Circular orbit-type safety monitoring device and monitoring method for wire driven parallel robot
A technology of safety monitoring and circular orbit, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as neglect, failure to provide real-time and automatic safety warnings, and potential safety hazards, so as to avoid connection, prevent safety accidents, The effect of reducing space occupation
Active Publication Date: 2015-03-04
HEFEI UNIV OF TECH
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Problems solved by technology
However, the traditional method is generally only to set safety signs in the work area, such as "no one is allowed to stand in this area", "pay attention to safety within the working radius", etc.
However, this kind of slogan warning method cannot automatically provide safety warnings in real time, and still requires the staff present to maintain a high degree of vigilance. However, due to the complexity of the operation site situation, this safety slogan is often ignored
In the existing technology, certain detection devices can be used to judge whether there are people or objects in the operation area, but it is impossible to perform real-time alarm operation or active intervention according to the real-time operation of the machine, and there are still potential safety hazards
Method used
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[0032] The structural features of the present invention will now be described in detail with reference to the accompanying drawings.
[0033] see figure 1 , a circular track type safety monitoring device for a flexible cable parallel robot, including a circular track 4, a movable probe unit 6, a heavy object inertial sensing unit 7, a convergence unit 8, an alarm unit 9 and an industrial computer 11;
[0034] see figure 2 , the circular track 4 is a circular track placed on the ground; the circular track 4 is equally divided into eight equal-length arc-shaped tracks, which are referred to as the first arc-shaped track 41, the second arc-shaped track 42, the third arc-shaped track 41, and the third arc-shaped track. Arc track 43, fourth arc track 44, fifth arc track 45, sixth arc track 46, seventh arc track 47 and eighth arc track 48;
[0035] see figure 2 , a movable probe unit 6 is arranged on the inner wall of each arc-shaped track; each movable probe unit 6 reciprocat...
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The invention provides a circular orbit-type safety monitoring device and a monitoring method for a wire driven parallel robot. The circular orbit-type safety monitoring device comprises a circuit orbit, movable probe units, a heavy object inertial sensing unit, a convergence unit, an alarm unit and an industrial personal computer; the monitoring method comprises the step that the industrial personal computer drives the alarm unit to perform corresponding alarm action by combining real-time data transferred back by the eight movable probe units, real-time data transferred back by the heavy object inertial sensing unit, and a critical threshold value. The circular orbit-type safety monitoring device and the monitoring method for the wire driven parallel robot have the beneficial technical effects that, compared with an old-fashioned alarm system, the monitoring device can detect whether a target appears in an operating radius in real time according to actual operating conditions of a lifted heavy object, and give an alarm or perform emergency brake in time to remind a person who enters a dangerous operating area to quickly leave away from the operating area, so that safety accidents are prevented better.
Description
technical field [0001] The invention relates to the technical field of robot monitoring, in particular to a circular track type safety monitoring device and monitoring method for flexible cable parallel robots. Background technique [0002] The flexible cable parallel robot with hybrid drive is compatible with the characteristics of high speed, high bearing capacity and flexible adjustment of the hybrid drive mechanism. It also has the characteristics of simple structure, high modularity, fast movement speed and low price. Therefore, The hybrid drive flexible cable parallel robot can not only operate with high precision, high efficiency and large load, but also has a large flexible output, which can quickly change the output motion law. For example, Chinese patent application 201310166792.5 discloses a three-degree-of-freedom hybrid drive winding cable parallel robot, which can not only realize the large-load operation and high-performance motion output of the flexible cable...
Claims
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Login to View More IPC IPC(8): B25J19/06B25J19/02B25J9/00
Inventor 訾斌韩雪曾亿山钱森
Owner HEFEI UNIV OF TECH