An explosion-proof mechanical arm positive pressure control system and method

Abstract

The present invention belongs to the technical field of collaborative robots, and specifically discloses an explosion-proof mechanical arm positive pressure control system and method, the system includes a mechanical arm motion tracking module, an environmental data monitoring module, a configuration adjustment analysis module, a pressure adjustment analysis module, a database and a pressure adjustment execution terminal. The present invention tracks the motion state of the mechanical arm and records the motion data by designing a mechanical arm motion tracking module, and starts the pressure sensor at the key position to monitor the pressure data, so as to capture the correlation changes between motion and pressure. The environmental data monitoring module monitors the environmental parameters of the working area in real time to fully grasp the environmental changes. The two enhance the system's all-round monitoring capabilities, can more comprehensively obtain the factors affecting positive pressure control, and at the same time combine the environment, motion and pressure data to make configuration adjustment judgments, dynamically determine the adjustment value, and realize intelligent decision-making and adaptive adjustment of the mechanical arm positive pressure control.

Description

Technical Field

[0001] The present invention belongs to the technical field of collaborative robots, and in particular, relates to a positive pressure control system and method for an explosion-proof robotic arm. Background Art

[0002] With the development of industries with flammable and explosive hazards such as petrochemicals and coal mining, the application of robotic arms in these dangerous environments has increased in order to improve efficiency and reduce manual risks. However, ordinary robotic arms have safety hazards, and traditional explosion-proof methods such as flameproof and intrinsically safe types have limitations when used for robotic arms. Positive pressure control technology relies on the principle of filling the equipment with clean gas to form positive pressure to prevent the entry of dangerous substances, which can ensure the safety and performance of robotic arms.

[0003] Prior art, such as a positive pressure explosion-proof electrical manipulator disclosed in a Chinese invention patent application with application number 201710362203.9, includes a base, an arm, a forearm and a terminal assembly, wherein the arm is rotatably connected to the base, the forearm is rotatably connected to the arm, and the terminal assembly is rotatably connected to the forearm, and also includes a control system, an active pressure compensation subsystem and a passive pressure maintenance subsystem, wherein the base, the arm, the forearm and the terminal assembly form a connected closed space, the active pressure compensation subsystem and the passive pressure maintenance subsystem are controlled by the control system, and a high pressure area is formed in the closed space through the action of the active pressure compensation subsystem, and the pressure is stabilized by the passive pressure maintenance subsystem, and the outside of the closed space is a normal pressure area. The present invention consumes energy only when the manipulator is in motion, and does not consume positive pressure energy when the manipulator is not in motion, and the moving components have a small inertia, which is energy-saving and environmentally friendly, and has a small impact vibration on the installation foundation.

[0004] Another example of the prior art is a Chinese invention patent application with application number 202210900112.7, which discloses an airtight explosion-proof mechanical arm system suitable for oil and gas environments, including at least one explosion-proof mechanical arm, an explosion-proof positive pressure controller connected to one end of the explosion-proof mechanical arm for air intake and controlling the internal air pressure to always remain within a threshold range, a pressure relief unit connected to the other end of the explosion-proof mechanical arm for discharging excess pressure, and a power supply connector for power supply, and an explosion-proof sound and light alarm is installed on the upper end of the explosion-proof positive pressure controller. The explosion-proof mechanical arm is composed of a number of modular joints and an arm with a through hole inside, which are sealed and connected in sequence according to preset requirements, so that the pressure formed by the air or inert gas contained inside the system is always greater than the external environmental pressure, which can prevent the entry of external explosive mixtures. The explosion-proof positive pressure controller is equipped with a sound and light alarm. When the pressure of the system is lower than the design pressure, an alarm is immediately sounded and the system is shut down, thereby ensuring the safety and reliability of use in oil and gas environments.

[0005] With regard to the above technical solutions, it is obvious that the current positive pressure control of explosion-proof robotic arms still has the following deficiencies: 1. When the pressure is lower than the design pressure, the existing technology mainly alarms and shuts down, but for some emergency situations or sudden failures that may cause a sudden drop in pressure, there is a lack of more complete safety redundancy design, which cannot ensure that dangerous substances can be effectively prevented from entering under extreme circumstances to ensure the safety of personnel and equipment.

[0006] 2. Existing technologies can form positive pressure inside the robotic arm and stabilize the pressure, but they do not adequately consider the accuracy of pressure control and stability under different working conditions. During rapid movement or when the external environmental pressure fluctuates greatly, it may be difficult to accurately maintain the internal pressure within a safe and stable range, thus affecting the explosion-proof effect. Summary of the invention

[0007] In view of this, in order to solve the problems raised in the above background technology, a positive pressure control system and method for an explosion-proof robotic arm is proposed.

[0008] The purpose of the present invention can be achieved through the following technical solutions: The present invention provides an explosion-proof robotic arm positive pressure control system, which includes: a robotic arm motion tracking module, which is used to track the motion state of the robotic arm and record the motion data of the robotic arm. At the same time, pressure sensors are installed at key positions of the robotic arm, and the pressure sensors installed at key positions are started to monitor the pressure data.

[0009] The environmental data monitoring module is used to monitor the environmental parameters in the working area of ​​the robotic arm in real time. The environmental parameters include pressure, vibration frequency, temperature and humidity.

[0010] The configuration adjustment analysis module is used to extract the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, and make a configuration adjustment judgment based on the environmental parameters, motion data and pressure data. When the judgment result is adjustment, the adjustment of the warning pressure value is confirmed.

[0011] The pressure adjustment analysis module is used to extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the pressure control index.

[0012] The database is used to store the normal operating pressure range and warning pressure values ​​pre-configured for the robot arm.

[0013] The pressure adjustment execution terminal is used to perform corresponding control based on the pressure control index.

[0014] The present invention also provides a positive pressure control method for an explosion-proof robotic arm, the method comprising: S1, robotic arm motion tracking: tracking the motion state of the robotic arm, recording the motion data of the robotic arm, and installing pressure sensors at key positions of the robotic arm, and starting the pressure sensors placed in corresponding positions to monitor the pressure data.

[0015] S2. Environmental data monitoring: real-time monitoring of environmental parameters within the working area of ​​the robotic arm.

[0016] S3. Configuration adjustment analysis: extract the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, make a configuration adjustment judgment based on the environmental parameters, motion data and pressure data, and when the judgment result is adjustment, confirm the adjustment of the warning pressure value.

[0017] S4. Pressure adjustment analysis: extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the abnormal level, and confirm the pressure control index according to the abnormal level.

[0018] S5. Pressure adjustment execution: performing corresponding control based on the pressure control index.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention can capture the correlation changes between motion and pressure by designing a robot arm motion tracking module to track the motion state of the robot arm and record motion data, and start the pressure sensor at the key position to monitor the pressure data. The environmental data monitoring module monitors the environmental parameters such as pressure, vibration frequency, temperature and humidity in the working area in real time to fully grasp the environmental changes. The two enhance the system's all-round monitoring capabilities, and can more comprehensively obtain the factors affecting positive pressure control. At the same time, they combine the environment, motion and pressure data to make configuration adjustment judgments, dynamically determine the adjustment value, and realize intelligent decision-making and adaptive adjustment of the robot arm's positive pressure control. Moreover, through the close cooperation of each module, it can operate stably under complex working conditions, enhancing overall safety.

[0020] (2) When judging whether the current operating pressure of the robot arm is abnormal, the present invention not only focuses on whether the current pressure value of the key parts of the robot arm exceeds the normal operating pressure range, but also comprehensively considers multiple factors such as the consistency of internal pressure changes and the difference between the current pressure value and the upper and lower limits of the normal pressure operating range. This multi-dimensional consideration method can more comprehensively and accurately reflect the actual operating pressure status of the robot arm, avoid the misjudgment that may be caused by a single factor judgment, and thus can more accurately capture abnormal conditions in actual working conditions.

[0021] (3) When the internal pressure of the robot arm is lower than the lower limit of the normal operating pressure range or higher than the upper limit of the normal operating pressure range, the present invention confirms the pressure control index in a targeted manner according to the degree of deviation, thereby making up for the shortcomings of the current system of only issuing an alarm and shutting down the machine. At the same time, it also provides a more complete safety redundancy design for some emergency situations or sudden failures that may cause a sudden drop in pressure, which can ensure that dangerous substances can be effectively prevented from entering under extreme circumstances, thereby ensuring the safety of personnel and equipment.

[0022] (4) The present invention solves the current problem of insufficient consideration of the accuracy of pressure control and stability under different working conditions by setting an adjustment compensation factor, confirming the adjustment of the warning pressure value, and confirming the increase and decrease of the pressure value. In the case of rapid movement or large fluctuations in external environmental pressure, the internal pressure can be accurately maintained within a safe and stable range, thereby ensuring an explosion-proof effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the connection of the system modules of the present invention.

[0025] Figure 2 The present invention is a schematic flow chart of the steps for implementing the method.

[0026] Figure 3 The present invention is configured to adjust the judgment process diagram. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1 As shown, the present invention provides an explosion-proof robotic arm positive pressure control system, which includes: a robotic arm motion tracking module, an environmental data monitoring module, a configuration adjustment analysis module, a pressure adjustment analysis module, a database and a pressure adjustment execution terminal.

[0029] In the above, the configuration adjustment analysis module is connected to the robot arm motion tracking module, the environmental data monitoring module, the database and the pressure adjustment analysis module respectively, and the pressure adjustment analysis module is also connected to the pressure adjustment execution terminal.

[0030] The robot arm motion tracking module is used to track the motion state of the robot arm and record the motion data of the robot arm. At the same time, pressure sensors are installed at key positions of the robot arm and the pressure sensors installed at key positions are started to monitor the pressure data.

[0031] It should be added that, in a specific embodiment, the key parts of the robot arm may be the base, the upper arm, the lower arm and the end effector. The pressure sensor can monitor the pressure changes in various areas inside the robot arm in real time and accurately.

[0032] Specifically, the motion data includes the motion speed and acceleration of the robot arm and the real-time position of each joint point, and the pressure data is the pressure value at each monitoring time point.

[0033] Understandably, the arm of a robotic arm is usually a hollow structure, and these cavities are filled with internal gas. The arm plays a role in supporting and transmitting power during the movement of the robotic arm, and its internal space is an important area for maintaining positive pressure. Under explosion-proof requirements, the internal gas can effectively prevent external flammable and explosive gases from entering the arm, avoiding the risk of explosion caused by sparks generated by electrical components. At the same time, the joints of the robotic arm are the key parts to achieve its flexible movement, and there is also space inside the connection structure of the joints to accommodate the internal gas. On the one hand, the gas in these parts maintains positive pressure to prevent the invasion of external hazardous substances. On the other hand, since friction and heat may be generated during the movement of the joints, the internal gas can play a certain role in heat dissipation and buffering, protecting the precision components inside the joints and ensuring the normal operation of the joints.

[0034] It is also understandable that by monitoring the pressure inside the robot arm in real time, when the pressure drops, it can be analyzed and judged according to the preset pressure range, and then a command is issued to adjust the gas supply state, such as increasing the gas supply, so that the internal pressure returns to the normal range. When the internal pressure of the robot arm reaches the set upper limit, the gas supply will be appropriately reduced to maintain the pressure stable.

[0035] In a specific embodiment, tracking the motion state of the robot arm is achieved by installing various sensors at the joints, motors, and other locations of the robot arm. For example, installing an angle sensor at the joint can obtain the angles of each joint of the robot arm in real time to determine the posture of the robot arm. Installing an encoder on the motor can accurately measure the motor speed, thereby knowing the motion speed of the robot arm. In addition, an acceleration sensor can also be used to monitor the acceleration of the robot arm.

[0036] In another specific embodiment, when the motion state of the robot arm changes, the pressure of the internal gas will change accordingly, and the pressure sensors distributed at different positions inside the robot arm can capture these changes.

[0037] The environmental data monitoring module is used to monitor the environmental parameters in the working area of ​​the robot arm in real time, and the environmental parameters include pressure, vibration frequency, temperature and humidity.

[0038] Specifically, the pressure is monitored by a pressure sensor installed in the working area where the robotic arm is located, the vibration frequency is monitored by a vibration sensor installed in the working area where the robotic arm is located, the temperature is monitored by a temperature sensor installed in the working area where the robotic arm is located, and the humidity is monitored by a humidity sensor installed in the working area where the robotic arm is located.

[0039] It should be added that the external environmental pressure of the explosion-proof manipulator is not constant. The environmental pressure may fluctuate greatly at different altitudes, meteorological conditions or in different workplaces. For example, in a mine, the environmental pressure will gradually increase with the change of depth. When working outdoors, weather changes may also cause changes in environmental pressure. When the environmental pressure changes significantly, in order to maintain the pressure difference between the inside of the manipulator and the external environment, the positive pressure control will be triggered to make corresponding adjustments. At the same time, the manipulator may be subject to external interference or impact during operation, such as collision, vibration, etc. These external forces may affect the sealing of the manipulator, resulting in gas leakage or instantaneous changes in internal pressure. In addition, strong vibrations may also affect the normal operation of the pressure sensor and generate false signals. Whether it is the actual pressure change or the misjudgment of the sensor, it may trigger positive pressure control to ensure the safe operation of the manipulator.

[0040] It should also be added that tracking the motion state of the robot arm can directly and accurately obtain the motion state information of the robot arm and provide accurate input for the positive pressure control system. Based on these precise motion parameters, the possible changes in the gas inside the robot arm can be predicted in advance, so as to adjust the positive pressure control strategy in advance and achieve more accurate pressure control. For example, when it is detected that the robot arm is about to move quickly, the system can increase the gas supply in advance to cope with the internal pressure fluctuations caused by the movement and avoid excessive pressure drop. The gas change is an indirect reflection of the change in the motion state of the robot arm, and there is a certain lag. That is to say, when the motion state of the robot arm changes, it takes a certain amount of time for the internal gas to produce corresponding changes and be detected by the sensor, which may cause the positive pressure control system to respond in time. In addition, the change of the gas inside the robot arm may also be interfered by other factors such as ambient temperature changes, gas leakage, etc., making the detection result inaccurate, increasing the difficulty of the control system to accurately judge the change in the motion state of the robot arm. Therefore, in order to obtain the information of the change in the motion state of the robot arm more comprehensively and accurately and improve the performance of the positive pressure control, the two detection methods are combined. Accurate motion parameters are obtained by directly detecting the motion state, and the information is verified and supplemented by detecting internal gas changes, thereby achieving more reliable and efficient positive pressure control.

[0041] The configuration adjustment analysis module is used to extract the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, and make a configuration adjustment judgment based on the environmental parameters, motion data and pressure data. When the judgment result is adjustment, confirm the adjustment of the warning pressure value.

[0042] Specifically, see Figure 3 As shown, the configuration adjustment judgment includes: R1, extracting the movement speed and acceleration of the robot arm from the movement data of the robot arm, and at the same time extracting the real-time position of each joint point, analyzing the movement change interference degree of the robot arm, recorded as .

[0043] R2, extract the pressure value at each monitoring time point from the pressure data, analyze the consistency of internal pressure changes, and record it as .

[0044] R3. Use time as the horizontal axis and pressure value as the vertical axis to construct a pressure change curve, and extract the slope from the pressure change curve. , Number of fluctuation points The pressure difference between the fluctuation point and the average fluctuation pressure difference is calculated by the mean value. , statistical external pressure change abnormality , , represents a natural constant, , and They are respectively the pressure change rate, number of fluctuation points and fluctuation pressure difference of the set reference.

[0045] R4. Based on the real-time monitoring of vibration frequency, temperature and humidity, the external environment interference is calculated and recorded as .

[0046] R5. The internal pressure change matching degree being less than the set first reference internal pressure change matching degree is recorded as condition 1.

[0047] R6. The internal pressure change matching degree is greater than the set first reference internal pressure change matching degree and less than the set second reference internal pressure change matching degree, and the motion change interference degree is greater than the set reference motion change interference degree, which is recorded as condition 2.

[0048] R7. Filter out the maximum pressure from the real-time monitoring pressure in the working area where the robot arm is located, and record the maximum pressure greater than the set reference external interference pressure or the abnormal degree of external pressure change greater than the set reference value as condition 3.

[0049] R8. Determine whether conditions 1, 2, and 3 exist. If so, make adjustments as the judgment result. Otherwise, make no adjustments as the judgment result.

[0050] Furthermore, in step R1, the motion change interference degree of the robot arm is analyzed, including: R11, the motion speed and acceleration of the robot arm are recorded as and , statistics of the speed change interference of the robot arm , , represents the reference motion speed, To set the reference motion acceleration.

[0051] R12. Mark the real-time position of each joint point on the electronic map, obtain the number of times each joint point appears at the same position, and select the joint point with the highest number of repetitions. , and count the number of joint points whose repetition times are greater than the set reference repetition times , and then count the interference degree of the robot's motion changes .

[0052] R13. Set the weights of the speed change interference and motion change interference, and obtain the motion change interference of the robot arm by weighted average.

[0053] It should be added that , and They are respectively expressed as the number of reference repetition occurrences and the number of reference repetition joint points.

[0054] In a specific embodiment, the reference repetition number can be set to 10 times, and the reference repetition joint number can be set to , The symbol for rounding up.

[0055] It should also be added that the reference movement speed can be taken as 0.5 m / s, and the reference movement acceleration can be taken as 2 m / s2.

[0056] In a specific embodiment, the weights of the speed change interference degree and the motion change interference degree may be set to 0.6 and 0.4 respectively.

[0057] Furthermore, the conformity of the internal pressure change is analyzed in step R2, including: R21, using the monitoring time point as the horizontal coordinate and the pressure value as the vertical coordinate to construct the internal pressure change curve of each key part, extracting the pressure value difference and interval length between each peak point and its adjacent valley point, and calculating the average pressure difference and average interval length between the peak point and the valley point by the mean, which are recorded as and , Indicates the key part number, .

[0058] R22. Statistical consistency of internal pressure changes at key locations , , and Set the maximum reference pressure difference and interval time respectively.

[0059] R23. Count the number of key parts where the internal pressure change agreement is greater than 0, and divide it by the total number of key parts. The ratio is recorded as .

[0060] R24, calculate the mean of the internal pressure change consistency of each key part, and record the calculation result as ,Will As the internal pressure changes in line.

[0061] It should be added that the internal pressure change curve is constructed to reflect the internal pressure change trend, and its slope value is the slope value of the regression line corresponding to the curve.

[0062] It should also be added that the smaller the maximum pressure difference, the more stable the pressure, and the longer the interval, the less frequent the fluctuation. In a specific embodiment, The value can be 10Pa and the interval length is 5 minutes.

[0063] Furthermore, it should be added about step R3 that in outdoor working environments such as chemical and petroleum industries, the pressure may be affected by various factors such as weather and production process and may fluctuate greatly. At this time, the reference pressure change rate can be set to a value between 0.1-1Pa / s, and the specific value can be 1Pa / s.

[0064] It should be added that the number of fluctuation points reflects the number of more obvious pressure fluctuations in the pressure change curve. This depends on the working cycle of the robot arm, the state of motion, and the interference of the external environment. For example, a robot arm operating at a fixed rhythm on an assembly line has a relatively smooth pressure change curve and a small number of fluctuation points. The number of fluctuation points for reference can be set to about 5-10 times / hour, and the specific value can be 10 times / hour. In mining operations, the robot arm needs to work in different terrains and working conditions, and may be frequently affected by the impact of materials and the influence of ambient airflow. The pressure change curve will be more complicated and the number of fluctuation points will be larger. At this time, the number of fluctuation points for reference can be set to between 10-30 times / hour, and the specific value can be 30 times / hour.

[0065] It should also be added that the operation of the robotic arm requires a high-precision air pressure environment, and the pressure fluctuation must be controlled within a very small range. The reference fluctuation pressure difference can be set between 0.5-2Pa, and the specific value can be 2Pa.

[0066] Furthermore, in step R4, the external environment interference degree is counted, including: R41, using time as the horizontal axis and temperature as the vertical axis to construct a temperature change curve, extracting the slope of the temperature change curve, and recording it as the temperature change rate .

[0067] R42. Calculate the mean of the real-time monitored vibration frequency to obtain the average vibration frequency, which is recorded as , and at the same time, the maximum humidity is selected from the real-time monitored humidity and recorded as .

[0068] R43. Statistical external environment interference , , , and They are the temperature change rate, vibration frequency and humidity of the set reference respectively.

[0069] It should be added that the more stable the temperature is, that is, the closer the temperature change rate is to 0, the less interference it has on the external pressure and the gas pressure inside the robot arm. For example, The value can be 0.01. The smaller the vibration frequency and humidity, the smaller the interference to the external pressure and the gas pressure inside the manipulator. For example, The value can be 100Hz. The value can be 60%.

[0070] In another specific embodiment, confirming and adjusting the warning pressure value includes: F1, recording the warning pressure value pre-configured by the robot arm as .

[0071] F2, set adjustment compensation factor , , , , and They respectively represent the corresponding proportion coefficients of motion change interference, internal pressure change consistency, external pressure change anomaly and external environment interference.

[0072] F3, As an adjustment of the warning pressure value, It is the safety redundancy value of the set warning trigger pressure.

[0073] It should be added that the early warning trigger pressure safety margin value is a small positive value to ensure that an early warning can be issued in time before the pressure approaches the dangerous area. For most explosion-proof manipulator systems, the early warning trigger pressure safety margin value can be between 2-20Pa. For example, The value can be 10Pa. In some occasions with extremely high safety requirements, such as dangerous area operations in the chemical industry, the early warning trigger pressure safety redundancy value can take a larger value, such as 15-20Pa. Specifically, It can be 20Pa.

[0074] In a specific embodiment, , , and The possible values ​​are 0.3, 0.2, 0.2 and 0.3 respectively.

[0075] The pressure adjustment analysis module is used to extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the pressure control index.

[0076] Specifically, judging whether the current operating pressure of the robot arm is abnormal includes: T1, extracting the current pressure value from the pressure data, and comparing the current pressure value of each key part with the normal operating pressure range pre-configured for the robot arm.

[0077] T2. If the current pressure value of a certain key part exceeds the normal operating pressure range, the abnormality is regarded as the judgment result.

[0078] T3. If the current pressure values ​​of all key parts are within the normal operating pressure range and the internal pressure change consistency is greater than the set value, normal is taken as the judgment result.

[0079] T4. If the current pressure values ​​of each key part are within the normal operating pressure range, when the internal pressure change consistency is less than the set value, if the difference between the current pressure value of a key part and the upper limit value of the normal operating pressure range is lower than the set reference value, or the difference between the current pressure value of the key part and the lower limit value of the normal operating pressure range is lower than the set reference value, an abnormality is taken as the judgment result.

[0080] When judging whether the current operating pressure of the robot arm is abnormal, the embodiment of the present invention not only focuses on whether the current pressure value of the key parts of the robot arm exceeds the normal operating pressure range, but also comprehensively considers multiple factors such as the consistency of internal pressure changes and the difference between the current pressure value and the upper and lower limits of the normal pressure operating range. This multi-dimensional consideration method can more comprehensively and accurately reflect the actual operating pressure status of the robot arm, avoid the misjudgment that may be caused by a single factor judgment, and thus can more accurately capture abnormal conditions in actual working conditions.

[0081] Furthermore, the confirming of the pressure control index includes: E1, calculating the average of the current pressure values ​​of each key part to obtain an average pressure value.

[0082] E2. If the average pressure value is greater than or equal to the adjusted warning pressure value, the pressure warning instruction will be activated as a pressure control indicator.

[0083] E3. If the average pressure value is less than the adjusted warning pressure value, compare the average pressure value with the normal operating pressure range.

[0084] E4. If the average pressure value is lower than the lower limit of the normal operating pressure range, the average pressure value and the lower limit of the normal operating pressure range shall be recorded as and ,Will As the pressure value increases, For the set proportional coefficient, the increased pressure value is used as the pressure control index.

[0085] E5. If the average pressure is higher than the upper limit of the normal operating pressure range, the upper limit of the normal operating pressure range shall be recorded as ,Will As the pressure value is reduced, Adjust the pressure safety margin value to the set value, and use the reduced pressure value as the pressure control indicator.

[0086] It should be added that The value can be 10Pa.

[0087] When the internal pressure of the robotic arm is lower than the lower limit of the normal operating pressure range or higher than the upper limit of the normal operating pressure range, the embodiment of the present invention confirms the pressure control index in a targeted manner according to the degree of deviation, thereby making up for the current deficiency of only alarming and shutting down. At the same time, it also provides a more complete safety redundancy design for some emergency situations or sudden failures that may cause a sudden drop in pressure, which can ensure that dangerous substances can be effectively prevented from entering under extreme circumstances, thereby ensuring the safety of personnel and equipment.

[0088] The specific setting process of the proportional coefficient in step E4 is as follows: E41. Count the number of key parts whose current pressure value is lower than the lower limit of the normal operating pressure range, and divide it by the total number of key parts. The ratio is recorded as the pressure trend ratio, recorded as .

[0089] E42, set the scale factor , , To set the reference adjustment compensation factor, and are the first reference proportional coefficient and the second reference proportional coefficient set respectively, .

[0090] It should be added that the proportionality coefficient is usually determined according to factors such as the characteristics of the robot arm, the system response speed, and safety requirements. For example, for some precision robot arms that are more sensitive to pressure changes, the value may be between 1.1-1.3, and illustratively, the value may be 1.2.

[0091] In a specific embodiment, The value can be 0.3.

[0092] The embodiments of the present invention solve the current problem of insufficient consideration of the accuracy of pressure control and stability under different working conditions by setting an adjustment compensation factor, confirming the adjustment of the warning pressure value, and confirming the increase and decrease of the pressure value. In the event of rapid movement or large fluctuations in external environmental pressure, the internal pressure can be accurately maintained within a safe and stable range, thereby ensuring an explosion-proof effect.

[0093] The database is used to store the normal operating pressure range and warning pressure value pre-configured for the robot arm.

[0094] The pressure adjustment execution terminal is used to perform corresponding control based on the pressure control index.

[0095] It should be added that when the pressure control indicator is to start the pressure warning instruction, the corresponding warning terminal, such as an alarm, is started and the gas supply actuator is closed.

[0096] When the air supply actuator is to increase the pressure value, the increased pressure value is divided by the increased pressure value corresponding to the set unit air supply volume to obtain the required air supply volume as the increased air supply volume, and then the air supply actuator is started to fill the robot arm with clean gas at the corresponding air supply volume, such as air or nitrogen, according to the increased air supply volume.

[0097] When the gas supply actuator is to reduce the pressure value, the reduced pressure value is divided by the adjusted pressure value per unit time under the set rated valve opening to obtain the adjustment time, and the exhaust valve is started according to the rated valve opening, and when the exhaust reaches the adjustment time, the exhaust valve is closed.

[0098] The embodiment of the present invention tracks the motion status of the robot arm and records the motion data by designing a robot arm motion tracking module, and starts the pressure sensor at the key position to monitor the pressure data, so as to capture the correlation changes between motion and pressure. The environmental data monitoring module monitors the pressure, vibration frequency, temperature, humidity and other environmental parameters of the working area in real time to fully grasp the environmental changes. The two enhance the system's all-round monitoring capabilities, and can more comprehensively obtain the factors affecting positive pressure control. At the same time, they combine the environment, motion and pressure data to make configuration adjustment judgments, dynamically determine the adjustment value, and realize intelligent decision-making and adaptive adjustment of the positive pressure control of the robot arm. Moreover, through the close cooperation of each module, it can operate stably under complex working conditions, enhancing overall safety.

[0099] See also Figure 2 As shown, the present invention provides a positive pressure control method for an explosion-proof robotic arm, the method comprising: S1, robotic arm motion tracking: tracking the motion state of the robotic arm, recording the motion data of the robotic arm, and installing pressure sensors at key positions of the robotic arm, and starting the pressure sensors placed in corresponding positions to monitor the pressure data.

[0100] S2. Environmental data monitoring: real-time monitoring of environmental parameters within the working area of ​​the robotic arm.

[0101] S3. Configuration adjustment analysis: extract the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, make a configuration adjustment judgment based on the environmental parameters, motion data and pressure data, and when the judgment result is adjustment, confirm the adjustment of the warning pressure value.

[0102] S4. Pressure adjustment analysis: extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the abnormal level, and confirm the pressure control index according to the abnormal level.

[0103] S5. Pressure adjustment execution: performing corresponding control based on the pressure control index.

[0104] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A positive pressure control system for an explosion-proof robotic arm, characterized in that: The system includes: The robot arm motion tracking module is used to track the motion state of the robot arm and record the motion data of the robot arm. At the same time, pressure sensors are installed at key positions of the robot arm and the pressure sensors installed at key positions are started to monitor the pressure data. Environmental data monitoring module, used to monitor the environmental parameters of the working area of ​​the robot arm in real time, including pressure, vibration frequency, temperature and humidity; A configuration adjustment analysis module is used to extract the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, and make a configuration adjustment judgment based on the environmental parameters, motion data and pressure data. When the judgment result is adjustment, confirm the adjustment of the warning pressure value; The pressure adjustment analysis module is used to extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the pressure control index; A database for storing normal operating pressure ranges and warning pressure values ​​pre-configured for the robot arm; The pressure adjustment execution terminal is used to perform corresponding control based on the pressure control index; Make configuration adjustment decisions, including: Extract the movement speed and acceleration of the robot arm from the movement data of the robot arm, and extract the real-time position of each joint point to analyze the interference degree of the movement change of the robot arm ; Extract the pressure value at each monitoring time point from the pressure data and analyze the consistency of internal pressure changes ; With time as the horizontal axis and pressure as the vertical axis, a pressure change curve is constructed, and the slope is extracted from the pressure change curve. , Number of fluctuation points The pressure difference between the fluctuation point and the average fluctuation pressure difference is calculated by the mean value. , statistical external pressure change abnormality , , represents a natural constant, , and They are respectively the pressure change rate, the number of fluctuation points and the fluctuation pressure difference of the set reference; Statistical analysis of external environmental interference based on real-time monitoring of vibration frequency, temperature and humidity ; Will The consistency of the change of the internal pressure less than the set first reference is recorded as condition 1; Will is greater than the set first reference internal pressure change consistency and less than the set second reference internal pressure change consistency, and Greater than the set reference motion change interference degree is recorded as condition 2; The maximum pressure is selected from the pressure in the working area of ​​the real-time monitoring robot arm, and the maximum pressure is greater than the set reference external interference pressure or Greater than the set reference value is recorded as condition 3; It is determined whether conditions 1, 2 and 3 are satisfied. If so, the result of the determination is adjusted. Otherwise, the result of the determination is not adjusted.

2. The explosion-proof mechanical arm positive pressure control system according to claim 1, characterized in that: The analyzing the interference degree of the motion change of the robot arm includes: The motion speed and acceleration of the robot arm are respectively and , statistics of the speed change interference of the robot arm , , represents the reference motion speed, To set the reference motion acceleration; Mark the real-time position of each joint point on the electronic map, obtain the number of times each joint point appears at the same position, and select the one with the highest number of repetitions. , and count the number of joint points whose repetition times are greater than the set reference repetition times , and then count the interference degree of the robot's motion changes ; Set the weights of the speed change interference and motion change interference, and obtain the motion change interference of the robot arm by weighted average.

3. The explosion-proof mechanical arm positive pressure control system according to claim 1, characterized in that: The analysis of the consistency of internal pressure changes includes: With the monitoring time point as the horizontal axis and the pressure value as the vertical axis, the internal pressure change curve of each key part is constructed, from which the pressure value difference and interval length between each peak point and its adjacent valley point are extracted, and the average pressure difference and average interval length between the peak point and the valley point are obtained by mean calculation, which are recorded as and , Indicates the key part number, ; Statistical consistency of internal pressure changes at key locations , , and They are the maximum pressure difference and interval duration for setting the reference respectively; Count the number of key parts where the internal pressure change agreement is greater than 0, and divide it by the total number of key parts. The ratio is recorded as ; The internal pressure change consistency of each key part is averaged and the calculation result is recorded as ,Will As the internal pressure changes in line.

4. The explosion-proof mechanical arm positive pressure control system according to claim 1, characterized in that: The statistical external environment interference degree includes: With time as the horizontal axis and temperature as the vertical axis, a temperature change curve is constructed, and the slope of the temperature change curve is extracted and recorded as the temperature change rate. ; The real-time monitored vibration frequency is averaged and the average vibration frequency is obtained, which is recorded as , and at the same time, the maximum humidity is selected from the real-time monitored humidity and recorded as ; Statistics of external environment interference , , , and They are the temperature change rate, vibration frequency and humidity of the set reference respectively.

5. The explosion-proof mechanical arm positive pressure control system according to claim 1, characterized in that: The step of confirming and adjusting the warning pressure value includes: The pre-configured warning pressure value of the robot arm is recorded as ; Setting the adjustment compensation factor , , , , and They represent the corresponding proportion coefficients of motion change interference, internal pressure change consistency, external pressure change anomaly and external environment interference respectively; Will As an adjustment of the warning pressure value, The safety redundancy value for the set warning trigger pressure 6. The explosion-proof mechanical arm positive pressure control system according to claim 1, characterized in that: The determining whether the current operating pressure of the robot arm is abnormal includes: Extract the current pressure value from the pressure data and compare the current pressure value of each key part with the normal operating pressure range pre-configured for the robot arm; If the current pressure value of a key part exceeds the normal operating pressure range, the abnormality is regarded as the judgment result; If the current pressure values ​​of all key parts are within the normal operating pressure range, and the internal pressure change consistency is greater than the set value, normal is regarded as the judgment result; If the current pressure values ​​of each key part are within the normal operating pressure range, when the internal pressure change consistency is less than the set value, if the difference between the current pressure value of a key part and the upper limit value of the normal operating pressure range is lower than the set reference value, or the difference between the current pressure value of the key part and the lower limit value of the normal operating pressure range is lower than the set reference value, an abnormality will be taken as the judgment result.

7. The explosion-proof mechanical arm positive pressure control system according to claim 5, characterized in that: The confirmation pressure control index includes: Calculate the average of the current pressure values ​​of each key part to obtain the average pressure value; If the average pressure value is greater than or equal to the adjusted warning pressure value, the pressure warning instruction will be activated as a pressure control indicator; If the average pressure value is less than the adjusted warning pressure value, compare the average pressure value with the normal operating pressure range; If the average pressure value is lower than the lower limit of the normal operating pressure range, the average pressure value and the lower limit of the normal operating pressure range are recorded as and ,Will As the pressure value increases, For the set proportional coefficient, the increased pressure value is used as the pressure control index; If the average pressure is higher than the upper limit of the normal operating pressure range, the upper limit of the normal operating pressure range is recorded as ,Will As the pressure value is reduced, Adjust the pressure safety margin value to the set value, and use the reduced pressure value as the pressure control indicator.

8. The explosion-proof mechanical arm positive pressure control system according to claim 7, characterized in that: The specific setting process of the proportional coefficient is as follows: Count the number of key parts whose current pressure value is lower than the lower limit of the normal operating pressure range, and divide it by the total number of key parts. The ratio is recorded as the pressure trend ratio, recorded as ; Set the scale factor , , To set the reference adjustment compensation factor, and are the first reference proportional coefficient and the second reference proportional coefficient respectively. .

9. A method for controlling positive pressure of an explosion-proof mechanical arm, executed by the positive pressure control system of an explosion-proof mechanical arm according to any one of claims 1 to 8, characterized in that: The method includes: S1. Robotic arm motion tracking: Track the motion state of the robotic arm, record the motion data of the robotic arm, install pressure sensors at key locations of the robotic arm, and start the pressure sensors placed at the corresponding locations to monitor the pressure data; S2. Environmental data monitoring: real-time monitoring of environmental parameters in the working area of ​​the robot arm; S3, configuration adjustment analysis: extracting the pre-configured warning pressure value and emergency pressure value of the robot arm from the database, and making a configuration adjustment judgment based on the environmental parameters, motion data and pressure data. When the judgment result is adjustment, confirming the adjustment of the warning pressure value; S4, pressure adjustment analysis: extract the normal operating pressure range pre-configured for the robot arm from the database, determine whether the current operating pressure of the robot arm is abnormal, and if abnormal, confirm the abnormal level, and confirm the pressure control index according to the abnormal level; S5. Pressure adjustment execution: performing corresponding control based on the pressure control index.

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