Protective somatosensory equipment for cutting machine and use method of protective somatosensory equipment

Abstract

The invention relates to the technical field of safety protection, and provides protective somatosensory equipment for a cutting machine and a use method of the protective somatosensory equipment. The equipment comprises an isolation box, a cutting machine, a rocker, a human body model and a controller. The human body model carries a mechanical arm; a force feedback assembly and an angular displacement sensing assembly are arranged in the rocker; the angular displacement sensing assembly detects the angular displacement of the rocker; the controller generates a driving signal according to the angular displacement so as to drive the mechanical arm to press the cutting machine handle to work; the mechanical arm is provided with a force sensing assembly, and the force sensing assembly is used for detecting the counter-acting force of a cutting machine handle on the mechanical arm. The controller generates a torque output signal according to the reaction force, and uses the torque output signal to control the force feedback assembly to feed back the reaction force from the cutting machine to the rocker. Under the condition that the inside and the outside of the isolation box are completely isolated, the on-site operation experience of an operator is improved, so that the operator can more intuitively feel the operation process and understand operation hidden dangers while the safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of safety protection, and in particular to a cutting machine protection somatosensory device and a use method thereof. Background Art

[0002] The head, eyes, hands, and feet are important parts of the body that employees need to protect during production operations. Correctly wearing labor protection equipment can greatly reduce the degree of injury. Employees often fail to correctly understand the protective role of labor protection equipment. Conventional safety training often uses explanations, reading, slides, videos, and pictures, which gives trainees a low sense of involvement and results in poor results.

[0003] The protective somatosensory device usually places the corresponding hidden danger equipment in an isolation box, and the user operates the device outside the isolation box. It can provide the user with a more realistic physical sensation of using the equipment while ensuring the user's safety, thereby facilitating the user to intuitively understand the hidden dangers. However, the protective somatosensory device in the prior art is often in the form of an opening, and the user manually reaches into the isolation box to operate it, which obviously still poses certain safety hazards.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a cutting machine protective somatosensory device to solve the problem in the prior art that the user needs to put his hand into the isolation box to operate, thus causing safety hazards.

[0006] The present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a cutting machine protective somatosensory device, comprising an isolation box 1 with at least one transparent surface, a cutting machine 2, a rocker 3, a human model 4 and a controller 5; the human model 4 carries a mechanical arm 41; the human model 4 and the cutting machine 2 are located in the isolation box 1, the human model 4 is located on the operating side of the cutting machine 2, and the rocker 3 is located outside the isolation box 1; wherein the cutting machine 2 is a handheld cutting machine or a grinding wheel cutting machine;

[0008] The human body model 4 is used to provide a human body position reference for the operator;

[0009] The rocker 3 is provided with a force feedback component 31 and an angular displacement sensor component 32;

[0010] The angular displacement sensor assembly 32 is used to detect the angular displacement of the rocker 3 relative to the initial position operated by the operator;

[0011] The controller 5 generates a driving signal according to the angular displacement; uses the driving signal to drive the mechanical arm 41 to press the handle of the cutting machine 2 so that the cutting machine 2 works; or, the driving signal drives the mechanical arm 41 to lift the handle of the cutting machine 2 so that the cutting machine 2 stops working;

[0012] A force sensing component 411 is provided at the contact end between the mechanical arm 41 and the handle of the cutting machine 2, and the force sensing component 411 is used to detect the reaction force of the handle of the cutting machine 2 on the mechanical arm 41;

[0013] The controller 5 generates a torque output signal according to the reaction force, and uses the torque output signal to control the force feedback component 31, so as to feed back the reaction force from the cutting machine 2 to the rocker 3 in the form of the torque of the force feedback component 31, thereby enhancing the operator's operating experience.

[0014] Preferably, the force sensing assembly 411 includes a first force sensor 4111 disposed on the front contact side of the mechanical arm 41 and the handle of the cutting machine 2, a second force sensor 4112 disposed on the back contact side of the mechanical arm 41 and the handle of the cutting machine 2, and a third force sensor 4113 and a fourth force sensor 4114 disposed on both sides of the contact side of the mechanical arm 41 and the handle of the cutting machine 2;

[0015] The first force sensor 4111 and the second force sensor 4112 are used to detect a first reaction force of the cutting machine 2 in the cutting direction; the third force sensor 4113 and the fourth force sensor 4114 are used to detect a second reaction force of the cutting machine 2 perpendicular to the cutting direction;

[0016] The joystick 3 is a 3D joystick, and the force feedback component 31 includes a first force feedback motor 311 that provides forward and backward displacement for the joystick 3 and a second force feedback motor 312 that provides left and right displacement for the joystick 3;

[0017] The angular displacement sensing assembly 32 includes a first angular displacement sensor 321 and a second angular displacement sensor 322. The first angular displacement sensor 321 is disposed inside the first force feedback motor 311, and is used to detect a first angular displacement between the rotor and the stator of the first force feedback motor 311; the second angular displacement sensor 322 is disposed inside the second force feedback motor 312, and is used to detect a second angular displacement between the rotor and the stator of the second force feedback motor 312; wherein the first angular displacement is used to control the mechanical arm 41 to press the handle of the cutting machine 2 or lift the handle of the cutting machine 2, and the second angular displacement is used to control the mechanical arm 41 to move left or right;

[0018] The controller 5 generates a first torque output signal according to the first reaction force, and the first torque output signal is used to control the first force feedback motor 311 so that the rocker 3 moves forward and backward following the handle of the cutting machine 2;

[0019] The controller 5 generates a second torque output signal according to the second reaction force, and the second torque output signal is used to control the second force feedback motor 312 so that the rocker 3 vibrates in the left and right directions following the handle of the cutting machine 2 .

[0020] Preferably, the mechanical arm 41 keeps holding the handle of the cutting machine 2. After the operator releases the rocker 3, the handle of the cutting machine 2 rebounds and vibrates, and the force sensing component 411 in the mechanical arm 41 detects the force from the handle of the cutting machine 2.

[0021] The controller 5 generates a torque output signal according to the applied force, and uses the torque output signal to control the force feedback component 31 so that the rocker 3 rebounds and vibrates together with the handle of the cutting machine 2 .

[0022] Preferably, a touch screen 6 is further provided outside the isolation box 1, and the touch screen 6 is used to display an interactive interface so that the operator can perform interactive operations on the interactive interface; the interactive operations include selecting a cutting posture;

[0023] A displacement device 7 is provided at the bottom of the human body model 4, and a rotation device 8 is provided inside the human body model 4;

[0024] The controller 5 determines the initial position and the initial rotation position of the human body model 4 according to the cutting posture; wherein the rotating device includes a first rotating component and a second rotating component, and the initial rotation position includes a first initial rotation position relative to a horizontal plane and a second initial rotation position relative to a cutting plane of the cutting machine 2; the first rotating component is used to vertically rotate the human body model 4 to reach the first initial rotation position, and the second rotating component is used to horizontally rotate the human body model 4 to reach the second initial rotation position;

[0025] The displacement device is used to move the human body model 4 to the initial position;

[0026] The rotating device is used to rotate the human body model 4 to the initial rotation position.

[0027] Preferably, the cutting posture includes one or more of a front upright standing posture, a side upright standing posture, a front bent standing posture, a side bent standing posture, a front squatting posture and a side squatting posture;

[0028] When the operator selects the front upright standing posture, the initial position of the human body model 4 is the first preset distance position in front of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 85° with the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 90° with the cutting plane of the cutting machine 2;

[0029] When the operator selects the sideways upright standing posture, the initial position of the human body model 4 is the second preset distance position in the direction of the angle of 45° between the operating side of the cutting machine 2 and the cutting plane of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 85° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting plane of the cutting machine 2;

[0030] When the operator selects the front bending standing posture, the initial position of the human body model 4 is the front preset distance position of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 65° with the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 90° with the cutting plane of the cutting machine 2;

[0031] When the operator selects the side bending standing posture, the initial position of the human body model 4 is the second preset distance position in the direction of 45° between the operating side of the cutting machine 2 and the cutting plane of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 65° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting plane of the cutting machine 2;

[0032] When the operator selects the front squatting posture, the initial position of the human body model 4 is a preset distance position in front of the cutting machine 2, the first initial rotation position of the human body model 4 is a position with an angle of 50° with the horizontal plane, and the second initial rotation position of the human body model 4 is a position with an angle of 90° with the cutting plane of the cutting machine 2;

[0033] When the operator selects the side squatting posture, the initial position of the human body model 4 is the second preset distance position in the direction of the 45° angle between the operating side of the cutting machine 2 and the cutting surface of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 50° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting surface of the cutting machine 2.

[0034] Preferably, an infrared thermal imaging sensor 7 is further provided in the isolation box 1, and the infrared thermal imaging sensor 7 is used to detect the heating condition of the human body model 4, and display the heating condition of the human body model 4 on the interactive interface in the form of thermal imaging.

[0035] Preferably, the controller 5 further calculates a corresponding risk factor according to the change curve of the thermal imaging and torque output signal, and displays the risk factor on the interactive interface;

[0036] The risk factor is specifically

[0037] Among them, k1, k2 and k3 are weight coefficients, temp i is the ith thermal imaging temperature value, N is the total number of thermal imaging temperature values, force is the change curve of the torque output signal within the preset sliding window sampling period, F j (force) is the jth frequency point value after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and high-pass filtered, M is the total number of frequency point values ​​obtained after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and low-pass filtered, force p is the pth torque output signal within the preset sliding window sampling period, H is the total number of torque output signals within the preset sliding window sampling period; D i and D p Both are indicator variables. When temp i When the temperature is greater than the preset value, D i =1, otherwise, D i =0; when force p When it is larger than the preset size, D p =1, otherwise, D p =0.

[0038] Preferably, the isolation box 1 is provided with a switchable opening, so that the operator can replace the cutting piece through the opening.

[0039] In a second aspect, the present invention provides a method for using a cutting machine protective somatosensory device, comprising:

[0040] The operator presses down the rocker 3 to make the mechanical arm 41 press the handle of the cutting machine 2 to cut the cutting piece, and observes whether sparks splash onto the human model 4 during the cutting process, so that the operator can experience the safety of the cutting process.

[0041] Preferably, it also includes:

[0042] Before holding the rocker 3 and pressing it down, the operator selects a cutting posture through the touch screen 6 outside the isolation box 1 .

[0043] The present invention arranges a rocker outside the isolation box, arranges a mechanical arm inside the isolation box, and realizes control of the internal mechanical arm by the rocker and force feedback of the mechanical arm to the rocker through an angular displacement sensor component, a force sensor component and a force feedback component, thereby improving the operator's on-site operating experience while completely isolating the inside and outside of the isolation box, so that the operator can feel the operation process more intuitively and understand the operation risks while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 It is a structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0046] Figure 2 It is a structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of the architecture of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0048] Figure 4 It is a partial structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0049] Figure 5 It is a partial structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0050] Figure 6 It is a schematic diagram of an interactive interface of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0051] Figure 7 It is a structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0052] Figure 8 It is a structural schematic diagram of a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0053] Fig. 9 It is a flow chart of a method for using a cutting machine protective somatosensory device provided by an embodiment of the present invention;

[0054] Fig.10 It is a schematic diagram of the architecture of a controller of a cutting machine protective somatosensory device provided in an embodiment of the present invention.

[0055] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0056] 1. Isolation box; 2. Cutting machine; 3. Joystick; 31. Force feedback assembly; 311. First force feedback motor; 312. Second force feedback motor; 32. Angular displacement sensing assembly; 321. First angular displacement sensor; 322. Second angular displacement sensor; 33. Joystick body; 34. Bottom plate; 35. First movable bracket; 36. Second movable bracket; 4. Human body model; 41. Robotic arm; 411. Force sensing assembly; 4111. First force sensor; 4112. Second force sensor; 4113. Third force sensor; 4114. Fourth force sensor; 5. Controller; 6. Touch screen; 7. Infrared thermal imaging sensor; 8. Emergency stop button; 9. Card swiping sensing device. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0059] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0060] In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more. In addition, for example, the same type of nouns may be described as two independent individuals by adding "A" and "B" at the end. In this case, the corresponding features defined as "A" and "B" are only used to distinguish the same type of individuals for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.

[0061] When describing some embodiments, the expressions "coupling", "coupling" and "connection" and their derivatives may be used. For example, when describing some embodiments, the term "connection" may be used to indicate that two or more components are in direct physical or electrical contact with each other. For another example, when describing some embodiments, the term "coupling" may be used to indicate that two or more components are in direct physical or electrical contact. However, the terms "connection" or "coupling" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other, such as "optical path coupling", "wireless connection", etc. The embodiments disclosed herein are not necessarily limited to the contents of the present invention.

[0062] In the description of the present invention, the expression "A and / or B" (where A and B are used to formally represent specific characteristic contents) will be involved, and the corresponding expressions include the following three combinations: only A, only B, and a combination of A and B.

[0063] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of deviation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0064] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] Embodiment 1:

[0066] Embodiment 1 of the present invention provides a cutting machine protection somatosensory device, such as Figure 1 and Figure 2As shown, it includes an isolation box 1 with at least one transparent surface, a cutting machine 2, a rocker 3, a human model 4 and a controller 5; the human model 4 carries a mechanical arm 41; the human model 4 and the cutting machine 2 are located in the isolation box 1, the human model 4 is located on the operating side of the cutting machine 2, and the rocker 3 is located outside the isolation box 1; wherein the cutting machine 2 is a handheld cutting machine or a grinding wheel cutting machine; wherein, Figure 1 The present invention is demonstrated by taking a grinding wheel cutting machine as an example, wherein the base of the grinding wheel cutting machine is fixed on a platform inside the isolation box 1 . Figure 2 A handheld cutting machine is used as an example for demonstration, and the mechanical arm 41 holds the handheld cutting machine.

[0067] The human body model 4 is used to provide a human body position reference for the operator to simulate the position of the human body relative to the cutting machine 2 in actual use, and to form a fixed bracket for the handheld cutting machine when the cutting machine 2 is a handheld cutting machine.

[0068] like Figure 3 As shown, a force feedback component 31 and an angular displacement sensing component 32 are provided in the rocker 3; the angular displacement sensing component 32 is used to detect the angular displacement of the rocker 3 operated by the operator relative to the initial position; the controller 5 generates a driving signal according to the angular displacement; the driving signal is used to drive the mechanical arm 41 to press the handle of the cutting machine 2 to make the cutting machine 2 work; or, the driving signal drives the mechanical arm 41 to lift the handle of the cutting machine 2 to stop the cutting machine 2 from working; a force sensing component 411 is provided at the contact end between the mechanical arm 41 and the handle of the cutting machine 2, and the force sensing component 411 is used to detect the reaction force of the handle of the cutting machine 2 on the mechanical arm 41; the controller 5 generates a torque output signal according to the reaction force, and uses the torque output signal to control the force feedback component 31, so as to feed back the reaction force from the cutting machine 2 to the rocker 3 in the form of the torque of the force feedback component 31, thereby enhancing the operation experience of the operator.

[0069] The torque of the force feedback component 31 is determined by the magnitude of the reaction force, the magnitude of the force required for cutting using the cutting machine 2 and the deadweight of the rocker 3, and is expressed as: T = kF d , where T is the moment, k is the preset coefficient, obtained by technicians in this field based on empirical analysis, and F d is the magnitude of the reaction force.

[0070] In this embodiment, a rocker arm 3 is arranged outside the isolation box 1, and a mechanical arm 41 is arranged inside the isolation box 1. The rocker arm 3 controls the internal mechanical arm 41, and the mechanical arm 41 provides force feedback to the rocker arm 3 through the angular displacement sensor component 32, the force sensor component 411 and the force feedback component 31. This improves the operator's on-site operating experience while completely isolating the inside and outside of the isolation box 1. This allows the operator to feel the operating process more intuitively and understand the operating risks while ensuring safety.

[0071] In an optional embodiment, if Figure 4 As shown, the force sensing component 411 includes a first force sensor 4111 and a second force sensor 4112 arranged on the upper and lower contact sides of the mechanical arm 41 and the handle of the cutting machine 2, and a third force sensor 4113 and a fourth force sensor 4114 respectively arranged on the contact sides of the handle of the mechanical arm 41 and the cutting machine 2 on both sides; the first force sensor 4111 and the second force sensor 4112 are used to detect a first reaction force in the cutting direction of the cutting machine 2; the third force sensor 4113 and the fourth force sensor 4114 are used to detect a second reaction force of the cutting machine 2 perpendicular to the cutting direction; the first reaction force is the force in the cutting direction (i.e., the up and down direction) brought by the cutting machine 2, and the second reaction force is the force perpendicular to the cutting direction (i.e., the left and right direction) brought by the cutting machine 2, and by detecting the reaction forces in these two directions, the detection of the combined force of the reaction forces of the cutting machine 2 is achieved.

[0072] like Figure 5 As shown, the joystick 3 is a 3D joystick, and the force feedback component 31 includes a first force feedback motor 311 for providing front-rear displacement for the joystick 3 and a second force feedback motor 312 for providing left-right displacement for the joystick 3 .

[0073] The angular displacement sensing assembly 32 includes a first angular displacement sensor 321 and a second angular displacement sensor 322. The first angular displacement sensor 321 is arranged inside the first force feedback motor 311, and is used to detect the first angular displacement between the rotor and the stator of the first force feedback motor 311; the second angular displacement sensor 322 is arranged inside the second force feedback motor 312, and is used to detect the second angular displacement between the rotor and the stator of the second force feedback motor 312; wherein, the first angular displacement is used to control the robotic arm 41 to press the handle of the cutting machine 2 or lift the handle of the cutting machine 2, and the second angular displacement is used to control the robotic arm 41 to move left or right.

[0074] The controller 5 generates a first torque output signal based on the first reaction force, and the first torque output signal is used to control the first force feedback motor 311 so that the rocker 3 follows the handle of the cutting machine 2 to move in the front-to-back direction; the controller 5 generates a second torque output signal based on the second reaction force, and the second torque output signal is used to control the second force feedback motor 312 so that the rocker 3 follows the handle of the cutting machine 2 to vibrate in the left-to-right direction.

[0075] The first torque output signal can be understood as having a corresponding direction, and its direction is determined by the direction of the first reaction force, so as to ensure that when the direction of the first reaction force is upward, the first force feedback motor 311 provides an upward rebound force for the rocker, and conversely, when the direction of the first reaction force is downward, the first force feedback motor 311 provides a downward force for the rocker; the second torque output signal is similar to the first torque output signal, when the direction of the second reaction force is to the left, the first force feedback motor 311 provides a left force for the rocker, and when the direction of the second reaction force is to the right, the first force feedback motor 311 provides a right force for the rocker, thereby causing the rocker to vibrate.

[0076] The specific structure of the 3D joystick is well known to those skilled in the art and is only briefly described here and is not included in the protection scope of this embodiment. Figure 5 As shown, it includes a rocker body 33, a base plate 34, a first movable bracket 35 movably connected to the base plate 34 through a first force feedback motor 311, and a second movable bracket 36 movably connected to the base plate 34 through a second force feedback motor 312. The first movable bracket 35 and the second movable bracket 36 are orthogonal to each other. Specifically, the first movable bracket 35 is arranged along the left-right direction, and the second movable bracket 36 is arranged along the front-back direction. A gap for accommodating the rocker body 33 is arranged at the intersection of the first movable bracket 35 and the second movable bracket 36. The rocker body 33 passes through the gap and is movably fixed on the base plate 34. When the rocker body 33 is shaken, the first movable bracket 35 and the second movable bracket 36 are driven to shake, thereby driving the angular displacement sensor component 32 in the first force feedback motor 311 to cause angular displacement. At the same time, the torque of the first force feedback motor 311 and the torque of the second force feedback motor cause the corresponding motor to rotate, thereby realizing the shaking of the rocker body 33 and realizing the function of the rocker 3 vibrating following the handle of the cutting machine 2.

[0077] In actual use, after the operator releases the handle of the cutting machine 2, the cutting machine 2 may rebound violently and then vibrate due to the reaction force of the cutting piece. In order to further enhance the user experience of the operator, the mechanical arm 41 keeps holding the handle of the cutting machine 2. After the operator releases the rocker 3, the handle of the cutting machine 2 rebounds and vibrates. The force sensing component 411 in the mechanical arm 41 detects the force from the handle of the cutting machine 2. The controller 5 generates a torque output signal according to the force, and uses the torque output signal to control the force feedback component 31 so that the rocker 3 rebounds and vibrates together with the handle of the cutting machine 2. In the above preferred embodiment, the torque output signal includes a first torque output signal (generated according to the first reaction force) for controlling the rocker 3 to follow the displacement of the handle of the cutting machine 2 in the front-to-back direction, and a second torque output signal (generated according to the second reaction force) for controlling the rocker 3 to follow the displacement of the handle of the cutting machine 2 in the left-to-right direction.

[0078] Considering that in actual application scenarios, the operator may also operate the cutting machine 2 in an incorrect posture, based on this scenario, this embodiment also provides a preferred implementation, that is, a touch screen 6 is also provided outside the isolation box 1, and the touch screen 6 is used to display an interactive interface so that the operator can perform interactive operations on the interactive interface; the interactive operation includes selecting a cutting posture; a displacement device is provided at the bottom of the human body model 4, and a rotation device is provided inside the human body model 4; the controller 5 determines the initial position of the human body model 4 and the initial rotation position of the human body model 4 according to the cutting posture; wherein the rotation device includes a first rotation component and a second rotation component, and the initial rotation position includes a first initial rotation position relative to a horizontal plane and a second initial rotation position relative to a section of the cutting machine 2; the first rotation component is used to vertically rotate the human body model 4 to reach the first initial rotation position, and the second rotation component is used to horizontally rotate the human body model 4 to reach the second initial rotation position; the displacement device is used to move the human body model 4 to the initial position; the rotation device is used to rotate the human body model 4 to the initial rotation position.

[0079] Among them, the displacement device and the rotation device are both existing technologies. Specifically: the displacement device includes a slide rail and a support rod, one end of the support rod is connected to the rotation device, one end is movably fixed on the slide rail so that it can slide on the slide rail, and the other end is connected to the rotation device, thereby realizing the displacement and rotation of the human body model 4.

[0080] The cutting posture includes one or more of a front upright standing posture, a side upright standing posture, a front bent standing posture, a side bent standing posture, a front squatting posture, and a side squatting posture; the interactive interface for selecting the cutting posture can be as follows: Figure 6 shown.

[0081] When the operator selects the front upright standing posture, the initial position of the human body model 4 is the first preset distance position in front of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 85° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 90° to the cutting plane of the cutting machine 2.

[0082] When the operator selects the side upright standing posture, the initial position of the human body model 4 is the second preset distance position in the direction of the 45° angle between the operating side of the cutting machine 2 and the cutting surface of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 85° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting surface of the cutting machine 2.

[0083] When the operator selects the front bending standing posture, the initial position of the human body model 4 is a preset distance position in front of the cutting machine 2, the first initial rotation position of the human body model 4 is a position with an angle of 65° to the horizontal plane, and the second initial rotation position of the human body model 4 is a position with an angle of 90° to the cutting plane of the cutting machine 2.

[0084] When the operator selects the side bending standing posture, the initial position of the human body model 4 is the second preset distance position in the direction of the 45° angle between the operating side of the cutting machine 2 and the cutting surface of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 65° to the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting surface of the cutting machine 2.

[0085] When the operator selects the front squatting posture, the initial position of the human body model 4 is a preset distance position in front of the cutting machine 2, the first initial rotation position of the human body model 4 is a position with an angle of 50° to the horizontal plane, and the second initial rotation position of the human body model 4 is a position with an angle of 90° to the cutting plane of the cutting machine 2.

[0086] When the operator selects the side squatting posture, the initial position of the human body model 4 is the second preset distance position in the direction of the 45° angle between the operating side of the cutting machine 2 and the cutting surface of the cutting machine 2, the first initial rotation position of the human body model 4 is the position with an angle of 50° to the horizontal plane, the second initial rotation position of the human body model 4 is the position with an angle of 45° to the cutting surface of the cutting machine 2, and the face of the human body model 4 faces the cutting machine 2.

[0087] The directions and angles of the handles of the mechanical arm 41 that initially hold the cutting machine 2 corresponding to each posture are all preset by those skilled in the art. In actual use, a lifting device is also provided at the bottom of the human model 4, and the lifting device is used to lift the human model 4 to an initial height. Specifically, when the operator selects a front upright standing posture or a side upright standing posture, the initial height is a first preset height, when the operator selects a front bent standing posture or a side bent standing posture, the initial height is a second preset height, and when the operator selects a front squatting posture or a side squatting posture, the initial height is a third preset height, wherein the first preset height, the second preset height, and the third preset height are all obtained by those skilled in the art based on empirical analysis, the first preset height is higher than the second preset height, and the second preset height is higher than the third preset height. In actual use, the first preset height and the second preset height make the head of the human model 4 higher than the cutting machine 2, and the third preset height makes the head of the human model 4 higher than the cutting machine 2 or makes the head of the human model 4 flush with the cutting machine 2.

[0088] The first preset distance position and the second preset distance position are both obtained by those skilled in the art based on empirical analysis.

[0089] In order to enable the operator to observe the hidden dangers of operation more intuitively, this embodiment also provides a preferred implementation, that is, an infrared thermal imaging sensor 7 is also provided in the isolation box 1. Figure 7 As shown, the infrared thermal imaging sensor 7 is used to detect the heating condition of the human body model 4, and display the heating condition of the human body model 4 in the form of thermal imaging on the interactive interface, so that the operator can intuitively observe the impact of sparks on the human body model 4.

[0090] In an optional implementation, the controller 5 further calculates a corresponding risk factor based on the change curves of the thermal imaging and torque output signals, and displays the risk factor on the interactive interface.

[0091] The risk factor is specifically

[0092] Among them, k1, k2 and k3 are weight coefficients, which are obtained by technicians in this field based on experience analysis. i is the ith thermal imaging temperature value, N is the total number of thermal imaging temperature values, force is the change curve of the torque output signal within the preset sliding window sampling period, F j (force) is the jth frequency point value after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and high-pass filtered, M is the total number of frequency point values ​​obtained after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and low-pass filtered, forcep is the pth torque output signal within the preset sliding window sampling period, H is the total number of torque output signals within the preset sliding window sampling period; D i and D p Both are indicator variables. When temp i When the temperature is greater than the preset value, D i =1, otherwise, D i =0; when force p When it is larger than the preset size, D p =1, otherwise, D p =0. Among them, It can be understood as the impact factor of sparks on human safety hazards. and It can be understood as the influencing factor of the reaction force of the cutting machine 2 on the hidden danger of human safety. It can be considered that the greater the reaction force of the cutting machine 2, the greater the vibration of the cutting machine 2 (that is, the higher the frequency of change of the reaction force), the greater the impact on the hidden danger of human safety.

[0093] When there are the first torque output signal and the second torque output signal, the risk factor is specifically: Wherein, k4 and k5 are weight coefficients obtained by those skilled in the art based on empirical analysis, force1 is the variation curve of the first torque output signal within the preset sliding window sampling period, and F j (force1) is the jth frequency point value after the change curve of the first torque output signal within the preset sliding window sampling period is converted to the frequency domain and high-pass filtered, M is the total number of frequency point values ​​obtained after the change curve of the first torque output signal within the preset sliding window sampling period is converted to the frequency domain and low-pass filtered, force 1，p is the pth first torque output signal within the preset sliding window sampling period, force2 is the change curve of the second torque output signal within the preset sliding window sampling period, F q (force2) is the qth frequency point value after the change curve of the second torque output signal within the preset sliding window sampling period is converted to the frequency domain and high-pass filtered, Q is the total number of frequency point values ​​obtained after the change curve of the second torque output signal within the preset sliding window sampling period is converted to the frequency domain and low-pass filtered, force 2，p is the pth second torque output signal within the preset sliding window sampling period, and H is the total number of first torque output signals or second torque output signals within the preset sliding window sampling period.

[0095] In actual use, the isolation box 1 is provided with a switchable opening, so that the operator can replace the cutting piece through the opening.

[0096] And, in a preferred embodiment, as Figure 8 As shown, the cutting machine protective somatosensory device is also provided with an emergency stop button 8 and a card swiping sensing device 9 outside the isolation box 1; the emergency stop button 8 is used to cut off the power supply of the cutting machine anti-kick somatosensory device when the user presses it, so as to play a role of safety protection in emergency situations, and the card swiping sensing device 9 is used to sense the corresponding card (such as an identity card or a usage card, etc.), so as to start the device after sensing that the card has operation authority, allowing the user to operate.

[0097] This embodiment also provides a method for using a cutting machine protective somatosensory device, such as Fig. 9 As shown, specifically including:

[0098] In step 201, the operator presses down the rocker 3, so that the mechanical arm 41 presses the handle of the cutting machine 2 to cut the cutting piece, and observes whether sparks splash onto the human model 4 during the cutting process, so that the operator can experience the safety of the cutting process. Before holding the rocker 3 and pressing it down, the operator selects the cutting posture through the touch screen 6 outside the isolation box 1.

[0099] In step 202 , the rocker 3 is lifted to stop cutting, and the rocker 3 is held to feel the reaction force from the cutting machine 2 .

[0100] Embodiment 2:

[0101] The controller 5 in the embodiment 1 can also be called a cutting machine protection sensor device. Fig.10 , which is a schematic diagram of the structure of the cutting machine protection somatosensory device according to an embodiment of the present invention. The cutting machine protection somatosensory device according to this embodiment includes one or more processors 21 and a memory 22. Fig.10 A processor 21 is taken as an example.

[0102] The processor 21 and the memory 22 may be connected via a bus or other means. Fig.10 The example of connecting through bus is taken in the following.

[0103] The memory 22 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs and non-volatile computer executable programs, such as the related method of the cutting machine protection somatosensory device in Example 1. The processor 21 executes the related method of the cutting machine protection somatosensory device by running the non-volatile software programs and instructions stored in the memory 22.

[0104] The memory 22 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 22 may optionally include a memory remotely arranged relative to the processor 21, and these remote memories may be connected to the processor 21 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0105] The program instructions / modules are stored in the memory 22, and when executed by the one or more processors 21, the related methods of the cutting machine protection somatosensory device in the above-mentioned embodiment 1 are executed.

[0106] It is worth noting that the information interaction, execution process, etc. between the modules and units within the above-mentioned devices and systems are based on the same concept as the processing method embodiment of the present invention. The specific contents can be found in the description of the method embodiment of the present invention and will not be repeated here.

[0107] A person skilled in the art may understand that all or part of the steps in the various methods of the embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A cutting machine protective somatosensory device, characterized in that: The invention comprises an isolation box (1) with at least one transparent surface, a cutting machine (2), a rocker (3), a human model (4) and a controller (5); the human model (4) carries a mechanical arm (41); the human model (4) and the cutting machine (2) are located in the isolation box (1), the human model (4) is located on the operating side of the cutting machine (2), and the rocker (3) is located outside the isolation box (1); wherein the cutting machine (2) is a handheld cutting machine or a grinding wheel cutting machine; The human body model (4) is used to provide a human body position reference for the operator; The rocker (3) is provided with a force feedback component (31) and an angular displacement sensor component (32); The angular displacement sensor assembly (32) is used to detect the angular displacement of the rocker (3) operated by the operator relative to the initial position; The controller (5) generates a drive signal according to the angular displacement; uses the drive signal to drive the mechanical arm (41) to press the handle of the cutting machine (2) so that the cutting machine (2) starts working; or, the drive signal drives the mechanical arm (41) to lift the handle of the cutting machine (2) so that the cutting machine (2) stops working; A force sensing component (411) is provided at the contact end between the mechanical arm (41) and the handle of the cutting machine (2), and the force sensing component (411) is used to detect the reaction force of the handle of the cutting machine (2) on the mechanical arm (41); The controller (5) generates a torque output signal based on the reaction force, and uses the torque output signal to control the force feedback component (31), so as to feed back the reaction force from the cutting machine (2) to the joystick (3) in the form of the torque of the force feedback component (31), thereby enhancing the operator's operating experience.

2. The cutting machine protection somatosensory device according to claim 1, characterized in that: The force sensing assembly (411) comprises a first force sensor (4111) arranged on the front contact side of the mechanical arm (41) and the handle of the cutting machine (2), a second force sensor (4112) arranged on the back contact side of the mechanical arm (41) and the handle of the cutting machine (2), and a third force sensor (4113) and a fourth force sensor (4114) arranged on both sides of the contact side of the mechanical arm (41) and the handle of the cutting machine (2); The first force sensor (4111) and the second force sensor (4112) are used to detect a first reaction force of the cutting machine (2) in the cutting direction; the third force sensor (4113) and the fourth force sensor (4114) are used to detect a second reaction force of the cutting machine (2) perpendicular to the cutting direction; The rocker (3) is a 3D rocker, and the force feedback component (31) comprises a first force feedback motor (311) for providing a front-rear displacement for the rocker (3) and a second force feedback motor (312) for providing a left-right displacement for the rocker (3); The angular displacement sensing assembly (32) comprises a first angular displacement sensor (321) and a second angular displacement sensor (322); the first angular displacement sensor (321) is arranged inside the first force feedback motor (311) and is used to detect a first angular displacement between a rotor and a stator of the first force feedback motor (311); The second angular displacement sensor (322) is arranged inside the second force feedback motor (312) and is used to detect a second angular displacement between a rotor and a stator of the second force feedback motor (312); wherein the first angular displacement is used to control the mechanical arm (41) to press the handle of the cutting machine (2) or lift the handle of the cutting machine (2), and the second angular displacement is used to control the mechanical arm (41) to move left or right; The controller (5) generates a first torque output signal according to the first reaction force, and the first torque output signal is used to control the first force feedback motor (311) so that the rocker (3) follows the handle of the cutting machine (2) to move in the front-rear direction; The controller (5) generates a second torque output signal according to the second reaction force, and the second torque output signal is used to control the second force feedback motor (312) so that the joystick (3) follows the handle of the cutting machine (2) to vibrate in the left and right directions.

3. The cutting machine protection somatosensory device according to claim 1, characterized in that: The mechanical arm (41) maintains a state of holding the handle of the cutting machine (2), and after the operator releases the rocker (3), the handle of the cutting machine (2) rebounds and vibrates, and the force sensing component (411) in the mechanical arm (41) detects the force from the handle of the cutting machine (2); The controller (5) generates a torque output signal according to the action force, and uses the torque output signal to control the force feedback component (31) so that the rocker (3) rebounds and vibrates together with the handle of the cutting machine (2).

4. The cutting machine protection somatosensory device according to claim 1, characterized in that: A touch screen (6) is also provided outside the isolation box (1), and the touch screen (6) is used to display an interactive interface so that an operator can perform interactive operations on the interactive interface; the interactive operations include selecting a cutting posture; A displacement device (7) is provided at the bottom of the human body model (4), and a rotation device (8) is provided inside the human body model (4); The controller (5) determines the initial position of the human body model (4) and the initial rotation position of the human body model (4) according to the cutting posture; wherein the rotating device comprises a first rotating component and a second rotating component, and the initial rotation position comprises a first initial rotation position relative to a horizontal plane and a second initial rotation position relative to a cutting plane of the cutting machine (2); the first rotating component is used to vertically rotate the human body model (4) to reach the first initial rotation position, and the second rotating component is used to horizontally rotate the human body model (4) to reach the second initial rotation position; The displacement device is used to move the human body model (4) to the initial position; The rotating device is used to rotate the human body model (4) to the initial rotation position.

5. The cutting machine protection somatosensory device according to claim 4, characterized in that: The cutting posture includes one or more of a front upright standing posture, a side upright standing posture, a front bent waist standing posture, a side bent waist standing posture, a front squatting posture and a side squatting posture; When the operator selects the front upright standing posture, the initial position of the human body model (4) is a first preset distance position in front of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 85° with the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 90° with the cutting plane of the cutting machine (2); When the operator selects the sideways upright standing posture, the initial position of the human body model (4) is a second preset distance position in the direction of a 45° angle between the operating side of the cutting machine (2) and the cutting plane of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 85° to the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 45° to the cutting plane of the cutting machine (2); When the operator selects the front bending standing posture, the initial position of the human body model (4) is a front preset distance position of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 65° to the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 90° to the cutting plane of the cutting machine (2); When the operator selects the side-bending standing posture, the initial position of the human body model (4) is a second preset distance position in the direction of a 45° angle between the operating side of the cutting machine (2) and the cutting plane of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 65° to the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 45° to the cutting plane of the cutting machine (2); When the operator selects the front squatting posture, the initial position of the human body model (4) is a front preset distance position of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 50° with the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 90° with the cutting plane of the cutting machine (2); When the operator selects the side squatting posture, the initial position of the human body model (4) is a second preset distance position in the direction of a 45° angle between the operating side of the cutting machine (2) and the cutting plane of the cutting machine (2), the first initial rotation position of the human body model (4) is a position with an angle of 50° to the horizontal plane, and the second initial rotation position of the human body model (4) is a position with an angle of 45° to the cutting plane of the cutting machine (2).

6. The cutting machine protection somatosensory device according to claim 1, characterized in that: The isolation box (1) is also provided with an infrared thermal imaging sensor (7), which is used to detect the heating condition of the human body model (4) and display the heating condition of the human body model (4) on the interactive interface in the form of thermal imaging.

7. The cutting machine protection somatosensory device according to claim 6, characterized in that: The controller (5) also calculates a corresponding risk factor based on the change curve of the thermal imaging and torque output signal, and displays the risk factor on the interactive interface; The risk factor is specifically Among them, k1, k2 and k3 are weight coefficients, temp i is the ith thermal imaging temperature value, N is the total number of thermal imaging temperature values, force is the change curve of the torque output signal within the preset sliding window sampling period, F j (force) is the jth frequency point value after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and high-pass filtered, M is the total number of frequency point values ​​obtained after the change curve of the torque output signal within the preset sliding window sampling period is converted to the frequency domain and low-pass filtered, force p is the pth torque output signal within the preset sliding window sampling period, H is the total number of torque output signals within the preset sliding window sampling period; D i and D p Both are indicator variables. When temp i When the temperature is greater than the preset value, D i =1, otherwise, D i =0; when force p When it is larger than the preset size, D p =1, otherwise, D p =0.

8. The cutting machine protective somatosensory device according to any one of claims 1 to 7, characterized in that: The isolation box (1) is provided with a switchable opening, so that an operator can replace the cutting piece through the opening.

9. A method for using the cutting machine protective somatosensory device according to any one of claims 1 to 8, characterized in that: include: The operator presses down the rocker (3) to make the mechanical arm (41) press the handle of the cutting machine (2) to cut the cutting piece, and observes whether sparks splash onto the human model (4) during the cutting process, so that the operator can experience the safety of the cutting process.

10. The method for using the cutting machine protective somatosensory device according to claim 9, characterized in that: Also includes: Before holding the rocker (3) and pressing it downward, the operator selects a cutting posture through the touch screen (6) outside the isolation box (1).

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