CN116638515A - Anti-collision protection method for X-ray detection system of robot in lead room - Google Patents
Anti-collision protection method for X-ray detection system of robot in lead room Download PDFInfo
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- CN116638515A CN116638515A CN202310629760.8A CN202310629760A CN116638515A CN 116638515 A CN116638515 A CN 116638515A CN 202310629760 A CN202310629760 A CN 202310629760A CN 116638515 A CN116638515 A CN 116638515A
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- robot
- area
- protection
- lead room
- setting
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000008358 core component Substances 0.000 claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims description 16
- 238000007689 inspection Methods 0.000 claims 3
- 238000010586 diagram Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The invention relates to the technical field of robot control, and particularly discloses an anti-collision protection method for an X-ray detection system of a robot in a lead room, which comprises the following steps of: setting a monitored space boundary of a robot, wherein the monitored space boundary consists of a robot body, a part 1, a part 2, a part 3, a part 4, a part 5, a part 6, a part 7 and a part 8; providing a part protection area, wherein the area 1 is a protection area of the part 1, the area 2 is a protection area of the part 2, the area 3 is a protection area of the part 3, the area 4 is a protection area of the part 4, the area 5 is a protection area of the part 5, the area 6 is a protection area of the part 6, the part 7 and the part 8, and the area 7 is a protection area of the robot body; setting a working area of the robot A; a working area of the robot B is set. The core component on the robot is protected from collision with the lead room, the risk of collision damage of the core component is reduced, and the purpose of effective collision protection is achieved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an anti-collision protection method for an X-ray detection system of a robot in a lead room.
Background
At present, an X-ray detection system is controlled by adopting double robots, the double robots are positioned at two ends of a detection part in a lead room, the positions are alternately changed in sequence, a workpiece is detected, two sets of detection systems are respectively arranged at the upper ends of the double robots, when the detection system on one side of the robot stores X-ray images, the robot on the other side moves to the next detection position in a reciprocating manner until the detection of the part is completed, the aim of improving the detection efficiency can be fulfilled, and in order to avoid collision of the double robots, economic loss is caused and a protection photoelectric anti-collision device is adopted.
However, in the prior art, the adopted protection photoelectric anti-collision device still has collision risk between the robot and a lead room due to corresponding time difference under the condition that the running speed of the robot is 100%, so that anti-collision protection of the robot still cannot be achieved.
Disclosure of Invention
The invention aims to provide an anti-collision protection method for an X-ray detection system of a robot in a lead room, and aims to solve the technical problem that the robot in the prior art still cannot be subjected to anti-collision protection due to collision risk between the robot and the lead room due to corresponding time difference at a running speed of 100%.
In order to achieve the above purpose, the anti-collision protection method for the X-ray detection system of the robot in the lead room comprises the following steps:
setting a monitored space boundary of a robot, wherein the monitored space boundary consists of a robot body, a part 1, a part 2, a part 3, a part 4, a part 5, a part 6, a part 7 and a part 8;
providing a part protection area, wherein an area 1 is a protection area of the part 1, an area 2 is a protection area of the part 2, an area 3 is a protection area of the part 3, an area 4 is a protection area of the part 4, an area 5 is a protection area of the part 5, an area 6 is a protection area of the part 6, the part 7 and the part 8, and an area 7 is a protection area of the robot body;
setting a working area of the robot A;
a working area of the robot B is set.
Wherein, in the step of setting the working area of the robot a: the safety distance between the left, right, upper and lower sides of the robot A and the protective lead room is 200mm, the front side of the robot A is not limited to exceed the part detection range, and the safety distance between the rear side of the robot A and the protective lead room is 100mm.
Wherein, in the step of setting the working area of the robot B: the safety distance between the left, right, upper and lower sides of the robot B and the protective lead room is 200mm, the front side of the robot B is not limited to exceed the part detection range, and the safety distance between the rear side of the robot B and the protective lead room is 100mm.
The model and the mechanical structure of the core parts of the robot A and the robot B are identical.
The anti-collision protection method for the X-ray detection system of the robot in the lead house has the beneficial effects that: when the operation is lost, the robot can alarm and stop moving because of exceeding the effective area when moving to the possible impact position, so that the core component on the robot is protected from colliding with the lead room, the risk of collision damage of the core component is reduced, the reaction time difference of no additional device is avoided, and the purpose of effective anti-collision protection is achieved.
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 flow chart of method steps of a method for bump protection of a robotic X-ray detection system in a lead room of the present invention.
Fig. 2 is a schematic diagram of terminal data of the setting area 1 of the present invention.
Fig. 3 is a schematic diagram of terminal data of the setting area 2 of the present invention.
Fig. 4 is a schematic diagram of terminal data of the setting area 3 of the present invention.
Fig. 5 is a schematic diagram of terminal data of the setting area 4 of the present invention.
Fig. 6 is a schematic diagram of terminal data of the setting area 5 of the present invention.
Fig. 7 is a schematic diagram of terminal data of the setting area 6 of the present invention.
Fig. 8 is a schematic diagram of terminal data of the setting area 7 of the present invention.
Fig. 9 is a schematic view of the construction of the working area of the robot a of the present invention.
Fig. 10 is a schematic view of the construction of the working area of the robot B of the present invention.
Detailed Description
An anti-collision protection method for an X-ray detection system of a robot in a lead house comprises the following steps:
setting a monitored space boundary of a robot, wherein the monitored space boundary consists of a robot body, a part 1, a part 2, a part 3, a part 4, a part 5, a part 6, a part 7 and a part 8;
providing a part protection area, wherein an area 1 is a protection area of the part 1, an area 2 is a protection area of the part 2, an area 3 is a protection area of the part 3, an area 4 is a protection area of the part 4, an area 5 is a protection area of the part 5, an area 6 is a protection area of the part 6, the part 7 and the part 8, and an area 7 is a protection area of the robot body;
setting a working area of the robot A;
a working area of the robot B is set.
Further, in the step of setting the working area of the robot a: the safety distance between the left, right, upper and lower sides of the robot A and the protective lead room is 200mm, the front side of the robot A is not limited to exceed the part detection range, and the safety distance between the rear side of the robot A and the protective lead room is 100mm.
Further, in the step of setting the working area of the robot B: the safety distance between the left, right, upper and lower sides of the robot B and the protective lead room is 200mm, the front side of the robot B is not limited to exceed the part detection range, and the safety distance between the rear side of the robot B and the protective lead room is 100mm.
Further, the model and the mechanical structure of the core component of the robot A and the core component of the robot B are identical.
Referring to fig. 1, the invention provides an anti-collision protection method for an in-lead-room robot X-ray detection system, comprising the following steps:
s1: setting a monitored space boundary of a robot, wherein the monitored space boundary consists of a robot body, a part 1, a part 2, a part 3, a part 4, a part 5, a part 6, a part 7 and a part 8;
s2: providing a part protection area, wherein an area 1 is a protection area of the part 1, an area 2 is a protection area of the part 2, an area 3 is a protection area of the part 3, an area 4 is a protection area of the part 4, an area 5 is a protection area of the part 5, an area 6 is a protection area of the part 6, the part 7 and the part 8, and an area 7 is a protection area of the robot body;
s3: setting a working area of a robot A, and determining that the safety distance between the left, right, upper and lower sides of the robot A and a protective lead room is 200mm, wherein the front side of the robot A is not limited to exceed a part detection range, and the safety distance between the rear side of the robot A and the protective lead room is 100mm;
s4: the working area of the robot B is set, the safe distance between the left, right, upper and lower sides of the robot B and the protective lead room is 200mm, the front side of the robot B is not limited to exceed the part detection range, and the safe distance between the rear side of the robot B and the protective lead room is 100mm.
In this embodiment, the robot a and the robot B both start a DCS function, set a Cartesian position checking function, define working areas and restricted areas of the robot a and the robot B, if the robot a or the robot B exits the defined working areas, the DCS will stop the operation of the robot, and the protection part of the robot violates the restricted area requirements, the DCS will stop the robot, the user must reduce the speed, and return the robot to the working areas or outside the working areas, otherwise the robot will alarm, and avoid the collision between the installation core component and the lead room during the movement of the robot by the DCS function, and no additional hardware protection device is required.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (4)
1. An anti-collision protection method for an X-ray detection system of a robot in a lead house is characterized by comprising the following steps:
setting a monitored space boundary of a robot, wherein the monitored space boundary consists of a robot body, a part 1, a part 2, a part 3, a part 4, a part 5, a part 6, a part 7 and a part 8;
providing a part protection area, wherein an area 1 is a protection area of the part 1, an area 2 is a protection area of the part 2, an area 3 is a protection area of the part 3, an area 4 is a protection area of the part 4, an area 5 is a protection area of the part 5, an area 6 is a protection area of the part 6, the part 7 and the part 8, and an area 7 is a protection area of the robot body;
setting a working area of the robot A;
a working area of the robot B is set.
2. A method for bump protection of an in-lead robot X-ray inspection system according to claim 1, characterized in that,
in the step of setting the working area of the robot a: the safety distance between the left, right, upper and lower sides of the robot A and the protective lead room is 200mm, the front side of the robot A is not limited to exceed the part detection range, and the safety distance between the rear side of the robot A and the protective lead room is 100mm.
3. A method for bump protection of an in-lead robot X-ray inspection system according to claim 2, characterized in that,
in the step of setting the working area of the robot B: the safety distance between the left, right, upper and lower sides of the robot B and the protective lead room is 200mm, the front side of the robot B is not limited to exceed the part detection range, and the safety distance between the rear side of the robot B and the protective lead room is 100mm.
4. A method for bump protection of an in-lead robot X-ray inspection system according to claim 3,
the model and the mechanical structure of the core component of the robot A and the core component of the robot B are identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310629760.8A CN116638515A (en) | 2023-05-31 | 2023-05-31 | Anti-collision protection method for X-ray detection system of robot in lead room |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310629760.8A CN116638515A (en) | 2023-05-31 | 2023-05-31 | Anti-collision protection method for X-ray detection system of robot in lead room |
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| CN116638515A true CN116638515A (en) | 2023-08-25 |
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| CN202310629760.8A Pending CN116638515A (en) | 2023-05-31 | 2023-05-31 | Anti-collision protection method for X-ray detection system of robot in lead room |
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| CN113276121A (en) * | 2021-05-31 | 2021-08-20 | 华南理工大学 | Redundant manipulator moving obstacle avoidance method based on quadratic programming |
| JP2022104733A (en) * | 2020-12-29 | 2022-07-11 | 花王株式会社 | Mobile robot with robot arm |
| CN114851207A (en) * | 2022-06-09 | 2022-08-05 | 珠海格力电器股份有限公司 | Anti-collision control method and system for double robots and multi-robot system |
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