Safety guarantee system for wiredrawing working area of glass fiber yarn roll

Abstract

The utility model provides a safety guarantee system for a glass fiber yarn roll wire drawing working area, which is used for guaranteeing the safety of operators and the reliable operation of equipment and avoiding safety accidents. The manipulator working channel is located in the middle, the two sides of the manipulator working channel are provided with a wire drawing machine area and a creel vehicle area respectively, a manipulator mechanism is arranged in the manipulator working channel, and the grabbing telescopic arm is installed on the support in a lifting mode; the working area is also provided with a channel for prohibiting personnel from intruding into; the area monitoring system comprises a cylinder unloading manipulator monitoring system and a safety carpet; the high-position laser scanner, the side face safety contact edge and the front face safety contact edge are all installed on the grabbing telescopic arm, and the low-position laser scanner is installed on the support. The scanning monitoring area of the high-position laser scanner is a creel vehicle area and a channel for forbidding personnel to intrude into, and the scanning monitoring area of the low-position laser scanner is a manipulator working channel; and the safety carpet is arranged in the channel for forbidding personnel from intruding into.

Description

Technical Field

[0001] This utility model relates to a safety protection system for the working area of ​​glass fiber yarn drawing. Background Technology

[0002] Glass fiber is a high-performance inorganic non-metallic material. Its production process mainly includes raw material processing, melting, drawing, drying, and product manufacturing. After the raw fiber yarn is formed on the drawing machine, it needs to be unloaded from the machine head and then transferred to a transfer yarn carrier. Because manual cutting of the yarn bundles, connecting the fibers, attaching paper tubes, and operating the drawing machine are required, the automated yarn bundle loading and unloading device overlaps with the workers' work area.

[0003] To reduce labor intensity and improve production efficiency, the industry has widely adopted automatic or semi-automatic equipment and devices for loading, unloading, and transferring yarn spools. However, due to the presence of various factors in the work area, such as workers, drawing machines, robotic arms, yarn carriers, and AGVs, the cross-operation of robotic arms and other components with personnel can easily lead to safety accidents. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings in the existing technology and provide a safety protection system for the glass fiber yarn drawing work area to ensure the safety of operators and the reliable operation of equipment, and to avoid the occurrence of safety accidents.

[0005] The technical solution adopted by this utility model to solve the above problems is: a safety protection system for a glass fiber yarn drawing work area, the work area including a robotic arm work channel, a drawing machine area, and a yarn frame carriage area; the robotic arm work channel is located in the middle, with the drawing machine area and the yarn frame carriage area on both sides of the robotic arm work channel, respectively; a robotic arm mechanism is set in the robotic arm work channel, the robotic arm mechanism including a bobbin unloading robotic arm, the bobbin unloading robotic arm including a bracket and a gripping telescopic arm, the gripping telescopic arm being lifted and lowered on the bracket; the work area also has a passage to prevent personnel from entering; the characteristic is that: the safety protection system includes an area monitoring system and a control system; the area monitoring... The system includes a monitoring system for the unloading robot and a safety mat. The monitoring system for the unloading robot includes a high-level laser scanner, a low-level laser scanner, a side safety contact edge, and a front safety contact edge. The high-level laser scanner, side safety contact edge, and front safety contact edge are all installed on the gripping telescopic arm, while the low-level laser scanner is installed on a bracket. The high-level laser scanner scans and monitors the yarn rack area and the prohibited personnel access passage, while the low-level laser scanner scans and monitors the robot's working passage. The safety mat is placed in the prohibited personnel access passage. The control system is connected to the high-level laser scanner, low-level laser scanner, side safety contact edge, front safety contact edge, and safety mat.

[0006] The high-position laser scanner described in this utility model is configured as two, which are respectively installed on two sides of the grasping telescopic arm.

[0007] The low-position laser scanner described in this utility model is configured as two, which are respectively installed on two sides of the bracket.

[0008] The present invention has two side safety contact edges, which are respectively installed on the two sides of the gripping telescopic arm.

[0009] The present invention has two front safety contact edges, which are respectively installed on the front and rear sides of the gripping telescopic arm.

[0010] The unloading robot monitoring system of this utility model also includes an emergency stop button. There are two emergency stop buttons, which are installed on the front and rear sides of the unloading robot respectively.

[0011] The safety protection system described in this utility model also includes a safety alarm system, which includes an audio-visual warning unit for the unloading robot, and the audio-visual warning unit for the unloading robot is installed on the unloading robot.

[0012] Compared with the prior art, this utility model has the following advantages and effects: it is equipped with a monitoring system for the unloading robot and safety mats, etc., to ensure the safety of operators and the reliable operation of equipment, and to avoid the occurrence of safety accidents. Attached Figure Description

[0013] Figure 1 This is a top view of an embodiment of the present invention.

[0014] Figure 2 This is a partial side view of an embodiment of the present invention.

[0015] Figure 3 This is a partial structural schematic diagram of an embodiment of the present utility model. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0017] This embodiment of the invention is applied to a glass fiber drawing and forming work area, which includes a robotic arm work channel 11, a drawing machine area, and a yarn carrier area. The robotic arm work channel 11 is located in the middle, with the drawing machine area and the yarn carrier area on either side of the robotic arm work channel 11, respectively. A drawing machine 4 is installed in the drawing machine area, and a robotic arm mechanism for drawing and unloading is installed in the robotic arm work channel 11. The yarn carrier area is used for loading and unloading yarn carriers 7 and AGV robots 8. The work area also has prohibited personnel entry channels, which include areas A, B, C, D, E, F, and G parallel to the yarn carrier 7, and areas H and K at both ends of the drawing machine 4.

[0018] The robotic arm mechanism includes a fixed support beam 1, a track 2, and unloading robotic arms 3. The fixed support beam 1 is fixedly installed on the top of the robotic arm working channel 11 and arranged along the channel direction; the track 2 is installed on the fixed support beam 1 and extends along the direction of the robotic arm working channel 11, and the length of the track 2 is unlimited; multiple unloading robotic arms 3 are arranged on the track 2 along the direction of the robotic arm working channel 11, which can speed up production efficiency. The unloading robotic arms 3 can move along the track 2 in the channel direction; the unloading robotic arms 3 include a bracket 31 and a gripping telescopic arm 32, which is lifted and mounted on the bracket 31, and the bracket 31 is mounted on the track 2.

[0019] The safety assurance system includes an area monitoring system, a safety alarm system, and a control system. The area monitoring system includes a monitoring system for the unloading robot, a monitoring system for the safety mat, and an environmental monitoring system for the AGV robot.

[0020] The unloading robot's monitoring system includes a high-position laser scanner 6-1, a low-position laser scanner 6-2, a side safety contact edge 6-3, a front safety contact edge 6-4, and an emergency stop button 6-5. The high-position laser scanner 6-1 and the side safety contact edge 6-3 are both installed on the side of the gripping telescopic arm 32, while the front safety contact edge 6-4 and the emergency stop button 6-5 are both installed on the front of the gripping telescopic arm 32, moving up and down with the gripping telescopic arm 32 in the vertical direction; the low-position laser scanner 6-2 is installed on the lower side of the bracket 31.

[0021] Two high-position laser scanners 6-1 and two low-position laser scanners 6-2 are each provided. The two high-position laser scanners 6-1 are installed on the two sides of the gripping telescopic arm 32, and the two low-position laser scanners 6-2 are installed on the two sides of the bracket 31.

[0022] Two side safety edges 6-3 are installed on the two sides of the gripping telescopic arm 32 to reduce equipment damage or personnel injury caused by direct side collisions with the unloading robot 3. Upon contact, they control the unloading robot to stop operating, preventing further hazards. Two front safety edges 6-4 are installed on the front and rear sides of the gripping telescopic arm 32, i.e., in the two directions the unloading robot 3 travels along the channel. These also reduce equipment damage or personnel injury caused by direct front and rear collisions with the unloading robot 3. Upon contact, they control the unloading robot to stop operating, preventing further hazards. Both the side safety edges 6-3 and the front safety edges 6-4 utilize flexible structures with cushioning properties, such as airbag-type safety conductive plastics and safety cushioning sponges.

[0023] There are two emergency stop buttons 6-5, installed on the front and rear sides of the unloading robot 3. When the unloading robot 3 malfunctions or has operational risks, the operator can directly press the emergency stop button to stop the unloading robot.

[0024] The high-position laser scanner 6-1 scans and monitors the yarn rack cart area and the prohibited personnel access passage. Additionally, when the yarn rack cart 7 is fully loaded and transported away by the AGV robot 8, the AGV robot 8 sends an empty space signal to the area monitoring system, and the yarn rack cart area is then included in the scanning and monitoring area of ​​the high-position laser scanner 6-1, which monitors in real time whether personnel have entered. When the AGV robot 8 transports an empty yarn rack cart 7 to its designated location, it sends a full space signal to the area monitoring system, and the high-position laser scanner 6-1 ceases monitoring the yarn rack cart area. A non-contact safety switch is installed at the yarn rack cart 7 location as a secondary confirmation of the full or empty space signal sent by the AGV robot 8 after picking up or placing the yarn rack cart 7.

[0025] When the high-position laser scanner 6-1 detects that personnel are prohibited from entering the passage or that there are personnel or obstacles in the monitored yarn rack car position, the pneumatic safety alarm system of the unloading robot will issue an alarm and stop the unloading robot through the motion control system.

[0026] The low-position laser scanner 6-2 scans and monitors the robotic arm's working channel 11, and monitors and provides feedback on the distance L of personnel or obstacles within the monitored area. The logical relationship between the distance L of personnel or obstacles within the robotic arm's working channel 11 detected by the low-position laser scanner 6-2 and the movement status and alarm status of the unloading robotic arm 3 is as follows:

[0027] When 1.2m≤L, the unloading robot 3 operates normally or at constant speed;

[0028] When 0.8m < L < 1.2m, and the object is not in the forward direction, the unloading robot 3 operates normally or at constant speed.

[0029] When 0.8m < L < 1.2m, and the object is in the forward direction, the unloading robot 3 decelerates and issues an alarm.

[0030] When L≤0.8m and the object is in the forward direction, the unloading robot 3 stops operating and issues an alarm;

[0031] When L≤0.8m and the object is not in the forward direction, the unloading robot 3 operates normally or at constant speed and issues an alarm.

[0032] Both the high-position laser scanner 6-1 and the low-position laser scanner 6-2 follow the unloading robot 3 along the channel direction track 2, so as to realize the real-time dynamic update of the monitoring area of ​​the unloading robot 3 environmental monitoring system along with the movement trajectory of the robot.

[0033] The high-position laser scanner 6-1 and the low-position laser scanner 6-2 use a non-contact area monitoring method, while the side safety edge 6-3, the front safety edge 6-4, and the emergency stop button 6-5 use a contact area monitoring method.

[0034] Considering the limitations of the high-position laser scanner 6-1 and low-position laser scanner 6-2 in the unloading manipulator monitoring system in terms of detection range, a safety carpet monitoring system is set up in the area monitoring system to realize real-time monitoring of the passageway that prohibits personnel from entering the entire working area.

[0035] The safety carpet monitoring system comprises multiple safety carpets 10, which are respectively installed in prohibited personnel access areas, including areas A, B, C, D, E, F, G, H, and K, forming a planar safety device to detect the presence of personnel. When the unloading robot 3 is operating, the detection results of the safety carpets 10 in the three areas along its forward direction are used as control factors. The logical relationship between this and the movement status and alarm status of the unloading robot 3 is as follows:

[0036] When the safety carpet in the first distance area detects an intruder, the unloading robot 3 stops operating and issues an alarm;

[0037] When the safety carpet in the second distance area detects an intruder, the unloading robot 3 slows down and issues an alarm;

[0038] When the safety carpet in the third distance area detects an intruder, the unloading robot 3 operates at normal speed and issues an alarm.

[0039] The control system is connected to the high-position laser scanner 6-1, the low-position laser scanner 6-2, the side safety contact edge 6-3, the front safety contact edge 6-4, the emergency stop button 6-5, and the safety mat 10.

[0040] An AGV robot environmental monitoring system is installed on the AGV robot 8, including a laser detection device 10 and safety contact edges around itself. When the AGV laser detection device or safety contact edges detect the presence of people or obstacles in the area, the AGV robot 8 will actively stop running or avoid them.

[0041] The safety assurance system also includes a safety alarm system to provide warnings and reminders after a safety alarm is triggered. The safety alarm system includes an audible and visual warning unit 5 for the unloading robot, an audible and visual warning unit 10 for the AGV robot, and a system safety warning. The audible and visual warning unit 5 for the unloading robot is installed on the unloading robot 3, and the audible and visual warning unit 10 for the AGV robot is installed on the AGV robot 8. Both the unloading robot audible and visual warning unit 5 and the AGV robot audible and visual warning unit 10 are audible and visual alarms with their respective alarm circuits. The system safety warning is displayed on the monitoring terminal and control panel, allowing for remote monitoring reminders and viewing of system error information, respectively.

[0042] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components. The above description is merely illustrative of the structure of this utility model. All equivalent or simple variations made based on the structure, features, and principles described in this utility model patent concept are included within the protection scope of this utility model patent.

Claims

1. A safety system for the fiberglass yarn drawing work area, comprising a robotic arm work channel, a drawing machine area, and a yarn trolley area; the robotic arm work channel is located in the middle, with the drawing machine area and the yarn trolley area on either side; a robotic arm mechanism is installed in the robotic arm work channel, including a bobbin unloading robotic arm, which includes a support and a gripping telescopic arm, the gripping telescopic arm being lifted and mounted on the support; the work area also has a passageway to prevent personnel from entering; characterized in that: The safety system includes an area monitoring system and a control system. The area monitoring system includes a manipulator monitoring system and a safety mat. The manipulator monitoring system includes a high-position laser scanner, a low-position laser scanner, a side safety contact edge, and a front safety contact edge. The high-position laser scanner, side safety contact edge, and front safety contact edge are all installed on the gripping telescopic arm, while the low-position laser scanner is installed on a bracket. The high-position laser scanner scans and monitors the yarn rack area and the prohibited personnel access passage, while the low-position laser scanner scans and monitors the manipulator's working passage. The safety mat is placed in the prohibited personnel access passage. The control system is connected to the high-position laser scanner, low-position laser scanner, side safety contact edge, front safety contact edge, and safety mat.

2. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: Two high-position laser scanners are configured, each installed on one of the two sides of the grasping telescopic arm.

3. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: The low-position laser scanner is configured as two, which are respectively installed on two sides of the bracket.

4. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: The aforementioned side safety contact edge is provided in two parts, which are respectively installed on the two sides of the gripping telescopic arm.

5. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: The aforementioned front safety contact edge is provided in two parts, which are respectively installed on the front and rear sides of the gripping telescopic arm.

6. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: The unloading robot monitoring system also includes two emergency stop buttons, which are installed on the front and rear sides of the unloading robot, respectively.

7. The safety protection system for the glass fiber yarn drawing work area according to claim 1, characterized in that: The safety assurance system also includes a safety alarm system, which includes an audio-visual warning unit for the unloading robot, and the audio-visual warning unit for the unloading robot is installed on the unloading robot.

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