CN114347021B - Safety control system and method based on multi-joint mechanical arm - Google Patents
Safety control system and method based on multi-joint mechanical arm Download PDFInfo
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- CN114347021B CN114347021B CN202111655603.1A CN202111655603A CN114347021B CN 114347021 B CN114347021 B CN 114347021B CN 202111655603 A CN202111655603 A CN 202111655603A CN 114347021 B CN114347021 B CN 114347021B
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- 230000001960 triggered effect Effects 0.000 claims description 33
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 238000012545 processing Methods 0.000 claims description 12
- 238000011065 in-situ storage Methods 0.000 claims description 9
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 4
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- 238000001514 detection method Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- Safety Devices In Control Systems (AREA)
Abstract
The invention particularly relates to a safety control system based on a multi-joint mechanical arm, which comprises a protection system under an electrified working condition, a protection system under a power-off working condition and a protection system under any working condition; the protection system under the electrified working condition performs proximity switch limit protection, motor overload protection, motor moment overload protection, abnormal state scram protection, software limit protection and safe electronic fence protection on corresponding joints of the multi-joint mechanical arm under the electrified working condition; the protection system under the power-off working condition performs power-off maintenance protection on the corresponding joints of the multi-joint mechanical arm under the power-off working condition; the protection system under any working condition performs mechanical limit protection on the corresponding joint of the multi-joint mechanical arm under any working condition. The safety control system based on the multi-joint mechanical arm ensures that the multi-joint mechanical arm body safely and efficiently operates in the steam generator.
Description
Technical Field
The invention relates to the technical field of nuclear industrial robots, in particular to a safety control system and method based on a multi-joint mechanical arm.
Background
During the major repair of the nuclear power station refueling, the main pipeline of the steam generator is required to be isolated through the primary side high water level blocking plate, so that other maintenance work in the steam generator can be simultaneously carried out when the high water level of the nuclear power station is ensured, and the major repair time is saved. At present, the installation and the removal of the primary side high water level blocking plate are generally realized by adopting a manual operation mode. The steam generator belongs to a high-radiation area, the space is relatively airtight and narrow, in the process of manually disassembling and assembling a primary side high-water-level blocking plate, the problems that personnel is large in irradiated dose and the installation quality is greatly influenced by human factors exist, a large amount of primary water leaks due to the installation quality of multiple personnel in China, and large-area radioactive pollution of a nuclear island is caused, so that many research institutions at home and abroad begin to study the operation of completing the inside of a container by using the multi-joint mechanical arm.
Because the multi-joint mechanical arm combines the methods of a multi-degree-of-freedom mechanical link structure, a servo driving technology, a remote real-time control technology, a kinematic analysis and the like, and the working condition is complex, the signals are more, the number of target bits is more, and the multi-joint mechanical arm is influenced by radiation interference, personnel misoperation, system logic abnormality and the like, the following safety accidents can be caused:
(1) The program runs and flies due to various interferences, and the mechanical arm does not act according to a specified instruction and collides with the inner wall of the container;
(2) The inertia of the motor is overlarge, and the action of the mechanical arm exceeds the safety range, so that the mechanical arm body is blocked;
(3) The aging and damage of the electrical element generate error signals, so that mechanical collision is generated due to misoperation of the mechanical arm;
(4) Personnel mishandling results in mechanical collisions.
Disclosure of Invention
Based on the above, it is necessary to provide a safety control system and method based on a multi-joint mechanical arm, so as to ensure that the multi-joint mechanical arm body operates safely and efficiently in the steam generator.
In order to achieve the above object, the present invention provides the following technical solutions:
a safety control system based on a multi-joint mechanical arm comprises a protection system under an electrified working condition, a protection system under a power-off working condition and a protection system under any working condition; the protection system under the electrified working condition performs proximity switch limit protection, motor overload protection, motor moment overload protection, abnormal state scram protection, software limit protection and safe electronic fence protection on corresponding joints of the multi-joint mechanical arm under the electrified working condition; the protection system under the power-off working condition performs power-off maintenance protection on the corresponding joints of the multi-joint mechanical arm under the power-off working condition; the protection system under any working condition performs mechanical limit protection on the corresponding joint of the multi-joint mechanical arm under any working condition.
Further, the multi-joint mechanical arm is characterized in that a fourth joint in a traditional six-revolute pair joint robot is replaced by a sliding pair, the sliding pair comprises a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint, the first joint, the second joint and the third joint are sequentially connected to form a spherical hinge joint, the fifth joint and the sixth joint are connected to form a wrist joint, and the spherical hinge joint and the wrist joint are connected through the fourth joint sliding pair.
Further, the protection system for the electrified working condition comprises a proximity limit switch, a sudden stop device, a moment overload protection device, a software limit device and a safety electronic fence;
each joint of the multi-joint mechanical arm is provided with a proximity limit switch, the proximity limit switch on the joint is triggered, and the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and send out an alarm signal to prevent false collision;
the emergency stop device is arranged at the operation end of the safety control system, when an abnormality occurs, the emergency stop device is pressed down, and the protection system of the electrified working condition controls the whole multi-joint mechanical arm to stop running, so that the expansion of accidents is prevented;
the moment overload and overload protection device monitors the motor current and the torque of each joint of the multi-joint mechanical arm, and when the motor current and the torque on the joint exceed the safety range, the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and send out an alarm signal to prevent the false collision;
each joint of the multi-joint mechanical arm is provided with a software limiting device, the software limiting device feeds back the current displacement of each joint motor, and when the current displacement of the power-off motor exceeds a safety range, the protection system of the electrified working condition controls the corresponding joint motor to stop running so as to prevent error collision;
the safety electronic fence is arranged at a software end of the safety control system, and limits the action range of the multi-joint mechanical arm to be in the safety electronic fence, so that false collision is prevented.
Further, the software limiting device is an encoder, the encoder feeds back the current displacement of each joint motor, when the current displacement of the power-off motor exceeds a safety range, the protection system of the electrified working condition controls the corresponding joint motor to stop running, and error collision is prevented.
Further, 2, 1, 2 and 1 proximity limit switches are respectively arranged on the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint; the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint have motor current limits of 12A, 2A, 1.5A and 1.5A respectively; the first, second, third, fourth, fifth and sixth joint motor torque limits are 280Nm, 250Nm, 80Nm, 250Nm, 30Nm and 80Nm, respectively; the first joint, the second joint, the third joint, the fourth joint, the fifth joint and the sixth joint are respectively fed back to 180-degree directional displacement of the first joint motor, the second joint is fed back to 140-degree directional displacement of the second joint motor by the second joint, the third joint is fed back to 720-degree directional displacement of the third joint motor by the third joint, the fourth joint is fed back to 400mm of the fourth joint motor, the fifth joint is fed back to 40-degree directional displacement of the fifth joint motor by the fifth joint, and the sixth joint is fed back to 360-degree directional displacement of the sixth joint by the software limiting device.
Further, the protection system for the power-off working condition comprises a power-off holding device, wherein the second joint and the fourth joint are respectively provided with the power-off holding device, when the multi-joint mechanical arm is powered off, the band-type brake keeps the multi-joint mechanical arm and the load on the multi-joint mechanical arm in situ, and the multi-joint mechanical arm caused by dead weight is prevented from acting to generate error collision.
Further, the protection system under any working condition comprises a mechanical limit protection device, and the first joint, the second joint, the third joint, the fourth joint and the fifth joint are all provided with the mechanical limit protection device, when the multi-joint mechanical arm moves beyond the limit of the proximity limit switch, the multi-joint mechanical arm is limited to continue to move until the motor is blocked to generate over torque or over current, and the motor overload protection or the motor moment over-large protection is triggered to stop the motor, so that the mechanical arm joint is prevented from being blocked and collision is prevented.
The invention also provides a safety control method based on the multi-joint mechanical arm, which comprises the following steps:
(1) When the safety control system is not started, the multi-joint mechanical arm is installed, and the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ under the power-off working condition; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm, and error collision caused by the disorder action of the multi-joint mechanical arm in the installation process is prevented;
(2) After the safety control system is started, in the execution process of the multi-joint mechanical arm, the protection system with the electric working condition is close to a switch limit, the motor is protected from overload current, the motor is protected from excessive moment, the abnormal state is suddenly stopped, the software is limited, and the safety electronic fence protects the multi-joint mechanical arm; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm; if the power is accidentally cut off in the operation process, a protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ, so that the error collision is prevented;
(3) And after the operation is finished, the power is cut off, the multi-joint mechanical arm is disassembled, the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in place, and the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm to prevent the multi-joint mechanical arm from being in disorder action to cause error collision in the disassembly process.
Further, in the process of dismounting the multi-joint mechanical arm, the safety control system performs the following protection flow: the safety control system keeps the power-off state, the protection system under the power-off working condition and the protection system under any working condition enter the protection state, the corresponding joint of the multi-joint mechanical arm enters the holding state, the mechanical arm is prevented from falling down due to dead weight, if the mechanical limit protection of a certain joint of the multi-joint mechanical arm is triggered in the process, the joint stops to continue to act, and the mechanical arm is prevented from colliding with the steam generator.
Further, during the execution process of the multi-joint mechanical arm, the safety control system performs the following protection flow:
the method comprises the steps that firstly, a multi-joint mechanical arm executes instructions, and a safety control system starts to carry out safety protection on the multi-joint mechanical arm; if the safety control system is powered off, triggering a protection system under the power-off working condition to perform power-off maintenance protection on the corresponding joint of the multi-joint mechanical arm, and keeping the corresponding joint of the multi-joint mechanical arm in place to wait for fault treatment; if the safety control system is powered on, entering a second step;
step two, if a protection system under any working condition is triggered to carry out mechanical limit protection on the corresponding joint of the multi-joint mechanical arm, the motor of the corresponding joint of the multi-joint mechanical arm is locked, so that the excessive moment protection or the overload current protection of the motor of the corresponding joint of the multi-joint mechanical arm is triggered, the corresponding joint of the multi-joint mechanical arm stops acting and generates an alarm, and the fault is waited to be processed; if the protection system under any working condition is not triggered, carrying out mechanical limit protection on the corresponding joint of the multi-joint mechanical arm, and entering a third step;
thirdly, if a protection system triggering the electrified working condition performs proximity limit switch protection on the corresponding joint of the multi-joint mechanical arm, stopping the action of the corresponding joint of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system under the electrified working condition is not triggered, performing proximity limit switch protection on the corresponding joint of the multi-joint mechanical arm, and entering a fourth step;
fourthly, if a protection system triggering the electrified working condition protects the motor moment of the corresponding joint of the multi-joint mechanical arm from being excessively large or protects the motor current from being overloaded, the corresponding joint of the multi-joint mechanical arm stops acting and generates an alarm, and the fault is waited to be processed; if the moment overload protection or the motor current overload protection of the corresponding joint of the multi-joint mechanical arm is not triggered, the fifth step is carried out;
fifthly, if a protection system under the electrified working condition is triggered to protect the multi-joint mechanical arm by a safe electronic fence, stopping actions of all joints of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system under the electrified working condition is not triggered, carrying out safe electronic fence protection on the multi-joint mechanical arm, and entering a sixth step;
sixthly, if the protection system triggering the electrified working condition carries out abnormal state scram protection on the multi-joint mechanical arm, stopping actions of all joints of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system triggering the electrified working condition does not exist, carrying out abnormal state scram protection on the multi-joint mechanical arm, and executing instructions by the multi-joint mechanical arm;
and seventhly, in the execution process of the multi-joint mechanical arm, if the protection triggering the step is detected, jumping to the step until the multi-joint mechanical arm executes all instructions, and ending the protection.
The beneficial technical effects of the invention are as follows:
the safety control system and the method based on the multi-joint mechanical arm fully utilize various protection means to realize that the multi-joint mechanical arm safely and efficiently performs disassembly and motion control in the water chamber of the steam generator, effectively shortens the operation time, simultaneously, the virtual and real combination of the multiple protection methods can prevent the clamping of the mechanical arm and the hard collision of the mechanical arm and the steam generator, ensure the safety of the mechanical arm body and the safety of nuclear equipment, have certain universality and can be popularized and applied to other electromechanical equipment.
Drawings
FIG. 1 is a protection flow chart of a safety control system in the process of dismounting a multi-joint mechanical arm;
FIG. 2 is a protection flow chart of a safety control system in the process of executing a multi-joint mechanical arm;
FIG. 3 is a schematic view of the mechanical limit protection device and the proximity limit switch of each joint of the multi-joint mechanical arm;
fig. 4 is a schematic view of the position of the power loss holding device for each joint of the multi-joint mechanical arm.
In the figure, 1, a first joint; 2. a second joint; 3. a third joint; 4. a fourth joint; 5. a fifth joint; 6. a sixth joint; 7. approaching a limit switch; 8. a mechanical limit protection device; 9. and a power loss holding device.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
The invention provides a safety control system based on a multi-joint mechanical arm, which comprises a protection system under an electrified working condition, a protection system under a power-off working condition and a protection system under any working condition; the protection system under the electrified working condition performs proximity switch limit protection, motor overload protection, motor moment overload protection, abnormal state scram protection, software limit protection and safe electronic fence protection on corresponding joints of the multi-joint mechanical arm under the electrified working condition; the protection system under the power-off working condition performs power-off maintenance protection on the corresponding joints of the multi-joint mechanical arm under the power-off working condition; the protection system under any working condition performs mechanical limit protection on the corresponding joint of the multi-joint mechanical arm under any working condition.
The multi-joint mechanical arm is characterized in that a fourth joint in a traditional six-revolute pair joint robot is replaced by a sliding pair, the multi-joint mechanical arm comprises a first joint 1, a second joint 2, a third joint 3, a fourth joint 4, a fifth joint 5 and a sixth joint 6, the first joint 1, the second joint 2 and the third joint 3 are sequentially connected to form a spherical hinge joint, the fifth joint 5 and the sixth joint 6 are connected to form a wrist joint, and the spherical hinge joint and the wrist joint are connected through the fourth joint 4 sliding pair.
The protection system for the electrified working condition comprises a proximity limit switch 7, an emergency stop device, a moment overload protection device, a software limit device and a safety electronic fence; each joint of the multi-joint mechanical arm is provided with a proximity limit switch 7, the proximity limit switch 7 on the joint is triggered, and the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and send out an alarm signal to prevent false collision; the emergency stop device is arranged at the operation end of the safety control system, when an abnormality occurs, the emergency stop device is pressed down, and the protection system of the electrified working condition controls the whole multi-joint mechanical arm to stop running, so that the expansion of accidents is prevented; the moment overload and overload protection device monitors the motor current and the torque of each joint of the multi-joint mechanical arm, and when the motor current and the torque on the joint exceed the safety range, the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and send out an alarm signal to prevent the false collision; each joint of the multi-joint mechanical arm is provided with a software limiting device, the software limiting device feeds back the current displacement of each joint motor, and when the current displacement of the power-off motor exceeds a safety range, the protection system of the electrified working condition controls the corresponding joint motor to stop running so as to prevent error collision; the safety electronic fence is arranged at a software end of the safety control system, and limits the action range of the multi-joint mechanical arm to be in the safety electronic fence, so that false collision is prevented.
The software limiting device is an encoder, the encoder feeds back the current displacement of each joint motor, and when the current displacement of the power-off motor exceeds a safety range, the protection system of the electrified working condition controls the corresponding joint motor to stop running, so that error collision is prevented.
Referring to fig. 3, 2, 1, 2 and 1 proximity limit switches 7 are respectively configured on the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, the fifth joint 5 and the sixth joint 6;
the motor current limits of the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, the fifth joint 5 and the sixth joint 6 are respectively 12A, 2A, 1.5A and 1.5A;
the motor torque limits of the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, the fifth joint 5 and the sixth joint 6 are 280Nm, 250Nm, 80Nm, 250Nm, 30Nm and 80Nm respectively;
the software limiting device of the first joint 1 feeds back 180-degree directional displacement of the motor of the first joint 1, the software limiting device of the second joint 2 feeds back 140-degree directional displacement of the motor of the second joint 2, the software limiting device of the third joint 33 feeds back 720-degree directional displacement of the motor of the third joint 3, the software limiting device of the fourth joint 4 feeds back 400-mm directional displacement of the motor of the fourth joint 4, the software limiting device of the fifth joint 5 feeds back 40-degree directional displacement of the motor of the fifth joint 5, and the software limiting device of the sixth joint 6 feeds back 360-degree directional displacement of the sixth joint 6.
Referring to fig. 4, the protection system for the power-off condition includes a power-off maintaining device 9, where the first joint 2 and the fourth joint 4 are configured with the power-off maintaining device 9, and when the multi-joint mechanical arm is powered off, the band-type brake maintains to keep the multi-joint mechanical arm and the load on the multi-joint mechanical arm in place, so as to prevent the multi-joint mechanical arm caused by dead weight from acting to generate a collision error.
The protection system under any working condition comprises a mechanical limit protection device 8, wherein the mechanical limit protection device 8 is configured on the first joint 1, the first joint 2, the third joint 3, the fourth joint 4 and the fifth joint 5, when the multi-joint mechanical arm moves beyond the limit of the proximity limit switch 7, the multi-joint mechanical arm is limited to continue to move until the motor is blocked to generate over torque or over current, and the overload protection of the motor or the excessive protection of the motor torque is triggered to stop the motor, so that the joint of the mechanical arm is prevented from being blocked and collision is prevented.
The invention also provides a safety control method based on the multi-joint mechanical arm, which comprises the following steps:
(1) When the safety control system is not started, the multi-joint mechanical arm is installed, and the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ under the power-off working condition; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm, and error collision caused by the disorder action of the multi-joint mechanical arm in the installation process is prevented;
(2) After the safety control system is started, in the execution process of the multi-joint mechanical arm, the protection system with the electric working condition is close to a switch limit, the motor is protected from overload current, the motor is protected from excessive moment, the abnormal state is suddenly stopped, the software is limited, and the safety electronic fence protects the multi-joint mechanical arm; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm; if the power is accidentally cut off in the operation process, a protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ, so that the error collision is prevented;
(3) And after the operation is finished, the power is cut off, the multi-joint mechanical arm is disassembled, the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in place, and the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm to prevent the multi-joint mechanical arm from being in disorder action to cause error collision in the disassembly process.
Referring to fig. 1, in the process of dismounting the multi-joint mechanical arm, the safety control system performs the following protection flow: the safety control system keeps in a power-off state, the protection system under the power-off working condition and the protection system under any working condition enter in a protection state, the first joint 2 and the fourth joint 4 enter in a holding state, the mechanical arm is prevented from falling down due to dead weight, if a certain joint is triggered in the process to be mechanically limited, the joint stops to continue to act, and the mechanical arm is prevented from colliding with the steam generator.
Referring to fig. 2, during the execution of the multi-joint mechanical arm, the safety control system performs the following protection procedures:
the first step, the multi-joint mechanical arm executes instructions, and the safety control system starts protection; if the safety control system is powered off, triggering the protection system under the power-off working condition to perform power-off protection, enabling the first joint 2 and the fourth joint 4 to enter a holding state immediately, waiting for processing faults, and if the safety control system is powered on, entering a second step of safety detection;
step two, if triggering the mechanical limit protection of a certain joint, the corresponding motor is blocked, so that the motor moment is triggered to be over-large or the motor current is over-load protected, the joint stops acting and generates an alarm, and the joint waits for processing faults, if not triggering the mechanical limit protection, the third step of safety detection is carried out;
thirdly, if the protection of a certain joint approach limit switch 7 is triggered, stopping the joint and generating an alarm, waiting for processing faults, if the protection of the approach limit switch 7 is not triggered, entering a fourth step of safety detection;
fourthly, if the motor moment overload protection or the motor current overload protection of a certain joint is triggered, stopping the joint and generating an alarm, waiting for processing faults, if the motor moment overload protection or the motor current overload protection is not triggered, entering a fifth step of safety detection;
fifthly, if the safety electronic fence protection of the safety control system is triggered, stopping actions of all joints and generating an alarm, waiting for processing faults, if the safety electronic fence protection of the safety control system is not triggered, entering a sixth step of safety detection;
step six, if the emergency stop protection of the abnormal state of the safety control system is triggered, stopping actions of all joints and generating an alarm, waiting for processing faults, if the emergency stop protection of the abnormal state of the safety control system is not triggered, marking the safety of the safety control system, and enabling the multi-joint mechanical arm to execute instructions;
and seventhly, in the execution process of the multi-joint mechanical arm, if the protection triggering the step is detected, jumping to the step until the multi-joint mechanical arm executes all instructions, and ending the protection.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The safety control system based on the multi-joint mechanical arm is characterized by comprising a protection system under an electrified working condition, a protection system under a power-off working condition and a protection system under any working condition; the protection system under the electrified working condition performs proximity switch limit protection, motor overload protection, motor moment overload protection, abnormal state scram protection, software limit protection and safe electronic fence protection on corresponding joints of the multi-joint mechanical arm under the electrified working condition; the protection system under the power-off working condition performs power-off maintenance protection on the corresponding joints of the multi-joint mechanical arm under the power-off working condition; the protection system under any working condition performs mechanical limit protection on the corresponding joint of the multi-joint mechanical arm under any working condition;
when the safety control system is not started, the multi-joint mechanical arm is installed, and the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ under the power-off working condition; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm;
after the safety control system is started, in the execution process of the multi-joint mechanical arm, the protection system with the electric working condition is close to a switch limit, a motor is protected from overload current, a motor is protected from excessive moment, an abnormal state is suddenly stopped, software is limited, and the multi-joint mechanical arm is protected by a safety electronic fence; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm; if the power is accidentally cut off in the operation process, a protection system under the power-off working condition controls the multi-joint mechanical arm to keep in place;
after the operation is finished, the power is cut off, the multi-joint mechanical arm is disassembled, the multi-joint mechanical arm is controlled by a protection system under the power-off working condition to keep in situ, and the multi-joint mechanical arm is protected by the protection system under any working condition in a mechanical limiting mode.
2. The safety control system based on the multi-joint mechanical arm according to claim 1, wherein the multi-joint mechanical arm comprises a first joint (1), a second joint (2), a third joint (3), a fourth joint (4), a fifth joint (5) and a sixth joint (6), the first joint (1), the second joint (2) and the third joint (3) are sequentially connected to form a spherical hinge joint, the fifth joint (5) and the sixth joint (6) are connected to form a wrist joint, and the spherical hinge joint and the wrist joint are connected through a fourth joint (4) sliding pair.
3. The safety control system based on the multi-joint mechanical arm according to claim 2, wherein the protection system of the electrified working condition comprises a proximity limit switch (7), an emergency stop device, a moment overload and overload protection device, a software limit device and a safety electronic fence; each joint of the multi-joint mechanical arm is provided with a proximity limit switch (7), the proximity limit switch (7) on the joint is triggered, and the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and sends out an alarm signal; the emergency stop device is arranged at the operation end of the safety control system, when an abnormality occurs, the emergency stop device is pressed down, and the protection system of the electrified working condition controls the whole multi-joint mechanical arm to stop running; the moment overload and overload protection device monitors the motor current and the torque of each joint of the multi-joint mechanical arm, and when the motor current and the torque on the joint exceed the safety range, the protection system of the electrified working condition controls the motor on the corresponding joint to stop running and sends out an alarm signal; each joint of the multi-joint mechanical arm is provided with a software limiting device, the software limiting device feeds back the current displacement of each joint motor, and when the current displacement of the power-off motor exceeds a safety range, the protection system of the electrified working condition controls the corresponding joint motor to stop running; the safety electronic fence is arranged at a software end of the safety control system, and the safety electronic fence limits the action range of the multi-joint mechanical arm to be in the safety electronic fence.
4. The safety control system based on the multi-joint mechanical arm according to claim 3, wherein the software limiting device is an encoder, the encoder feeds back the current displacement of each joint motor, and when the current displacement of the power-off motor exceeds a safety range, the protection system under the electrified working condition controls the corresponding joint motor to stop running.
5. A safety control system based on a multi-joint mechanical arm according to claim 3, wherein 2, 1, 2 and 1 proximity limit switches (7) are respectively configured on the first joint (1), the second joint (2), the third joint (4), the fourth joint (4), the fifth joint (5) and the sixth joint (6); the motor current limits of the first joint (1), the second joint (2), the third joint (3), the fourth joint (4), the fifth joint (5) and the sixth joint (6) are respectively 12A, 2A, 1.5A and 1.5A; the motor torque limits of the first joint (1), the second joint (2), the third joint (3), the fourth joint (4), the fifth joint (5) and the sixth joint (6) are 280Nm, 250Nm, 80Nm, 250Nm, 30Nm and 80Nm respectively; the device comprises a first joint (1), a second joint (2), a third joint (3), a fourth joint (4), a fifth joint (5) and a sixth joint (6), wherein the software limiting devices of the first joint (1) and the fourth joint (4) respectively feed back 180-degree directional displacement of the motor, the software limiting devices of the second joint (2) feed back 140-degree directional displacement of the motor of the second joint (2), the software limiting devices of the third joint (3) feed back 720-degree directional displacement of the motor of the third joint (3), the software limiting devices of the fourth joint (4) feed back 400-mm directional displacement of the motor of the fourth joint (4), the software limiting devices of the fifth joint (5) feed back 40-degree directional displacement of the motor of the fifth joint (5), and the software limiting devices of the sixth joint (6) feed back 360-degree directional displacement of the sixth joint (6).
6. The safety control system based on the multi-joint mechanical arm according to claim 2, wherein the protection system of the power-off working condition comprises a power-off maintaining device (9), and the second joint (2) and the fourth joint (4) are both provided with the power-off maintaining device (9), so that the band-type brake keeps the multi-joint mechanical arm and the load on the multi-joint mechanical arm in place when the multi-joint mechanical arm is powered off.
7. The safety control system based on the multi-joint mechanical arm according to claim 2, wherein the protection system under any working condition comprises a mechanical limit protection device (8), and the first joint (1), the second joint (2), the third joint (3), the fourth joint (4) and the fifth joint (5) are all provided with the mechanical limit protection device (8), when the multi-joint mechanical arm moves beyond the limit of the proximity limit switch (7), the multi-joint mechanical arm is limited to continue moving until the motor is blocked to generate over torque or over current, and the overload protection of the motor or the excessive protection of the motor torque is triggered to stop the motor.
8. A safety control method based on a multi-joint mechanical arm, characterized in that the safety control system based on the multi-joint mechanical arm according to any one of claims 1-7 is used, comprising the following steps:
(1) When the safety control system is not started, the multi-joint mechanical arm is installed, and the protection system under the power-off working condition controls the multi-joint mechanical arm to keep in situ under the power-off working condition; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm;
(2) After the safety control system is started, in the execution process of the multi-joint mechanical arm, the protection system with the electric working condition is close to a switch limit, the motor is protected from overload current, the motor is protected from excessive moment, the abnormal state is suddenly stopped, the software is limited, and the safety electronic fence protects the multi-joint mechanical arm; the protection system under any working condition mechanically limits and protects the multi-joint mechanical arm; if the power is accidentally cut off in the operation process, a protection system under the power-off working condition controls the multi-joint mechanical arm to keep in place;
(3) And after the operation is finished, the power is cut off, the multi-joint mechanical arm is disassembled, the multi-joint mechanical arm is controlled by a protection system under the power-off working condition to keep in situ, and the multi-joint mechanical arm is protected by the protection system under any working condition in a mechanical limiting way.
9. The safety control method based on the multi-joint mechanical arm according to claim 8, wherein in the process of disassembling the multi-joint mechanical arm, the safety control system performs the following protection flow: the safety control system keeps the power-off state, the protection system under the power-off working condition and the protection system under any working condition enter the protection state, the corresponding joint of the multi-joint mechanical arm enters the holding state, for example, the limit protection of a certain joint of the multi-joint mechanical arm is triggered in the process, and the joint stops to continue to act.
10. The safety control method based on the multi-joint mechanical arm according to claim 8, wherein the safety control system performs the following protection procedure in the execution process of the multi-joint mechanical arm:
the method comprises the steps that firstly, a multi-joint mechanical arm executes instructions, and a safety control system starts to carry out safety protection on the multi-joint mechanical arm; if the safety control system is powered off, triggering a protection system under the power-off working condition to perform power-off maintenance protection on the corresponding joint of the multi-joint mechanical arm, and keeping the corresponding joint of the multi-joint mechanical arm in place to wait for fault treatment; if the safety control system is powered on, entering a second step;
step two, if a protection system under any working condition is triggered to carry out mechanical limit protection on the corresponding joint of the multi-joint mechanical arm, the motor of the corresponding joint of the multi-joint mechanical arm is locked, so that the excessive moment protection or the overload current protection of the motor of the corresponding joint of the multi-joint mechanical arm is triggered, the corresponding joint of the multi-joint mechanical arm stops acting and generates an alarm, and the fault is waited to be processed; if the protection system under any working condition is not triggered, carrying out mechanical limit protection on the corresponding joint of the multi-joint mechanical arm, and entering a third step;
thirdly, if a protection system under the electrified working condition is triggered to protect a corresponding joint of the multi-joint mechanical arm by a proximity limit switch (7), stopping the action of the corresponding joint of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system under the electrified working condition is not triggered, the corresponding joint of the multi-joint mechanical arm is protected by a proximity limit switch (7), and the fourth step is carried out;
fourthly, if a protection system triggering the electrified working condition protects the motor moment of the corresponding joint of the multi-joint mechanical arm from being excessively large or protects the motor current from being overloaded, the corresponding joint of the multi-joint mechanical arm stops acting and generates an alarm, and the fault is waited to be processed; if the moment overload protection or the motor current overload protection of the corresponding joint of the multi-joint mechanical arm is not triggered, the fifth step is carried out;
fifthly, if a protection system under the electrified working condition is triggered to protect the multi-joint mechanical arm by a safe electronic fence, stopping actions of all joints of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system under the electrified working condition is not triggered, carrying out safe electronic fence protection on the multi-joint mechanical arm, and entering a sixth step;
sixthly, if the protection system triggering the electrified working condition carries out abnormal state scram protection on the multi-joint mechanical arm, stopping actions of all joints of the multi-joint mechanical arm and generating an alarm, and waiting for processing faults; if the protection system triggering the electrified working condition does not exist, carrying out abnormal state scram protection on the multi-joint mechanical arm, and executing instructions by the multi-joint mechanical arm;
and seventhly, in the execution process of the multi-joint mechanical arm, if the protection triggering the step is detected, jumping to the step until the multi-joint mechanical arm executes all instructions, and ending the protection.
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