Human body arm active anti-collision device for collaborative operation of human and collaborative robot

Abstract

The invention belongs to the technical field of collaborative robots, and particularly discloses a human body arm active anti-collision device used during collaborative operation of a person and a collaborative robot, and the human body arm active anti-collision device comprises a wearable assembly, a control assembly, a driving assembly and a detection system. The wearable assembly is fixed to the trunk of the human body through the vest and extends to the arms. A central control panel of the control assembly is connected with a plurality of driving pulleys; the driving assembly is composed of a pulley ring, a pull wire and a wiring groove, and the movement direction of the arm is adjusted through tensioning of the pull wire. The detection system monitors the position and the distance between the human arm and the collaborative robot in real time through the image acquisition module, the image processing recognition module and the distance measurement positioning module. When it is detected that the distance is smaller than a safety threshold value, the control assembly drives the stepping motor to control the arm to actively avoid through the pull wire, and active collision prevention is achieved. Through active intervention, omnibearing monitoring and accurate judgment, the man-machine cooperation safety is effectively improved, meanwhile, the operation efficiency and the operation flexibility are considered, and the system is suitable for various industrial scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robots, and in particular to an active anti-collision device for human arms used when humans and collaborative robots work together. Background Art

[0002] With the improvement of industrial automation level, collaborative robots are increasingly used in modern manufacturing, especially in performing complex assembly, welding, handling and other tasks, showing high efficiency and high precision. However, when collaborative robots collaborate with human operators in the same workspace, safety issues have gradually become one of the key bottlenecks restricting their widespread application.

[0003] There is a fundamental contradiction in the existing protection system: on the one hand, high-speed operation of robots requires strong dynamic obstacle avoidance capabilities; on the other hand, traditional safety strategies mainly rely on static protection areas and fixed response thresholds, which makes it difficult to balance protection effectiveness and operating efficiency. For example, although the six-dimensional force sensor installed on the end effector and the torque sensor built into the joint can trigger an emergency stop through contact force and torque detection, frequent production line interruptions seriously disrupt production continuity. In a complex industrial environment, the flexible movement trajectory of the human upper limbs conflicts with the rigid movement mode of the robotic arm, and the risk of collision shows a nonlinear growth characteristic, which may not only cause injuries to workers, but also cause disruptions in production rhythm due to sudden shutdowns, forming a vicious cycle of "safety protection-operation efficiency".

[0004] At present, the anti-collision control scheme of collaborative robots faces dual technical constraints. At the perception level, the single-point ranging mechanism relying on laser radar or ultrasound cannot capture the three-dimensional movement trend of human limbs, and is prone to misjudgment in typical industrial environments such as metal reflection and dust interference; and although the contact detection based on the end force sensor and the joint torque sensor can identify collisions, its rigid logic of "perception means shutdown" leads to a surge in the interruption rate of action. At the execution level, the passive deceleration or emergency stop strategy seriously breaks the continuity of human-machine collaboration-the robot path is fixed and lacks adaptive adjustment capabilities. When encountering sudden obstacles, it directly enters the shutdown waiting state, resulting in overall efficiency loss of the production line. More importantly, the existing technical system regards the human body as an obstacle to be avoided, rather than an active collaborative object. This one-way protection logic leads to the following core defects: it is impossible to implement active intervention at the embryonic stage of risks, and it is even more difficult to maintain the smoothness of human-machine collaborative operations.

[0005] Existing safety protection technologies face multi-dimensional systemic defects, forming a dual technical dilemma at the level of wearable devices and visual perception. In the field of wearable devices, rigid mechanical limit structures severely limit operational flexibility by physically locking joint movements; while pneumatic or electromagnetic braking solutions improve response speed, there is a risk of secondary musculoskeletal injury due to sudden reverse impact force. Although the emergency stop mechanism of the end force sensor and joint torque sensor meets ISO safety standards, the restart time after the production line is interrupted increases, further amplifying the efficiency loss. The technical defects of the existing visual protection system are concentrated in the dual contradictions of the single-view perception limitation and the lack of an orientation response mechanism. The traditional solution relies on a single fixed-view camera. When the human arm movement trajectory forms a large angle with the camera optical axis, the joint point positioning error increases significantly, and it is easy to lose target tracking when blocked by a robot or device; the orientation response strategy is mechanically solidified, and the traditional solution only realizes the scalar judgment of the safety distance, lacks the vector analysis capability of the collision direction, and cannot implement differentiated active intervention strategies according to the risk orientation.

[0006] In summary, the existing technology has many shortcomings in the safety protection of human-machine collaboration. There is an urgent need for an active anti-collision device for human arms when humans and collaborative robots work together to improve the work safety of human operators in complex industrial environments, while taking into account both work efficiency and the smoothness of human-machine collaboration. Summary of the invention

[0007] The purpose of the present invention is to provide an active anti-collision device for human arms used when humans and collaborative robots work together, so as to solve the above-mentioned technical problems existing in the prior art.

[0008] To achieve the above object, the present invention provides the following solution: an active anti-collision device for human arms used in collaborative work between humans and collaborative robots, comprising:

[0009] A wearable component that is attached to a human torso and extends to an arm;

[0010] A control component, comprising a central control panel disposed on the wearable component, wherein two edges of the central control panel are symmetrically connected to a plurality of active pulleys, each active pulley is connected to a stepper motor, and each stepper motor is controlled by a motor driver;

[0011] The driving assembly includes a plurality of pulley rings arranged on the human arm, a plurality of traction lines connected to the pulley rings, and a wiring groove for guiding the movement of the traction lines; one end of the traction line is connected to the pulley ring, and the other end is connected to the active pulley through the wiring groove, so as to adjust the movement direction of the arm by tightening the traction line;

[0012] The detection system includes an image acquisition module, an image processing and recognition module, and a distance measurement and positioning module, which are used to collect and analyze the position and distance between the human arm and the collaborative robot in real time;

[0013] When the detection system determines that the distance between the human arm and the collaborative robot is less than a safety threshold, the control component drives the stepper motor to control the arm to actively avoid the robot through the traction line.

[0014] Furthermore, the wearable component includes a wearable vest, the central control panel is arranged on the front of the vest, and symmetrically distributed shoulder straps are arranged on both sides, and the wiring grooves are installed on the shoulder straps.

[0015] Furthermore, the pulley ring includes a first pulley ring arranged at the wrist joint and a second pulley ring arranged at the back side of the elbow; the circumference of the first pulley ring is evenly connected to multiple wrist pulleys, and the circumference of the second pulley ring is evenly connected to multiple elbow pulleys, and the traction line passes through and connects the wrist pulley and elbow pulley and is linked with each active pulley on the edge of one side of the central control panel.

[0016] Furthermore, the wrist pulleys and elbow pulleys are each provided with four, and the active pulleys are respectively provided with four on both side edges of the central control panel.

[0017] Furthermore, the active pulley is a single-line groove pulley and is provided with a torsion spring inside, which is used to return the traction line to an initial position through elastic recovery; the wrist pulley is a single-line groove pulley and is provided with a torsion spring inside; the elbow pulley is a multi-line groove pulley and is provided with a torsion spring inside.

[0018] Furthermore, the wiring groove includes an upper wiring groove and a lower wiring groove, which respectively guide the traction line to connect the pulley rings of the wrist and the elbow along different paths.

[0019] Furthermore, the image acquisition module includes:

[0020] At least one main camera, arranged just above the center of the working area, for global image acquisition;

[0021] Multiple auxiliary cameras are set on both sides of the working area to supplement local image information.

[0022] Furthermore, the image processing and recognition module models the human arm and the collaborative robot link through a cylindrical envelope method, calculates the shortest distance between the two, and triggers an avoidance action based on the azimuth quadrant judgment.

[0023] Furthermore, the orientation quadrant judgment includes dividing the human arm into four quadrants with the origin and the coordinate axis forming an angle of 45° with the ground, and controlling the arm to move in the opposite direction according to the quadrant direction of the collaborative robot.

[0024] Furthermore, when the image processing and recognition module processes and analyzes the image of the human arm, the human arm is imaged with a radius of r. 1 , the length is l 1 Perform cylindrical envelopment to obtain all points on the axis of the human forearm; for the human upper arm, take the radius r 2 , the length is l 2 Cylindrical enveloping is performed to obtain all points on the axis of the human arm; the radius of the connecting rod of the collaborative robot is r n (n=1,2,……,6) and connecting rod length l m (m=1,2,……,6) cylindrical enveloping is performed to obtain all Cartesian coordinate points of the connecting rod axis, and the coordinate points of the connecting rod axis in the world coordinate system are obtained through coordinate transformation. Then, the shortest distance between each connecting rod of the collaborative robot and the human arm is judged. If it is less than the safe distance, the orientation is judged based on the coordinates of the collaborative robot and the coordinates of the human arm.

[0025] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0026] The present invention significantly improves the safety of operators in a human-machine collaborative environment and effectively avoids collision accidents through technical means such as active anti-collision functions, all-round monitoring and response, and accurate distance and orientation judgment. At the same time, its flexible motion control, design that reduces misjudgment and interruption, and the reasonable layout of wearable components not only ensure the continuity of human-machine collaboration, but also improve operating efficiency and operational flexibility. In addition, the anti-collision device of the present invention is suitable for a variety of industrial environments, has strong compatibility, can be seamlessly connected with existing collaborative robot systems, reduces application costs, and has broad practicality and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the structure of the active anti-collision device for human arms used in collaborative work between humans and collaborative robots according to the present invention;

[0029] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0030] Figure 3 for Figure 2 Sectional view at CC;

[0031] Figure 4 for Figure 2 Sectional view at DD in the middle;

[0032] Figure 5 It is a cross-sectional structural diagram of a single-line groove pulley with a torsion spring in the device of the present invention;

[0033] Figure 6 It is a cross-sectional structural diagram of a multi-line groove pulley with a torsion spring in the device of the present invention;

[0034] Figure 7 is a structural diagram of a torsion spring in the device of the present invention;

[0035] Figure 8 for Figure 1 A partial enlarged view of point B in the middle;

[0036] Fig. 9 It is a position diagram of the monocular camera of the present invention;

[0037] Fig.10 It is a point map of the detection system of the present invention;

[0038] Fig.11 It is the calculation principle diagram of the detection system of the present invention;

[0039] Fig.12 It is the orientation judgment quadrant diagram of the present invention.

[0040] In the figure: 1. Wearable vest; 2. Central control panel; 3. Upper wiring trough 1; 4. Upper wiring trough 2; 5. Lower wiring trough 1; 6. Lower wiring trough 2; 7. Motor driver; 8. Active pulley 1; 9. Active pulley 2; 10. Active pulley 3; 11. Active pulley 4; 12. Active pulley 5; 13. Active pulley 6; 14. Active pulley 7; 15. Active pulley 8; 16. Stepper motor 1; 17. Stepper motor 2; 18. Stepper motor 3; 19. Stepper Motor four; 20. Stepper motor five; 21. Stepper motor six; 22. Stepper motor seven; 23. Stepper motor eight; 24. First pulley ring; 25. Second pulley ring; 26. Wrist pulley one; 27. Wrist pulley two; 28. Wrist pulley three; 29. ​​Wrist pulley four; 30. Elbow pulley one; 31. Elbow pulley two; 32. Elbow pulley three; 33. Elbow pulley four; 34. Pull line one; 35. Pull line two; 36. Pull line three; 37. Pull line four. DETAILED DESCRIPTION

[0041] 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.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Reference Figures 1 to 12 As shown, an embodiment of the present invention provides a human arm active collision avoidance device for collaborative operation between a human and a collaborative robot, comprising a wearable component, a control component, a drive component and a detection system, wherein:

[0044] The wearable component includes a wearable vest 1 and a wiring groove. The wearable vest 1 has a central control panel 2 on the front and shoulder straps on both sides. Four wiring grooves are installed on one shoulder strap, and the same is true for the other side. The wiring grooves specifically include an upper wiring groove 1 3, an upper wiring groove 2 4, a lower wiring groove 1 5 and a lower wiring groove 2 6. Each wiring groove is used to guide the traction line to move along a fixed track.

[0045] The control assembly includes eight pulleys, eight stepper motors, a motor driver 7 and a central control board 2. The motor driver 7 is installed on the central control board 2 to drive the eight stepper motors. The eight stepper motors are respectively installed on the eight pulleys, and the eight pulleys are respectively installed on the left and right sides of the central control board 2. Specifically, active pulley 1 8, active pulley 2 9, active pulley 3 10 and active pulley 4 11 are connected in sequence from top to bottom on one side of the central control board 2, and active pulley 5 12, active pulley 6 13, active pulley 7 14 and active pulley 8 15 are connected in sequence from top to bottom on the other side. The active pulley 1 8, active pulley 2 9, active pulley 3 10, active pulley 4 11, active pulley 5 12, active pulley 6 13, active pulley 7 14 and active pulley 8 15 are respectively installed with a stepper motor 1 16, a stepper motor 2 17, a stepper motor 3 18, a stepper motor 4 19, a stepper motor 5 20, a stepper motor 6 21, a stepper motor 7 22 and a stepper motor 8 23. The eight stepper motors are used to drive the pulleys to rotate so as to drive the traction line to move.

[0046] The drive assembly includes two pulley rings and four traction lines arranged on one arm, and the same applies to the other arm. The pulley rings include a first pulley ring 24 installed at the wrist joint and a second pulley ring 25 installed at the back of the elbow, and each pulley ring is symmetrically installed with four drive assembly pulleys. Specifically, wrist pulley 1 26, wrist pulley 2 27, wrist pulley 3 28 and wrist pulley 4 29 are installed on the first pulley ring 24 at the wrist joint, and elbow pulley 1 30, elbow pulley 2 31, elbow pulley 3 32 and elbow pulley 4 33 are installed on the second pulley ring 25 at the back of the elbow.

[0047] The traction line 34 connects the wrist pulley 3 28 and the elbow pulley 30 , and is connected to the active pulley 8 on the central control panel 2 along the upper wiring groove 3 .

[0048] The traction line 2 35 connects the wrist pulley 29 and the elbow pulley 2 31 , and is connected to the active pulley 2 9 on the central control panel 2 along the upper wiring groove 2 4 .

[0049] The traction line three 36 connects the wrist pulley one 26 and the elbow pulley three 32, and is connected to the active pulley three 10 on the central control panel 2 along the lower wiring groove one 5.

[0050] The traction line four 37 connects the wrist pulley two 27 and the elbow pulley four 33, and is connected to the active pulley four 11 on the central control panel 2 along the lower wiring groove two 6.

[0051] When the stepper motor drives the pulley to rotate, the traction line moves under the drive of the pulley, thereby controlling the movement direction and amplitude of the human arm. For example, when the stepper motor 16 drives the active pulley 8 to rotate, the traction line 34 is tightened, thereby driving the pulley ring at the wrist joint to move, so that the forearm and upper arm can stretch upward; when the stepper motor 2 17 drives the active pulley 2 9 to rotate, the traction line 2 35 is tightened, so that the forearm and upper arm can move to the left. Through the coordinated work of multiple stepper motors, flexible movement control of the arm in multiple directions can be achieved, thereby effectively avoiding collisions with collaborative robots.

[0052] It should be noted that the pulley in the anti-collision device control assembly is a single-line groove pulley, and its internal structure has a torsion spring to guide the traction line to move along a fixed track, and the pulley ring relies on the elastic recovery of the torsion spring to return to the original position; the driving assembly pulley in the anti-collision device driving assembly includes a single-line groove pulley with a torsion spring and a multi-line groove pulley with a torsion spring. The single-line groove pulley is installed on the first pulley ring 24 at the wrist joint to guide the traction line to move along a fixed track and return to the original position through the elastic recovery of the torsion spring; the multi-line groove pulley is installed on the second pulley ring 25 on the back side of the elbow to contract or relax the traction line through the compression and elastic recovery of the torsion spring.

[0053] The working principle of the human arm active anti-collision device of the above structure is as follows:

[0054] The motor driver 7 controls the movement of the stepper motor by adjusting the output current. The stepper motor is the power source of the entire device. Its output shaft is connected to the pulley. The rotation of the motor transmits power to the pulley with the torsion spring, thereby driving the pulley to rotate and the torsion spring to contract, so as to control the extension of the traction line and return to the original position. The retraction and extension of the upper arm and the lower arm are controlled by the central control panel 2. The traction line starts from the pulley on the central control panel 2, passes through the wire groove, and connects the elbow pulley and the wrist pulley. When the motor drives the active pulley 18 to rotate and tighten the traction line 134, the traction line 134 contracts through the elbow pulley 130 and the wrist pulley 328, so that the forearm and the upper arm stretch upward; when the motor drives the active pulley 29 to rotate and tighten the traction line 235, the traction line 235 contracts through the elbow pulley 231 and the wrist pulley 429, so that the forearm and the upper arm move to the left; when the motor drives the active pulley 310 to rotate and tighten the traction line 336, the traction line 336 contracts through the elbow pulley 332 and the wrist pulley 126, so that the forearm and the upper arm retract backward. When the motor drives the active pulley 411 to rotate and tighten the traction line 437, the traction line 437 contracts through the elbow pulley 433 and the wrist pulley 227, so that the forearm and the upper arm move to the right; when the motor stops driving, the torsion spring will make the pulley drive the traction line back to the original position.

[0055] In some optional embodiments, the human arm active collision avoidance device of the present invention further includes a detection system, which includes an image acquisition module, an image processing and recognition module, and a distance measurement and positioning module. Specifically:

[0056] The image acquisition module includes a plurality of cameras, which are distributed around the workbench and are used to obtain the position information of the human arm in space in real time. In a specific embodiment, the image acquisition module includes a monocular main camera and two monocular auxiliary cameras. The monocular main camera is located directly above the center of the workbench and is used to obtain the global image information of the human arm; the two monocular auxiliary cameras are respectively located on both sides of the workbench and are used to supplement the local image information of the human arm when the main camera cannot obtain a clear image, so as to ensure the comprehensiveness and accuracy of the detection.

[0057] The image processing and recognition module is used to process and analyze the images captured by the camera. Specifically, the module first extracts features from the image of the human arm and identifies the coordinate positions of key parts of the arm, such as the wrist and elbow. Then, combined with the position information of the collaborative robot, the distance between the human arm and the collaborative robot is calculated. When it is detected that the distance between the human arm and the collaborative robot is less than the preset safety distance, the module triggers an alarm and passes the relevant information to the control component so that anti-collision measures can be taken in time.

[0058] The distance measurement and positioning module is used to further accurately measure the distance between the human arm and the camera. In a specific embodiment, the distance measurement and positioning module uses a depth estimation algorithm, combined with the image captured by the monocular camera, to calculate the distance between the human arm and the camera in real time. By combining the distance information obtained by the distance measurement and positioning module with the analysis results of the image processing and recognition module, the relative position and movement trend between the human arm and the collaborative robot can be more accurately determined, thereby improving the accuracy and reliability of the anti-collision control.

[0059] like Fig. 9 As shown in the figure, the center of the workbench is defined as O, which is also the center of the world coordinate system; the monocular main camera is located directly above the center of the workbench, denoted as S; the monocular secondary cameras are located on both sides of the workbench, denoted as S 1 , S 2 , for use when the monocular main camera cannot obtain the human arm forearm point H due to environmental occlusion or special angles 1 And the upper arm point H 2 , and the detection principle of the monocular main camera and the monocular secondary camera is the same, where the human arm forearm point H 1 The center point of the wrist joint on the upper surface of the wrist and the upper arm point H 2 It is the center point of the joint where the upper arm and the upper surface of the forearm connect.

[0060] like Fig.10 As shown in the figure, the monocular main camera is located directly above the center of the workbench, and the vertical distance between the monocular main camera and the center of the workbench is h; the workbench is divided into grids and the Cartesian space coordinates of each grid point are recorded; the grid point on the workbench corresponding to the operator's human arm forearm under the monocular camera is D, and the distance between the grid point and the center of the workbench is k according to the distance formula between the two points. 1 ; The distance between the monocular camera and the human arm can be obtained from the distance measurement module and is recorded as k 2 ; According to the Pythagorean theorem, the distance between the monocular camera and the grid point is k 3 .

[0061] like Fig.11 As shown, the coordinates are H 1 is (x, y, z), D is (x1 ,y 1 ,0),AH 1 Length is OD length is H 1 The length of B is z, and from similar triangles we can get:

[0062]

[0063] Line segment AH 1 OD is projected into the xoy plane, and its xy coordinates are proportional. 1 , OD are parallel, so line segment AH 1 The xy coordinate relationship of the line segment OD can be expressed as y=cx, and the xy coordinate relationship of the line segment OD can be expressed as y 1 =cx 1 ;

[0064] Right now Available The same can be said

[0065] Available

[0066] According to the above calculation principle, the image acquisition module is used to obtain the human arm forearm coordinates H 1 for Human arm upper arm coordinates H 2 Calculation principle and human arm forearm coordinates H 1 The image processing recognition module is used to determine whether the distance between the collaborative robot and the human arm is less than the safe distance. If it is less than the safe distance, the orientation is determined based on the coordinates of the collaborative robot and the coordinates of the human arm.

[0067] The principle of the image processing recognition module is: after obtaining the coordinates H of the human arm forearm 1 and the upper arm coordinates H 2 After that, the radius is r 1 , length l 1 and radius r 2 , the length is l 2 The human arm forearm and human arm upper arm are cylindrically enveloping to obtain all points on the axis of the human arm forearm and human arm upper arm. The collaborative robot's own connecting rod Cartesian coordinate system can be read by the built-in control system or converted by the joint sensor. After obtaining the connecting rod Cartesian coordinate system, the collaborative robot is centered at the radius r of each connecting rod. n (n=1,2,……,6) and connecting rod length l m(m=1,2,……,6) is enveloping the cylinder to obtain all the Cartesian coordinate points of the connecting rod axis, and then the coordinate points of the connecting rod axis in the world coordinate system O are obtained through coordinate transformation. Finally, the shortest distance between each connecting rod of the collaborative robot and the human arm is judged. If it is less than the safe distance, the orientation is judged according to the coordinates of the collaborative robot and the coordinates of the human arm.

[0068] like Fig.12 As shown in the figure, the principle of orientation judgment between the coordinates of the collaborative robot and the coordinates of the human arm is as follows: the coordinates of the human arm are divided into four quadrants with the coordinate axis at an angle of 45° to the ground. The first quadrant is between 315° and 360° and 0° and 45°; the second quadrant is between 45° and 135°; the third quadrant is between 135° and 225°; the fourth quadrant is between 225° and 315°; the image processing recognition module is used to obtain the relative orientation of the collaborative robot to the human arm. If it is in the first quadrant, the anti-collision device drives the human arm to retract backwards to play an active anti-collision role; if it is in the second quadrant, the anti-collision device drives the human arm to move to the left to play an active anti-collision role; if it is in the third quadrant, the anti-collision device drives the human arm to stretch upward to play an active anti-collision role; if it is in the fourth quadrant, the anti-collision device drives the human arm to move to the right to play an active anti-collision role.

[0069] In an actual industrial production scenario, an operator wears the anti-collision device of the present invention and works with a collaborative robot to complete an assembly task. When the operator's arm moves in the workspace, multiple cameras of the image acquisition module capture the image information of the arm in real time and transmit it to the image processing and recognition module. The image processing and recognition module analyzes and processes the image, extracts the coordinates of the key parts of the arm, and calculates the distance between the arm and the collaborative robot. Assume that at a certain moment, the image processing and recognition module detects that the distance between the operator's arm and the collaborative robot is less than the preset safety distance, and determines that the collaborative robot is in the second quadrant of the operator's arm through orientation judgment. At this time, the image processing and recognition module transmits the relevant information to the control component. Based on the received information, the control component controls the stepper motor 2 17 to drive the active pulley 2 9 to rotate, so that the traction line 2 35 is tightened, thereby driving the operator's arm to move to the left, actively avoiding the collaborative robot and avoiding collision. At the same time, the distance measurement and positioning module monitors the distance change between the arm and the camera in real time, provides more accurate distance feedback information to the control component, and ensures the accuracy and timeliness of the anti-collision control. During the entire collaborative operation process, the anti-collision device of the present invention can monitor and actively intervene in real time, effectively ensuring the personal safety of the operator, while improving the efficiency and fluency of human-machine collaboration.

[0070] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0071] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An active anti-collision device for human arms used in collaborative work between humans and collaborative robots, characterized in that: include: A wearable component that is attached to a human torso and extends to an arm; A control component, comprising a central control panel (2) arranged on the wearable component, wherein two edges of the central control panel (2) are symmetrically connected to a plurality of active pulleys, each active pulley is connected to a stepping motor, and each stepping motor is controlled by a motor driver (7); The driving assembly includes a plurality of pulley rings arranged on the human arm, a plurality of traction lines connected to the pulley rings, and a wiring groove for guiding the movement of the traction lines; one end of the traction line is connected to the pulley ring, and the other end is connected to the active pulley through the wiring groove, so as to adjust the movement direction of the arm by tightening the traction line; The detection system includes an image acquisition module, an image processing and recognition module, and a distance measurement and positioning module, which are used to collect and analyze the position and distance between the human arm and the collaborative robot in real time; When the detection system determines that the distance between the human arm and the collaborative robot is less than a safety threshold, the control component drives the stepper motor to control the arm to actively avoid the robot through the traction line.

2. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 1 is characterized in that: The wearable component comprises a wearable vest (1), the central control panel (2) is arranged on the front of the vest, and shoulder straps are symmetrically distributed on both sides, and the wiring grooves are installed on the shoulder straps.

3. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 1 is characterized in that: The pulley ring comprises a first pulley ring (24) arranged at the wrist joint and a second pulley ring (25) arranged at the rear side of the elbow; the first pulley ring (24) is evenly connected to a plurality of wrist pulleys on its circumference, and the second pulley ring (25) is evenly connected to a plurality of elbow pulleys on its circumference; the traction line penetrates and connects the wrist pulleys and the elbow pulleys and is linked to the active pulleys on one side edge of the central control panel (2).

4. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 3 is characterized in that: The wrist pulleys and elbow pulleys are each provided with four, and the active pulleys are respectively provided with four on both side edges of the central control panel (2).

5. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 3 is characterized in that: The active pulley is a single-line groove pulley with a torsion spring inside, which is used to return the traction line to the initial position through elastic recovery; the wrist pulley is a single-line groove pulley with a torsion spring inside; the elbow pulley is a multi-line groove pulley with a torsion spring inside.

6. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 1, characterized in that: The wiring groove comprises an upper wiring groove and a lower wiring groove, which respectively guide the traction wire to connect the pulley rings of the wrist and the elbow along different paths.

7. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 1 is characterized in that: The image acquisition module comprises: At least one main camera, arranged just above the center of the working area, for global image acquisition; Multiple auxiliary cameras are set on both sides of the working area to supplement local image information.

8. The human arm active anti-collision device for collaborative operation between a human and a collaborative robot according to claim 7, characterized in that: The image processing and recognition module models the human arm and the collaborative robot connecting rod through the cylindrical envelope method, calculates the shortest distance between the two, and triggers the avoidance action in combination with the azimuth quadrant judgment.

9. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 8, characterized in that: The orientation quadrant judgment includes dividing the human arm coordinates into four quadrants with the coordinate axis forming an angle of 45° with the ground, and controlling the arm to move in the opposite direction according to the quadrant direction of the collaborative robot.

10. The human arm active anti-collision device for collaborative operation between humans and collaborative robots according to claim 8, characterized in that: When the image processing and recognition module processes and analyzes the image of the human arm, a cylindrical envelope with a radius of r1 and a length of l1 is performed on the human forearm to obtain all points on the axis of the human forearm; a cylindrical envelope with a radius of r2 and a length of l2 is performed on the human upper arm to obtain all points on the axis of the human upper arm; and a cylindrical envelope with a radius of r1 and a length of l2 is performed on the collaborative robot to obtain all points on the axis of the collaborative robot. n (n=1,2,……,6) and connecting rod length l m (m=1,2,……,6) cylindrical enveloping is performed to obtain all Cartesian coordinate points of the connecting rod axis, and the coordinate points of the connecting rod axis in the world coordinate system are obtained through coordinate transformation. Then, the shortest distance between each connecting rod of the collaborative robot and the human arm is judged. If it is less than the safe distance, the orientation is judged based on the coordinates of the collaborative robot and the coordinates of the human arm.

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