A cutting machine protective sensor and its usage method

Abstract

This invention relates to the field of safety protection technology, and provides a cutting machine protective haptic device and its usage method. The device includes an isolation box, a cutting machine, a joystick, a human mannequin, and a controller. The human mannequin carries a robotic arm. The joystick contains a force feedback component and an angular displacement sensing component. The angular displacement sensing component detects the angular displacement of the joystick. The controller generates a drive signal based on the angular displacement to drive the robotic arm to press the cutting machine handle. The robotic arm is equipped with a force sensing component, which detects the reaction force of the cutting machine handle on the robotic arm. The controller generates a torque output signal based on the reaction force, and uses the torque output signal to control the force feedback component to feed back the reaction force from the cutting machine to the joystick. This invention, while completely isolating the inside and outside of the isolation box, enhances the operator's on-site operating experience, allowing the operator to more intuitively feel the operating process and understand potential operational hazards while ensuring safety.

Description

Technical Field

[0001] This invention relates to the field of safety protection technology, and in particular to a protective sensor device for cutting machines and its usage method. Background Technology

[0002] The head, eyes, hands, and feet are common and important protected areas for employees during production operations. Wearing appropriate personal protective equipment (PPE) can significantly reduce the severity of injuries. However, employees often fail to fully understand the protective function of PPE. Conventional safety training often relies on lectures, readings, slides, videos, and pictures, which result in low trainee engagement and poor effectiveness.

[0003] Protective haptic feedback devices typically place the corresponding potentially hazardous equipment in an isolation box, allowing users to operate it from outside the box. This provides users with a relatively realistic haptic feedback experience while ensuring their safety, making it easier for them to intuitively understand the potential hazards. However, existing protective haptic feedback devices often use an opening, requiring users to manually reach into the isolation box to operate them, which obviously still poses certain safety risks.

[0004] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a protective body-sensing device for cutting machines, so as to solve the problem that users need to put their hands into the isolation box to operate the machine in the prior art, which brings safety hazards.

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

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

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

[0009] The joystick 3 is equipped with a force feedback component 31 and an angular displacement sensing component 32.

[0010] The angular displacement sensing component 32 is used to detect the angular displacement of the joystick 3 relative to its initial position operated by the operator;

[0011] The controller 5 generates a drive signal based on the angular displacement; the drive signal is used to drive the robotic arm 41 to press the handle of the cutting machine 2 so that the cutting machine 2 can work; or, the drive signal drives the robotic arm 41 to lift the handle of the cutting machine 2 so that the cutting machine 2 can stop working.

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

[0013] 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 that the reaction force from the cutting machine 2 is fed back to the joystick 3 in the form of torque through the force feedback component 31, thereby enhancing the operator's operating experience.

[0014] Preferably, the force sensing component 411 includes a first force sensor 4111 disposed on the front contact side of the robotic arm 41 and the handle of the cutting machine 2, a second force sensor 4112 disposed on the back contact side of the robotic arm 41 and the handle of the cutting machine 2, and a third force sensor 4113 and a fourth force sensor 4114 disposed on the two contact sides of the robotic arm 41 and the handle of the cutting machine 2, respectively.

[0015] The first force sensor 4111 and the second force sensor 4112 are used to detect the 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 the second reaction force perpendicular to the cutting direction of the cutting machine 2.

[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 component 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 the first angular displacement between the rotor and 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 the second angular displacement between the rotor and stator of the second force feedback motor 312. The first angular displacement is used to control the robotic arm 41 to press down or lift the handle of the cutting machine 2, and the second angular displacement is used to control the robotic arm 41 to move to the left or right.

[0018] The controller 5 generates a first torque output signal based on the first reaction force. The first torque output signal is used to control the first force feedback motor 311 so that the rocker arm 3 moves in the front and back direction following the handle of the cutting machine 2.

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

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

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

[0022] Preferably, a touch screen 6 is also provided outside the isolation box 1. 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 the cutting posture.

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

[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 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 the horizontal plane and a second initial rotation position relative to the cutting surface of the cutting machine 2; the first rotation component is used to rotate the human body model 4 vertically to reach the first initial rotation position, and the second rotation component is used to rotate the human body model 4 horizontally 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 the following: a frontal upright standing posture, a side upright standing posture, a frontal bent-over standing posture, a side bent-over standing posture, a frontal squatting posture, and a side squatting posture;

[0028] When the operator selects the upright standing posture, the initial position of the human body model 4 is the first preset distance position of the 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 surface of the cutting machine 2.

[0029] When the operator selects the side-standing upright 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° with the horizontal plane. The second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2.

[0030] When the operator selects the forward bending and standing posture, the initial position of the human body model 4 is the preset distance position in front of the cutting machine 2. The first initial rotation position of the human body model 4 is at an angle of 65° with the horizontal plane, and the second initial rotation position of the human body model 4 is at an angle of 90° with the cutting surface 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 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° with the horizontal plane. The second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2.

[0032] When the operator selects the front squatting posture, the initial position of the human body model 4 is the 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 surface 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° with the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2.

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

[0035] Preferably, the controller 5 also calculates the 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;

[0036] The specific risk factor is as follows:

[0037] Where k1, k2, and k3 are weighting coefficients, and temp i Let F be the i-th thermal imaging temperature value, N be the total number of thermal imaging temperature values, force be the curve of the torque output signal change within the preset sliding window sampling period, and F be the value of F. j (force) represents the j-th frequency value obtained after converting the torque output signal variation curve within the preset sliding window sampling period to the frequency domain and performing high-pass filtering, and M represents the total number of frequency values ​​obtained after converting the torque output signal variation curve within the preset sliding window sampling period to the frequency domain and performing high-pass filtering. p D represents the p-th torque output signal within the preset sliding window sampling period, where H is the total number of torque output signals within the preset sliding window sampling period; i and D p Both are indicator variables, when temp i When the temperature is greater than the preset temperature, D i =1, otherwise, D i =0; when force p When D is greater than the preset size, p =1, otherwise, D p =0.

[0038] Preferably, the isolation box 1 is provided with an openable opening for the operator to change the cutting piece through the opening.

[0039] Secondly, the present invention provides a method for using a protective sensor device for cutting machines, comprising:

[0040] The operator presses down the rocker arm 3, causing the robotic arm 41 to press the handle of the cutting machine 2 to cut the workpiece. During the cutting process, the operator observes whether sparks are splashed onto the human body model 4, so that the operator can experience the safety of the cutting process.

[0041] Preferred options also include:

[0042] Before pressing down on the joystick 3, the operator selects the cutting posture via the touch screen 6 outside the isolation box 1.

[0043] This invention improves the operator's on-site experience by setting a rocker arm outside the isolation box and a robotic arm inside the isolation box, and by using angular displacement sensing components, force sensing components, and force feedback components to achieve the control of the internal robotic arm by the rocker arm and the force feedback of the robotic arm to the rocker arm. This allows the operator to fully isolate the inside and outside of the isolation box, so as to ensure safety while allowing the operator to more intuitively feel the operation process and understand the potential risks. Attached Figure Description

[0044] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the structure of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the architecture of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0048] Figure 4 This is a partial structural schematic diagram of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0049] Figure 5 This is a partial structural schematic diagram of a cutting machine protective sensor device provided in an embodiment of the present invention;

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

[0051] Figure 7 This is a schematic diagram of the structure of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0052] Figure 8 This is a schematic diagram of the structure of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0053] Figure 9 This is a flowchart illustrating the usage method of a cutting machine protective sensor device provided in an embodiment of the present invention;

[0054] Figure 10 This is a schematic diagram of the architecture of a controller for a cutting machine protective sensor device provided in an embodiment of the present invention.

[0055] In all the accompanying 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. Base 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 Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0058] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as openly inclusive, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples; that is, although they may be incorporated into embodiments or examples using the above terms for reasons such as order and position, it does not limit them to be incorporated in combination by a single embodiment or example.

[0059] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0060] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, for example, the description may use the prefix "A" or "B" to describe the same type of nouns as two independent entities. In this case, the corresponding features defined with "A" and "B" are used only to distinguish between similar entities and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0061] In describing some embodiments, the terms "coupled," "coupled," and "connected," and their derivative expressions, may be used. For example, the term "connected" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact with each other. Similarly, the term "coupled" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact. However, the terms "connected" or "coupled" may also refer to two or more components that do not have direct contact with each other but still cooperate or interact with each other, such as "optical coupling," "wireless connection," etc. The embodiments disclosed herein are not necessarily limited to the scope of this invention.

[0062] In the description of this invention, the expression “A and / or B” (where A and B are used to formally represent specific features) will be used. The corresponding expression includes the following three combinations: only A, only B, and a combination of A and B.

[0063] As used in this invention, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from a particular value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0064] Furthermore, 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] Example 1:

[0066] Embodiment 1 of the present invention provides a cutting machine protective body sensing device, such as Figure 1 and Figure 2As shown, the device includes at least one transparent isolation box 1, a cutting machine 2, a joystick 3, a human body model 4, and a controller 5; the human body model 4 carries a robotic arm 41; the human body model 4 and the cutting machine 2 are located inside the isolation box 1, with the human body model 4 located on the operating side of the cutting machine 2, and the joystick 3 located outside the isolation box 1; wherein, the cutting machine 2 is a handheld cutting machine or an abrasive wheel cutting machine; wherein, Figure 1 The example shown is a grinding wheel cutter, whose base is fixed on a platform inside the isolation box 1. Figure 2 The example shown is a handheld cutting machine, in which the robotic arm 41 holds the handheld cutting machine.

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

[0068] like Figure 3 As shown, the joystick 3 is equipped with a force feedback component 31 and an angular displacement sensing component 32. The angular displacement sensing component 32 is used to detect the angular displacement of the joystick 3 relative to its initial position by the operator. The controller 5 generates a drive signal based on the angular displacement. The drive signal is used to drive the robotic arm 41 to press the handle of the cutting machine 2, so that the cutting machine 2 can work; or, the drive signal drives the robotic arm 41 to lift the handle of the cutting machine 2, so that the cutting machine 2 can stop working. A force sensing component 411 is provided at the contact end between the robotic arm 41 and the handle of the cutting machine 2. The force sensing component 411 is used to detect the reaction force of the handle of the cutting machine 2 on the robotic 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 that the reaction force from the cutting machine 2 is fed back to the joystick 3 in the form of torque of the force feedback component 31, thereby enhancing the operator's operating experience.

[0069] The torque of the force feedback component 31 is determined by the magnitude of the reaction force, the force required for cutting with the cutting machine 2, and the weight of the rocker arm 3. In actual use, it is expressed as: T = kF d Where T is the torque, k is a preset coefficient obtained by those skilled in the art based on experience, and F d The magnitude of the reaction force is given.

[0070] This embodiment uses a rocker arm 3 outside the isolation box 1 and a robotic arm 41 inside the isolation box 1. The rocker arm 3 controls the robotic arm 41 and the robotic arm 41 provides force feedback to the rocker arm 3 through the angular displacement sensing component 32, force sensing component 411 and 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 more intuitively feel the operation process and understand potential risks while ensuring safety.

[0071] In one alternative implementation, such as Figure 4 As shown, the force sensing component 411 includes a first force sensor 4111 and a second force sensor 4112 disposed on the upper and lower contact sides of the handle of the robotic arm 41 and the cutting machine 2, and a third force sensor 4113 and a fourth force sensor 4114 disposed on the lower and upper contact sides of the handle of the robotic arm 41 and the cutting machine 2, respectively. The first force sensor 4111 and the second force sensor 4112 are used to detect the 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 the second reaction force of the cutting machine 2 perpendicular to the cutting direction. The first reaction force is the force brought by the cutting machine 2 in the cutting direction (i.e., the up and down direction), and the second reaction force is the force brought by the cutting machine 2 perpendicular to the cutting direction (i.e., the left and right direction). By detecting the reaction forces in these two directions, the resultant force of the reaction forces of the cutting machine 2 is detected.

[0072] like Figure 5 As shown, the joystick 3 is a 3D joystick, and the force feedback assembly 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.

[0073] The angular displacement sensing component 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 the first angular displacement between the rotor and 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 the second angular displacement between the rotor and stator of the second force feedback motor 312. The first angular displacement is used to control the robotic arm 41 to press down 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. The first torque output signal is used to control the first force feedback motor 311 so that the rocker arm 3 moves in the front-back direction following the handle of the cutting machine 2. The controller 5 generates a second torque output signal based on the second reaction force. The second torque output signal is used to control the second force feedback motor 312 so that the rocker arm 3 vibrates in the left-right direction following the handle of the cutting machine 2.

[0075] The first torque output signal can be understood as having a corresponding direction, which is determined by the direction of the first reaction force. This ensures that when the direction of the first reaction force is upward, the first force feedback motor 311 provides an upward rebound force to the rocker arm, and conversely, when the direction of the first reaction force is downward, the first force feedback motor 311 provides a downward force to the rocker arm. 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 leftward force to the rocker arm, and when the direction of the second reaction force is to the right, the first force feedback motor 311 provides a rightward force to the rocker arm, thereby causing the rocker arm 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. It is not included in the protection scope of this embodiment. The structure of the 3D joystick is as follows: Figure 5 As shown, the device includes a rocker body 33, a base plate 34, a first movable bracket 35 movably connected to the base plate 34 via a first force feedback motor 311, and a second movable bracket 36 movably connected to the base plate 34 via 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 in the left-right direction, and the second movable bracket 36 is arranged in the front-back direction. A gap for accommodating the rocker body 33 is provided 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 to the base plate 34. When the rocker body 33 is rocked, it drives the first movable bracket 35 and the second movable bracket 36 to rock, thereby causing the angular displacement sensing component 32 in the first force feedback motor 311 to undergo 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 rocking of the rocker body 33 and realizing the function of the rocker 3 vibrating with the handle of the cutting machine 2.

[0077] In practical use, when the operator releases the handle of the cutting machine 2, the cutting machine 2 may rebound violently due to the reaction force of the cut piece, and then vibrate. To further enhance the operator's experience, the robotic arm 41 maintains the grip on the handle of the cutting machine 2. After the operator releases the rocker arm 3, the handle of the cutting machine 2 rebounds and vibrates. The force sensing component 411 in the robotic arm 41 detects the force from the handle of the cutting machine 2. The controller 5 generates a torque output signal based on the force and uses the torque output signal to control the force feedback component 31 so that the rocker arm 3 rebounds and vibrates along with the handle of the cutting machine 2. In the preferred embodiment described above, the torque output signal includes a first torque output signal (generated based on the first reaction force) for controlling the rocker arm 3 to move in the forward and backward direction along with the handle of the cutting machine 2, and a second torque output signal (generated based on the second reaction force) for controlling the rocker arm 3 to move in the left and right direction along with the handle of the cutting machine 2.

[0078] Considering that operators may operate the cutting machine 2 with incorrect postures in practical applications, this embodiment also provides a preferred implementation: a touch screen 6 is provided outside the isolation box 1 to display an interactive interface for the operator to perform interactive operations. The interactive operations include 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 and initial rotation position of the human body model 4 based on the cutting posture. The rotation device includes a first rotation component and a second rotation component. The initial rotation position includes a first initial rotation position relative to a horizontal plane and a second initial rotation position relative to the cutting surface of the cutting machine 2. The first rotation component is used to rotate the human body model 4 vertically to reach the first initial rotation position, and the second rotation component is used to rotate the human body model 4 horizontally 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] 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, and the other end is movably fixed on the slide rail so that it can slide on the slide rail. 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 the following: a frontal upright standing posture, a side-view upright standing posture, a frontal bent-over standing posture, a side-view bent-over standing posture, a frontal squatting posture, and a side-view squatting posture; the interactive interface for selecting the cutting posture can be as follows: Figure 6 As shown.

[0081] When the operator selects the 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 surface of the cutting machine 2.

[0082] When the operator selects the side-standing upright 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° with the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2.

[0083] When the operator selects the forward bending and standing posture, the initial position of the human body model 4 is the preset distance position in front of the cutting machine 2. The first initial rotation position of the human body model 4 is at an angle of 65° with the horizontal plane, and the second initial rotation position of the human body model 4 is at an angle of 90° with the cutting surface 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° with the horizontal plane, and the second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2.

[0085] When the operator selects the frontal squatting posture, the initial position of the human body model 4 is the preset distance position in front of the cutting machine 2. The first initial rotation position of the human body model 4 is at an angle of 50° with the horizontal plane, and the second initial rotation position of the human body model 4 is at an angle of 90° with the cutting surface 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° with the horizontal plane. The second initial rotation position of the human body model 4 is the position with an angle of 45° with the cutting surface of the cutting machine 2. Furthermore, the face of the human body model 4 faces the cutting machine 2.

[0087] The initial grip direction and angle of the robotic arm 41 on the handle of the cutting machine 2 for each posture are preset by those skilled in the art. In actual use, the bottom of the human body model 4 is also equipped with a lifting device, which is used to raise and lower the human body model 4 to an initial height. Specifically: when the operator selects a frontal upright standing posture or a side upright standing posture, the initial height is the first preset height; when the operator selects a frontal bent-over standing posture or a side bent-over standing posture, the initial height is the second preset height; when the operator selects a frontal squatting posture or a side squatting posture, the initial height is the third preset height. The first, second, and third preset heights are all obtained by those skilled in the art based on experience. 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 and second preset heights make the head of the human body model 4 higher than the cutting machine 2, and the third preset height makes the head of the human body model 4 higher than the cutting machine 2 or makes the head of the human body model 4 level with the cutting machine 2.

[0088] The first and second preset distance positions were both obtained by those skilled in the art based on experience.

[0089] To enable operators to more intuitively observe potential operational hazards, this embodiment also provides a preferred implementation, namely, that the isolation box 1 is further equipped with an infrared thermal imaging sensor 7, such as... Figure 7 As shown, the infrared thermal imaging sensor 7 is used to detect the heating status of the human body model 4 and display the heating status 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 the spark on the human body model 4.

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

[0091] The specific risk factor is as follows:

[0092] Where k1, k2, and k3 are weighting coefficients, obtained by those skilled in the art based on experience, and temp i Let F be the i-th thermal imaging temperature value, N be the total number of thermal imaging temperature values, force be the curve of the torque output signal change within the preset sliding window sampling period, and F be the value of F. j (force) represents the j-th frequency value obtained after converting the torque output signal variation curve within the preset sliding window sampling period to the frequency domain and performing high-pass filtering, and M represents the total number of frequency values ​​obtained after converting the torque output signal variation curve within the preset sliding window sampling period to the frequency domain and performing high-pass filtering.p D represents the p-th torque output signal within the preset sliding window sampling period, where H is the total number of torque output signals within the preset sliding window sampling period; i and D p Both are indicator variables, when temp i When the temperature is greater than the preset temperature, D i =1, otherwise, D i =0; when force p When D is greater than the preset size, p =1, otherwise, D p =0. Where, This can be understood as a factor influencing the safety hazards of sparks to the human body. and This can be understood as the influencing factor of the reaction force of the cutting machine 2 on human safety hazards. It can be considered that the greater the reaction force of the cutting machine 2, the greater the vibration of the cutting machine 2 (i.e. the higher the frequency of change of the reaction force), and the greater the impact on human safety hazards.

[0093] When a first torque output signal and a second torque output signal are present, the specific risk factor is:

[0094] Wherein, k4 and k5 are weighting coefficients, obtained by those skilled in the art based on experience; force1 is the change curve of the first torque output signal within the preset sliding window sampling period; F j (force1) represents the j-th frequency value obtained after converting the change curve of the first torque output signal within the preset sliding window sampling period to the frequency domain and performing high-pass filtering, and M represents the total number of frequency values ​​obtained after converting the change curve of the first torque output signal within the preset sliding window sampling period to the frequency domain and performing high-pass filtering. 1，p Force2 is the p-th first torque output signal within the preset sliding window sampling period, and force2 is the variation curve of the second torque output signal within the preset sliding window sampling period. q (force2) represents the q-th frequency value obtained after converting the variation curve of the second torque output signal within the preset sliding window sampling period to the frequency domain and performing high-pass filtering, where Q is the total number of frequency values ​​obtained after converting the variation curve of the second torque output signal within the preset sliding window sampling period to the frequency domain and performing high-pass filtering. 2，p H represents the p-th second torque output signal within the preset sliding window sampling period, and H represents the total number of first torque output signals or second torque output signals within the preset sliding window sampling period.

[0095] In practical use, the isolation box 1 is provided with an openable opening, through which the operator can change the cutting piece.

[0096] Furthermore, in the preferred embodiment, such as Figure 8 As shown, the cutting machine protective motion sensing device is also equipped with an emergency stop button 8 and a card reader 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 motion sensing device when the user presses it, so as to play a safety protection role in emergency situations; the card reader 9 is used to sense the corresponding card (such as ID card or user card, etc.), so that after sensing that the card has operation authorization, the device is started and the user is allowed to operate.

[0097] This embodiment also provides a method for using a protective sensor device for cutting machines, such as... Figure 9 As shown, it specifically includes:

[0098] In step 201, the operator presses down the rocker arm 3, causing the robotic arm 41 to press the handle of the cutting machine 2 to cut the workpiece. During the cutting process, the operator observes whether sparks are splashed onto the human model 4, allowing the operator to experience the safety of the cutting process. Before pressing down the rocker arm 3, the operator selects the cutting posture via the touch screen 6 outside the isolation box 1.

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

[0100] Example 2:

[0101] The controller 5 described in Example 1 can also be called a cutting machine safety sensor device, such as... Figure 10 The diagram shown is a schematic representation of the architecture of a cutting machine protection sensor device according to an embodiment of the present invention. The cutting machine protection sensor device of this embodiment includes one or more processors 21 and a memory 22. Figure 10 Take a processor 21 as an example.

[0102] Processor 21 and memory 22 can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0103] The memory 22, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs and non-volatile computer-executable programs, such as the methods related to the cutting machine protective motion sensing device in Embodiment 1. The processor 21 executes the methods related to the cutting machine protective motion sensing device by running the non-volatile software programs and instructions stored in the memory 22.

[0104] Memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 22 may optionally include memory remotely located relative to processor 21, which can be connected to processor 21 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0105] The program instructions / modules are stored in the memory 22. When executed by one or more processors 21, they perform the relevant methods of the cutting machine protective body sensing device in Embodiment 1 above.

[0106] It is worth noting that the information interaction and execution process between the modules and units in the above-mentioned device and system are based on the same concept as the processing method embodiment of the present invention. For details, please refer to the description in the method embodiment of the present invention, and will not be repeated here.

[0107] Those skilled in the art will understand that all or part of the steps in the various methods of the embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), magnetic disk or 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 within the protection scope of the present invention.

Claims

1. A cutting machine guard body sensing device, characterized by, The device comprises an isolation box (1) with at least one transparent side, a cutting machine (2), a rocker (3), a mannequin (4) and a controller (5); the mannequin (4) is provided with a mechanical arm (41); the mannequin (4) and the cutting machine (2) are located in the isolation box (1), and the mannequin (4) is located on the operating side of the cutting machine (2); 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 mannequin (4) is used to provide a human position reference for an operator; The rocker (3) is provided with a force feedback component (31) and an angular displacement sensing component (32); The angular displacement sensing component (32) is used to detect the angular displacement of the rocker (3) 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 is used to drive the mechanical arm (41) to lift the handle of the cutting machine (2) to make the cutting machine (2) stop working; The contact end of the mechanical arm (41) and the handle of the cutting machine (2) is provided with a force sensing component (411), which 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) to feedback the reaction force from the cutting machine (2) to the rocker (3) in the form of torque of the force feedback component (31), thereby enhancing the operation experience of the operator.

2. The cutting machine guard sensing apparatus of claim 1, wherein The force sensing component (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 the two side contact sides of the mechanical arm (41) and the handle of the cutting machine (2), respectively; The first force sensor (4111) and the second force sensor (4112) are used to detect the 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 the second reaction force perpendicular to the cutting direction of the cutting machine (2); The rocker (3) is a 3D rocker, and the force feedback component (31) comprises a first force feedback motor (311) for providing forward and backward displacement of the rocker (3) and a second force feedback motor (312) for providing left and right displacement of the rocker (3); The angular displacement sensing component (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 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 mechanical arm (41) to press 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) to make the rocker (3) follow the displacement of the handle of the cutting machine (2) in the front-back 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) to make the rocker (3) follow the vibration of the handle of the cutting machine (2) in the left-right direction.

3. The cutting machine guard sensing apparatus of claim 1, wherein, The mechanical arm (41) maintains the 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 assembly (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 assembly (31) to make the rocker (3) rebound and vibrate together with the handle of the cutting machine (2).

4. The cutting machine guard sensing apparatus of claim 1, wherein, The isolation box (1) is further provided with a touch screen (6), and the touch screen (6) is used to display an interactive interface to facilitate the operator to perform an interactive operation on the interactive interface; the interactive operation includes selecting a cutting posture; The bottom of the mannequin (4) is provided with a displacement device (7), and the inside of the mannequin (4) is provided with a rotating device (8); The controller (5) determines an initial position of the mannequin (4) and an initial rotating position of the mannequin (4) according to the cutting posture; wherein the rotating device includes a first rotating assembly and a second rotating assembly, the initial rotating position includes a first initial rotating position relative to a horizontal plane and a second initial rotating position relative to a cutting plane of the cutting machine (2); the first rotating assembly is used to vertically rotate the mannequin (4) to reach the first initial rotating position, and the second rotating assembly is used to horizontally rotate the mannequin (4) to reach the second initial rotating position; The displacement device is used to move the mannequin (4) to the initial position; The rotating device is used to rotate the mannequin (4) to the initial rotating position.

5. The cutting machine guard sensing apparatus of claim 4, wherein, 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; When the operator selects the front straight standing posture, the initial position of the mannequin (4) is a front first preset distance position of the cutting machine (2), the first initial rotation position of the mannequin (4) is an 85° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 90° angle with the cutting surface of the cutting machine (2) position. When the operator selects the side straight standing posture, the initial position of the mannequin (4) is a second preset distance position in the direction of a 45° angle between the operation side of the cutting machine (2) and the cutting surface of the cutting machine (2), the first initial rotation position of the mannequin (4) is an 85° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 45° angle with the cutting surface of the cutting machine (2) position. When the operator selects the front bent standing posture, the initial position of the mannequin (4) is a front preset distance position of the cutting machine (2), the first initial rotation position of the mannequin (4) is a 65° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 90° angle with the cutting surface of the cutting machine (2) position. When the operator selects the side bent standing posture, the initial position of the mannequin (4) is a second preset distance position in the direction of a 45° angle between the operation side of the cutting machine (2) and the cutting surface of the cutting machine (2), the first initial rotation position of the mannequin (4) is a 65° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 45° angle with the cutting surface of the cutting machine (2) position. When the operator selects the front squatting posture, the initial position of the mannequin (4) is a front preset distance position of the cutting machine (2), the first initial rotation position of the mannequin (4) is a 50° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 90° angle with the cutting surface of the cutting machine (2) position. When the operator selects the side squatting posture, the initial position of the mannequin (4) is a second preset distance position in the direction of a 45° angle between the operation side of the cutting machine (2) and the cutting surface of the cutting machine (2), the first initial rotation position of the mannequin (4) is a 50° angle with the horizontal plane position, and the second initial rotation position of the mannequin (4) is a 45° angle with the cutting surface of the cutting machine (2) position.

6. The cutting machine guard sensing apparatus of claim 4, wherein, The isolation box (1) is also provided with an infrared thermal imaging sensor (7) for detecting the heating condition of the mannequin (4), and displaying the heating condition of the mannequin (4) in the form of thermal imaging on the interactive interface.

7. The cutting machine guard sensing apparatus of claim 6, wherein, The controller (5) also calculates a corresponding danger coefficient according to the change curve of the thermal imaging and torque output signal, and displays the danger coefficient on the interactive interface. The risk factor is specifically wherein 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 in the preset sliding window sampling period, F j is the jth frequency point value after converting the change curve of the torque output signal in the preset sliding window sampling period to the frequency domain and performing high-pass filtering processing, M is the total number of frequency point values obtained after converting the change curve of the torque output signal in the preset sliding window sampling period to the frequency domain and performing high-pass filtering processing, force p is the pth torque output signal in the preset sliding window sampling period, H is the total number of torque output signals in the preset sliding window sampling period; D i and D p are both indicator variables, when temp i is greater than a preset temperature, D i = 1, otherwise, D i = 0; when force p is greater than a preset size, D p = 1, otherwise, D p = 0.

8. The cutting machine guard sensing apparatus of any one of claims 1-7, wherein, The isolation box (1) is provided with an openable opening for the operator to replace the cutting member through the opening.

9. A method of using a cutting machine guard apparatus as claimed in any one of claims 1 to 8, characterised in that, It comprises: The operator presses the rocker (3) to make the mechanical arm (41) press the handle of the cutting machine (2) to realize the cutting of the cutting piece. During the cutting process, it is observed whether the sparks splash on the mannequin (4) to enable the operator to experience the safety of the cutting process.

10. The method of using a cutting machine guard according to claim 9, wherein, Also included are: Before pressing the rocker (3), the operator selects a cutting posture through the touch screen (6) outside the isolation box (1).

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