A data acquisition system and data acquisition processing method for intelligent wrist equipment

Abstract

The present invention discloses an intelligent wrist equipment data acquisition system and a data acquisition processing method for collecting data on the working status of an industrial robot intelligent wrist equipment. The intelligent wrist equipment data acquisition system includes a locking detection device, a coordinator, and a host, and the coordinator is connected to the host via a USB data cable. The locking detection device includes a device housing, a sliding pin, a trigger, a memory, a single-chip microcomputer, an indicator light, and a network module, and the single-chip microcomputer is connected to the trigger, the network module, and the indicator light. The intelligent wrist equipment data acquisition system of the present invention drives the sliding pin of the locking detection device to move by completely inserting a steel ball into a card slot, thereby triggering the locking detection device to determine whether the wrist equipment is in a locked state, thereby improving the safety of use and the risk prevention capability, and the data is sent to the host for storage and processing, which is convenient for the unified and effective management of the safety of use, risk prevention, and maintenance of multiple intelligent wrist equipment.

Description

Technical Field

[0001] The present invention relates to the field of robot line data acquisition, and in particular to an intelligent wrist equipment data acquisition system and a data acquisition processing method. Background Art

[0002] The industrial robot intelligent wrist equipment system (Auto Tools Change, ATC for short) is a device used to quickly switch the end effector of the robot. It can quickly switch different end effectors, making the robot more flexible and efficient for a variety of different operations. Existing industrial robot intelligent wrist equipment systems do not have data collection functions and cannot monitor the system's usage status in real time. Therefore, it is impossible to effectively manage the use safety, risk prevention and maintenance of industrial robot intelligent wrist equipment. Summary of the invention

[0003] The object of the present invention is to provide an intelligent wrist equipment data acquisition system and a data acquisition processing method for collecting data on the working status of an industrial robot intelligent wrist equipment.

[0004] The technical solution adopted by the present invention to solve the above problems is:

[0005] An intelligent wrist equipment data acquisition system, characterized by:

[0006] The locking detection device detects the displacement of the steel ball of the wrist equipment.

[0007] The coordinator is used to receive the detection data sent by several locking detection devices.

[0008] Host, used to store and process detection data, the coordinator is connected to the host

[0009] The locking detection device includes

[0010] A sliding pin is inserted into a tool tray of the wrist device, and one end of the sliding pin extends inward from a slot of the tool tray. A trigger is provided. The sliding setting distance of the sliding pin can trigger the trigger to send a signal.

[0011] The trigger is connected to the microcontroller, and the microcontroller is used to receive and process the signal sent by the trigger.

[0012] Memory, memory is used to store detection data, memory is connected to the microcontroller,

[0013] Network module, the microcontroller is connected to the coordinator through the network module, and the network module is connected to the microcontroller,

[0014] When the steel ball equipped on the wrist is fully pushed into the slot of the tool tray, the sliding pin is pushed outward by the steel ball and the trigger sends a locking signal.

[0015] The data acquisition system of the intelligent wrist equipment of the present invention drives the sliding pin of the locking detection device to move by completely inserting the steel ball into the card slot, thereby triggering the locking detection device to judge whether the wrist equipment is in a locked state, thereby improving the safety of use and the risk prevention capability. The data is sent to the host for storage and processing, which facilitates the unified and effective management of the safety of use, risk prevention and maintenance of multiple intelligent wrist equipment.

[0016] Further, preferably, the trigger, the single-chip microcomputer, and the network module are mounted on the device housing, the other end of the sliding pin is slidably disposed in the device housing, and a reset spring for ejecting the sliding pin outward is disposed on the device housing.

[0017] Furthermore, preferably, the trigger adopts a photoelectric switch, and the movement of the sliding pin causes the photoelectric switch to change between blocked and unblocked states, so that the trigger detects whether the sliding pin is pushed a set distance by the steel ball.

[0018] Furthermore, as a preferred embodiment, the locking detection device further includes an indicator light, which is connected to the single-chip microcomputer and is used to change color when the trigger sends a locking signal. If the wrist device is not locked when operating, there is a risk of falling. When the operator uses or debugs the robot, the indicator light can visually check whether the wrist device is reliably locked through the indicator light, thereby ensuring safe operation.

[0019] Furthermore, preferably, the network module adopts a ZigBee wireless network module.

[0020] Furthermore, preferably, a channel for extending into the machine side is opened in the middle of the tool disk, a groove for inserting a locking steel ball is opened on the inner wall of the channel, and the axial direction of the sliding pin is perpendicular to the axis of the channel.

[0021] Further, preferably, one end of the sliding pin is in an arc shape.

[0022] Further, preferably, a sliding block is fixed to the rear end of the sliding pin, and the sliding block is provided with a groove.

[0023] A method for collecting and processing data of an intelligent wrist device, characterized in that the working state of the intelligent wrist device is detected by using the data collection system as described above, and the data collection and processing method comprises the following steps:

[0024] Step S1, power-on initialization, the single-chip microcomputer of the locking detection device reads the previous locking times and releasing times stored in the memory;

[0025] Step S2, detecting whether the photoelectric switch signal changes. If the photoelectric switch signal does not change, the process stays at step S2 until the photoelectric switch signal changes. If the photoelectric switch signal changes, the microcontroller is triggered to read the current time and determine whether the wrist device is locked or released.

[0026] (1) If the wrist device is in the locked state, the number of locks is increased by 1, and the number of locks is saved in the non-volatile data storage chip;

[0027] (2) If the wrist device is in the released state, the release count is incremented by 1 and the release count is saved in the non-volatile data storage chip;

[0028] Step S3, the single chip microcomputer sends the data to the coordinator through the network module;

[0029] Step S4, waiting for the coordinator to reply information,

[0030] (1) If the coordinator times out and does not respond, re-execute step S3.

[0031] (2) If the coordinator replies with a successful reception message, the coordinator sends the data to the host and re-executes step S2.

[0032] (3) If the coordinator replies with a reception failure message, step S3 is executed again.

[0033] The data collection and processing method of the smart wrist equipment of the present invention sends the data to the host for storage and processing, which is convenient for unified and effective management of the use safety, risk prevention and maintenance of multiple smart wrist equipment, and the data processing logic is clear and system failures are not prone to occur.

[0034] Further, preferably, in step S3, the data includes the current time, the number of locking times and the number of releasing times read by the single chip microcomputer.

[0035] Compared with the prior art, the present invention has the following advantages and effects: the data acquisition system of the intelligent wrist equipment of the present invention drives the sliding pin of the locking detection device to move by completely inserting the steel ball into the card slot, thereby triggering the locking detection device to judge whether the wrist equipment is in a locked state, thereby improving the safety of use and the risk prevention capability, and the data is sent to the host for storage and processing, which facilitates the unified and effective management of the safety of use, risk prevention and maintenance of multiple intelligent wrist equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural block diagram of the data acquisition system of the intelligent wrist equipment according to an embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of the installation structure of the locking detection device according to an embodiment of the present invention.

[0038] Figure 3 It is a schematic diagram of the structure of the locking detection device according to an embodiment of the present invention.

[0039] Figure 4 It is a schematic diagram of the internal structure of the locking detection device according to an embodiment of the present invention.

[0040] Figure 5 It is a schematic structural diagram of a sliding pin of a locking detection device according to an embodiment of the present invention.

[0041] Figure 6 Embodiment of the present invention Figure 2 Schematic diagram of the local enlarged structure in.

[0042] Figure 7 It is a logic block diagram of the data collection and processing method according to an embodiment of the present invention.

[0043] Numbers in the figure: device housing 11, sliding pin 12, trigger 13, reset spring 14, single chip computer 15, indicator light 16, network module 17, sliding block 18, groove 19, tool tray 21, channel 22, card slot 23, jack 24 DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0045] See also Figure 1-Figure 6 ,The smart wrist equipment data acquisition system in this embodiment includes a locking detection device, a coordinator, and a host. The coordinator is connected to the host via a USB data cable.

[0046] The locking detection device includes a device housing 11, a sliding pin 12, a trigger 13, a memory, a single-chip microcomputer 15, an indicator light 16 and a network module 17. The single-chip microcomputer 15 is connected to the trigger 13, the network module 17 and the indicator light 16. The network module 17 adopts a ZigBee wireless network module 17. The network module 17 is connected to the coordinator through the ZigBee wireless network. The trigger 13, the single-chip microcomputer 15 and the network module 17 are installed on the device housing 11. The sliding of the sliding pin 12 is set in the device housing 11, and a reset spring 14 for ejecting the sliding pin 12 outward is provided on the device housing 11. The sliding setting distance of the sliding pin 12 can trigger the trigger 13 to send a signal. One end of the sliding pin 12 is in an arc shape. The memory adopts a non-volatile data storage core.

[0047] See also Figure 1A channel 22 for extending into the machine side is provided in the middle of the tool tray 21 of the intelligent wrist equipment, a slot 23 for inserting a locking steel ball is provided on the inner wall of the channel 22, and a socket 24 is provided on the tool tray 21.

[0048] The locking detection device is installed as follows: the device housing 11 is fixed to the tool tray 21 by screws. The sliding pin 12 is inserted into the insertion hole 24 of the tool tray 21 of the wrist equipment, and one end of the sliding pin 12 extends inward from the card slot 23 of the tool tray 21, and the axial direction of the sliding pin 12 is perpendicular to the axis of the channel 22.

[0049] When the steel ball of the wrist equipment is completely pushed into the slot 23 of the tool tray 21, the sliding pin 12 is pushed outward by the steel ball, and the trigger 13 sends a locking signal.

[0050] The trigger 13 uses a photoelectric switch, and a sliding block 18 is fixed to the rear end of the sliding pin 12. The sliding block 18 has a groove 19, and the groove 19 makes the photoelectric switch not blocked in the initial state. Only when the steel ball equipped on the wrist is completely pushed into the slot 23 of the tool tray 21 (the tool tray will not be at risk of falling at this time), the sliding block 18 will block the photoelectric switch, so that the trigger 13 detects whether the sliding pin 12 is pushed by the steel ball by a set distance. If the steel ball equipped on the wrist is not completely pushed into the slot 23 of the tool tray 21 (the tool tray will be at risk of falling at this time), the sliding block 18 will not block the photoelectric switch.

[0051] The indicator light 16 is used to change color when the trigger 13 sends a locking signal. If the wrist equipment is not locked when operating, there is a risk of falling. When the operator uses or debugs the robot, the indicator light 16 can visually check whether the wrist equipment is reliably locked, ensuring safe operation.

[0052] The data acquisition system of the smart wrist equipment of the present invention drives the sliding pin 12 of the locking detection device to move by completely inserting the steel ball into the card slot 23, thereby triggering the locking detection device to judge whether the wrist equipment is in a locked state, thereby improving the safety of use and the risk prevention capability. The data is sent to the host for storage and processing, which facilitates the unified and effective management of the safety of use, risk prevention and maintenance of multiple smart wrist equipment.

[0053] See also Figure 4 The data acquisition and processing method using the above-mentioned smart wrist equipment data acquisition system includes the following steps:

[0054] Step S1, power-on initialization, the single-chip microcomputer 15 of the locking detection device reads the previous locking times and releasing times stored in the non-volatile data storage chip (inside or outside the single-chip microcomputer 15);

[0055] Step S2, detecting whether the photoelectric switch signal changes. If the photoelectric switch signal does not change, the process stays at step S2 until the photoelectric switch signal changes. If the photoelectric switch signal changes, the microcontroller is triggered to read the current time and determine whether the wrist device is locked or released.

[0056] (1) If the wrist device is in the locked state, the number of locks is increased by 1, and the number of locks is saved in the non-volatile data storage chip;

[0057] (2) If the wrist device is in the released state, the release count is incremented by 1 and the release count is saved in the non-volatile data storage chip;

[0058] Step S3, the single chip microcomputer 15 sends the data to the coordinator through the network module 17;

[0059] Step S4, waiting for the coordinator to reply information,

[0060] (4) If the coordinator times out and does not reply, re-execute step S3.

[0061] (5) If the coordinator replies with a successful reception message, the coordinator sends the data to the host and re-executes step S2.

[0062] (6) If the coordinator replies with a reception failure message, step S3 is executed again.

[0063] The data collection and processing method of the smart wrist equipment of the present invention sends the data to the host for storage and processing, which is convenient for unified and effective management of the use safety, risk prevention and maintenance of multiple smart wrist equipment, and the data processing logic is clear and system failures are not prone to occur.

[0064] Step S3, the data includes the current time, the number of locking times and the number of releasing times, and the current state (locked or released) read by the single chip microcomputer 15.

[0065] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A method for collecting and processing data from an intelligent wrist device, characterized in that: It includes a smart wrist equipment data acquisition system, the smart wrist equipment data acquisition system includes The locking detection device detects the displacement of the steel ball of the wrist equipment. The coordinator is used to receive the detection data sent by several locking detection devices. The host is used to store and process the detection data. The coordinator is connected to the host. The locking detection device includes The sliding pin is inserted into the tool tray of the wrist device, and one end of the sliding pin extends inward from the card slot of the tool tray. Trigger, the sliding setting distance of the sliding pin can trigger the trigger to send a signal, the trigger adopts a photoelectric switch, The trigger is connected to the microcontroller, and the microcontroller is used to receive and process the signal sent by the trigger. Memory, memory is used to store detection data, memory is connected to the microcontroller, Network module, the microcontroller is connected to the coordinator through the network module, and the network module is connected to the microcontroller, When the steel ball equipped on the wrist is fully pushed into the slot of the tool tray, the sliding pin is pushed outward by the steel ball, and the trigger sends a locking signal. The data acquisition and processing method of the above-mentioned smart wrist equipment data acquisition system includes the following steps: Step S1, power-on initialization, the single-chip microcomputer of the locking detection device reads the previous locking times and releasing times stored in the memory; Step S2, detecting whether the photoelectric switch signal changes. If the photoelectric switch signal does not change, the process stays at step S2 until the photoelectric switch signal changes. If the photoelectric switch signal changes, the microcontroller is triggered to read the current time and determine whether the wrist device is locked or released. If the wrist device is in locked state, the number of locks is increased by 1, and the number of locks is saved in the non-volatile data storage chip; If the wrist device is in the released state, the release count is increased by 1, and the release count is saved in the non-volatile data storage chip; Step S3, the single chip microcomputer sends the data to the coordinator through the network module; Step S4, waiting for the coordinator to reply information, If the coordinator does not reply within the time limit, re-execute step S3. If the coordinator replies with a successful reception message, the coordinator sends the data to the host and re-executes step S2. If the coordinator replies with a reception failure message, step S3 is executed again.

2. The data acquisition and processing method according to claim 1, characterized in that: The trigger, the single chip microcomputer and the network module are installed on the device housing, the other end of the sliding pin is slidably arranged in the device housing, and a reset spring for ejecting the sliding pin outward is arranged on the device housing.

3. The data acquisition and processing method according to claim 1, characterized in that: The locking detection device also includes an indicator light, which is connected to the single-chip microcomputer and is used to change color when the trigger sends a locking signal.

4. The data acquisition and processing method according to claim 1, characterized in that: The network module adopts a ZigBee wireless network module.

5. The data acquisition and processing method according to claim 1, characterized in that: A channel for extending into the machine side is provided in the middle of the tool tray, a slot for inserting a locking steel ball is provided on the inner wall of the channel, and the axial direction of the sliding pin is perpendicular to the axis of the channel.

6. The data acquisition and processing method according to claim 1, characterized in that: One end of the sliding pin is in an arc shape.

7. The data acquisition and processing method according to claim 1, characterized in that: A sliding block is fixed to the rear end of the sliding pin, and the sliding block is provided with a groove.

8. The data acquisition and processing method according to claim 1, characterized in that: Step S3, the data includes the current time, the number of locking times and the number of releasing times read by the single chip microcomputer.

Images