states, including driving status, fork truck state, malfunction
And standby mode；
When robot is in driving status, safe grating starting, robot normally travel；When robot is in fork truck shape
When state, the safe grating in robot fork truck direction, the normal forklift workability of robot are released by control system；When robot is in
Malfunction, alarm system alarm, robot is shut down, and failure safe grating is closed；When robot is in standby, robot
Run switch is closed, and grating is closed, and robot is standby.
Embodiment 6, a safe grating failure issue fault-signal 1, and safe laser scanner rotates to the safety of failure
Grating replaces the safe grating work of failure
Embodiment 7, two safe grating failures issue fault-signal 1 and 2, and safe laser scanner A and B rotates to event
The safe grating of barrier replaces the safe grating work of failure.
Embodiment 8, the safe each 2min of laser scanner according to successively rotating to each in safe grating group clockwise
The direction of safe grating issues detection signal, detects to safe grating.
Embodiment 9, the safe each 3min of laser scanner according to successively rotating to each in safe grating group clockwise
The direction of safe grating issues detection signal, detects to safe grating.
Embodiment 10, the safe each 5min of laser scanner according to successively rotating to each in safe grating group clockwise
The direction of safe grating issues detection signal, detects to safe grating.
The present invention provides a kind of robot guard system and methods, using a multi-purpose standby strategy, i.e., normal work
Safe grating is used when making, when safe grating failure signal, is alarmed first, is shut down, then by spare safe laser
Scanner substitutes the safe grating work of failure, thus guarantee safety in production of robot during routine work, while because
The strike for leading to robot for failure influences the routine work of warehouse supply line, saves the working time.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion so that article or equipment including a series of elements not only include those elements, but also is wrapped
Other elements that are not explicitly listed are included, or further include for this article or the intrinsic element of equipment.Do not having more
In the case where more limitations, the element that is limited by sentence " including ... ", it is not excluded that in the article including the element or set
There is also other identical elements in standby.
The above examples are only used to illustrate the technical scheme of the present invention and are not limiting, reference only to preferred embodiment to this hair
It is bright to be described in detail.Those skilled in the art should understand that can modify to technical solution of the present invention
Or equivalent replacement should all cover in claim model of the invention without departing from the spirit and scope of the technical solution of the present invention
In enclosing.
Claims (15)
1. a kind of robot guard system, which is characterized in that the robot guard system includes that safe grating group and laser are swept
Retouch instrument；
The safe grating group includes control circuit and multiple safe gratings, and the control circuit is used to be based on the safe grating
The detection signal of group judges whether the safe grating group breaks down, if a failure occurs, then by the control circuit to institute
State the mark that laser scanner sends enabling signal and the safe grating to break down；
The laser scanner, based on the mark of the safe grating to break down, is replaced when receiving the enabling signal
The safe grating to break down is changed to work.
2. robot guard system according to claim 1, which is characterized in that the robot guard system further includes safety
Output end, the control circuit of the safe grating group receive detection letter for generating detection signal, the safety output end
Number, and feedback signal is generated, the control circuit receives feedback signal, and issues test result signal to laser scanner.
3. robot guard system according to claim 1, which is characterized in that the laser scanner includes auxiliary judgment mould
Block, for the auxiliary judgment module for detecting safe grating state, the auxiliary judgment module includes the laser scanner, institute
It states laser scanner and issues detection signal to each safe grating of the safe grating group.
4. robot guard system according to claim 1, which is characterized in that the safe grating group includes 4 safety lights
Grid, 4 safe gratings are at square profile.
5. robot guard system according to claim 1, which is characterized in that the safe grating group includes 8 safety lights
Grid, 8 safe gratings are distributed at octagon.
6. robot guard system according to claim 1, which is characterized in that the safe laser scanner includes at least one
A, the safe laser scanner quantity is less than or equal to the quantity of the safe grating.
7. robot guard system according to claim 1, which is characterized in that the safe laser scanner includes encoder
And motor.
8. robot guard system according to claim 1, which is characterized in that the guard system further includes alarm system,
The alarm system is connect with the control system.
9. a kind of robot means of defence, including robot guard system described in claim 1-8 any one, feature exist
In the safe grating of step (1) the safe grating group breaks down；The alarm of step (2) robot is shut down；Step (3)
The control circuit sends the mark of enabling signal and the safe grating to break down to the laser scanner；Step (4) institute
State the mark that laser scanner receives the enabling signal with the safe grating to break down；Step (5) is based on the generation event
The mark of the safe grating of barrier, the laser scanner replace the safe grating to break down and work.
10. robot means of defence according to claim 9, which is characterized in that the inside detection based on the safe grating
Signal judges whether the safe grating breaks down, and specifically includes: (1) control circuit timing of the safe grating group
Generate detection signal；(2) the detection signal generated detects safety output end, when safety output end does not have object, peace
Full output end enters Temporarily Closed state, and safety output end generates feedback signal；(3) if control circuit receives feedback letter
Number, then judge that safe grating is normal, if control circuit is not received by feedback signal, judge that safe grating goes wrong,
And generate test result signal；(4) laser scanner receives test result signal.
11. robot means of defence according to claim 9, which is characterized in that the safe laser scanner further includes auxiliary
Judgment mechanism is helped, specifically includes (1) described safe laser scanner every 2-5min according to successively rotating to the peace clockwise
The direction of the safe grating of each in full raster group, (2) judge that the output end of each safe grating detects signal
Detect whether signal consistent with the output end of the safe laser scanner, (3) when detect signal it is inconsistent when, the control
System processed issues substitution signal, and (4) described safe laser scanner receives the substitution signal, substitutes the safety light of failure
Safe grating work in grid group.
12. robot means of defence according to claim 9, which is characterized in that the safe laser scanner include it is multiple,
Multiple safe laser scanners substitute the safe grating work.
13. robot means of defence according to claim 9, which is characterized in that the safe laser scanner passes through described
Encoder and the motor are rotated.
14. robot means of defence according to claim 9, which is characterized in that the alarm system receives the failure letter
It number alarms.
15. robot means of defence according to claim 9, which is characterized in that the robot means of defence includes 4 shapes
State, driving status, fork truck state, malfunction and standby mode；
When robot is in driving status, the safe grating starting, robot normally travel；When robot is in fork truck shape
When state, the safe grating in robot fork truck direction, the normal forklift workability of robot are released by control system；When robot is in
Malfunction, alarm system alarm, robot is shut down, and failure safe grating is closed；When robot is in standby, robot
Run switch is closed, and grating is closed, and robot is standby.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810413878.6A CN110434895B (en) | 2018-05-03 | 2018-05-03 | Robot protection system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810413878.6A CN110434895B (en) | 2018-05-03 | 2018-05-03 | Robot protection system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110434895A true CN110434895A (en) | 2019-11-12 |
| CN110434895B CN110434895B (en) | 2021-03-23 |
Family
ID=68427210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810413878.6A Active CN110434895B (en) | 2018-05-03 | 2018-05-03 | Robot protection system and method |
Country Status (1)
| Country | Link |
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| CN (1) | CN110434895B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284336A (en) * | 2022-07-25 | 2022-11-04 | 安徽省航嘉驰源电气有限公司 | Manipulator grating protection device |
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| Publication number | Publication date |
|---|---|
| CN110434895B (en) | 2021-03-23 |
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