A robot monitoring system

Abstract

The present invention discloses a robot monitoring system, including an infrared transmitting device and an infrared receiving monitoring device, wherein the infrared transmitting device is used to be installed at the robot's mechanical arm to transmit infrared rays to the infrared receiving monitoring device; the infrared receiving monitoring device is installed at a target position, and includes an infrared receiving circuit, a first signal amplifying circuit, a coupling circuit, a detection circuit, a filtering circuit, a second signal amplifying circuit, a first signal indicating circuit, a resonant circuit, a second signal indicating circuit and a first power supply, wherein the first signal indicating circuit is used to indicate the working state of the second signal amplifying circuit, the resonant circuit is used to form a resonant signal for driving the second signal indicating circuit to work according to the signal output by the second signal amplifying circuit, and the first power supply is used to provide electric energy. The present invention has the advantages of simple structure, low cost, and easy popularization and application. Compared with the prior art, it can greatly reduce the testing cost.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot monitoring system. Background Art

[0002] With the rapid development of science and technology, various robots have gradually appeared in people's vision. These robots can assist or even replace humans to complete dangerous, heavy and complex work. The use of robots can improve work efficiency and quality, expand or extend the scope of human activities and capabilities, and improve people's quality of life. For example, in the field of factory automation, image processing is used to calculate the relative position and posture of the workpiece relative to the robot based on the image obtained by shooting the workpiece. Based on the calculated results, the target position and target posture of the robot used to hold the workpiece are calculated, thereby controlling the robot arm to pick up the workpiece. Whether the robot arm picks up the workpiece well usually depends on whether the various joints of the robot arm are rotated in place. At present, researchers in this field usually test the robot arm by placing the robot on a simulated production line, so the testing cost is high. Summary of the invention

[0003] The technical problem solved by the present invention is to provide a robot monitoring system which can reduce the testing cost.

[0004] The present invention provides a robot monitoring system, which comprises an infrared transmitting device and an infrared receiving monitoring device. The infrared transmitting device is used to be installed at the mechanical arm of the robot to transmit infrared rays to the infrared receiving monitoring device; the infrared receiving monitoring device is installed at the target position, and comprises an infrared receiving circuit, a first signal amplifying circuit, a coupling circuit, a detection circuit, a filtering circuit, a second signal amplifying circuit, a first signal indicating circuit, a resonant circuit, a second signal indicating circuit and a first power supply. The infrared receiving circuit is used to convert the optical signal emitted by the infrared transmitting device into a trigger signal, the first signal amplifying circuit is used to amplify the trigger signal, the coupling circuit is used to couple the amplified signal to the detection circuit, the detection circuit is used to send the signal coupled by the coupling circuit to the second signal amplifying circuit, the filtering circuit is used to filter the signal output by the detection circuit, the first signal indicating circuit is used to indicate the working state of the second signal amplifying circuit, the resonant circuit is used to form a resonant signal for driving the second signal indicating circuit to work according to the signal output by the second signal amplifying circuit, and the first power supply is used to provide electric energy.

[0005] In one embodiment, the infrared emitting device includes a push button switch, a microprocessor, a first resistor, an infrared light emitting diode and a second power supply, the push button switch is electrically connected to the microprocessor, the first end of the first resistor is electrically connected to the microprocessor, the second end of the first resistor is electrically connected to the first end of the infrared light emitting diode, the second end of the infrared light emitting diode is grounded, and the second power supply is electrically connected to the push button switch and the microprocessor.

[0006] In one embodiment, the infrared receiving circuit includes an infrared receiving diode and a second resistor, wherein a first end of the infrared receiving diode is electrically connected to the first power supply, a second end of the infrared receiving diode is connected to a first end of the second resistor, and a second end of the second resistor is grounded;

[0007] The first signal amplifying circuit includes a first transistor and a third resistor, the collector of the first transistor is electrically connected to the first power supply, the base of the first transistor is electrically connected to the second end of the infrared receiving diode, the emitter of the first transistor is electrically connected to the first end of the third resistor; the second end of the third resistor is grounded.

[0008] In one embodiment, the coupling circuit includes a first capacitor, a first end of the first capacitor is electrically connected to a first end of the first signal amplifying circuit, and a second end of the first capacitor is electrically connected to the detection circuit.

[0009] In one embodiment, the detection circuit includes a first rectifier diode and a second rectifier diode, the first end of the first rectifier diode is electrically connected to the second end of the first capacitor, and the second end of the first rectifier diode is grounded; the first end of the second rectifier diode is electrically connected to the first end of the first rectifier diode, and the second end of the second rectifier diode is electrically connected to the filter circuit.

[0010] In one embodiment, the filtering circuit includes a second capacitor, a first end of the second capacitor is electrically connected to a second end of the second rectifier diode, and a second end of the second capacitor is grounded.

[0011] In one embodiment, the second signal amplifying circuit includes a fourth resistor and a second transistor, the first end of the fourth resistor is electrically connected to the second end of the second rectifier diode, and the second end of the fourth resistor is electrically connected to the base of the second transistor; the collector of the second transistor is electrically connected to the first signal indication circuit and the resonant circuit; the emitter of the second transistor is grounded.

[0012] In one embodiment, the first signal indication circuit includes a fifth resistor and a first light-emitting diode, the first end of the fifth resistor is electrically connected to the first power supply, the second end of the fifth resistor is electrically connected to the first end of the first light-emitting diode; the second end of the first light-emitting diode is electrically connected to the collector of the second transistor.

[0013] In one embodiment, the resonant circuit includes a sixth resistor, a seventh resistor, a third rectifier diode, a third transistor, a fourth transistor, and a third capacitor. The first end of the sixth resistor is electrically connected to the first power supply, and the second end of the sixth resistor is electrically connected to the first end of the third rectifier diode; the first end of the seventh resistor is electrically connected to the first end of the third capacitor, and the second end of the seventh resistor is electrically connected to the second end of the sixth resistor; the second end of the third rectifier diode is electrically connected to the second end of the first light-emitting diode and the collector of the second transistor; the base of the third transistor is electrically connected to the second end of the seventh resistor, the collector of the third transistor is electrically connected to the base of the fourth transistor, and the emitter of the third transistor is grounded; the emitter of the fourth transistor is electrically connected to the first power supply, and the collector of the fourth transistor is electrically connected to the second end of the third capacitor; the second end of the third capacitor is electrically connected to the second signal indication circuit.

[0014] In one embodiment, the second signal indication circuit includes a second light emitting diode, and the second light emitting diode emits red light when in operation.

[0015] The present invention has the following beneficial effects: through the ingenious cooperation between the infrared emitting device and the infrared receiving monitoring device, when the robot needs to be tested, the infrared emitting device is installed at the robot's mechanical arm, and the infrared receiving device is installed at the target position. When the mechanical arm moves according to a preset program and moves with the infrared emitting device to a position corresponding to the target position, the infrared receiving circuit receives the signal sent by the infrared emitting device, thereby triggering the first signal indicating circuit to send out an in-place prompt signal, otherwise only the second signal indicating circuit is seen to send out an out-of-place signal, thereby achieving the purpose of testing. The present invention has the advantages of simple structure, low cost, and easy promotion and application. Compared with the prior art, it can greatly reduce the testing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a first embodiment of the robot monitoring system of the present invention.

[0017] Figure 2 for Figure 1 Shown is a circuit diagram of the robot monitoring system of the present invention.

[0018] Figure 3This is a circuit diagram of a rectifier circuit of a second embodiment of the robot monitoring system of the present invention. DETAILED DESCRIPTION

[0019] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that, if there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0020] Example 1

[0021] See also Figure 1 and Figure 2 The present invention discloses a robot monitoring system, which includes an infrared emitting device 100 and an infrared receiving monitoring device 200. The infrared emitting device 100 is used to be installed at the robot's mechanical arm to emit infrared rays to the infrared receiving monitoring device 200. The infrared emitting device 100 includes a key switch K, a microprocessor U, a first resistor R1, an infrared light emitting diode P1 and a second power supply Vcc1. The key switch K is electrically connected to the microprocessor U, the first end of the first resistor R1 is electrically connected to the microprocessor U, the second end of the first resistor R1 is electrically connected to the first end of the infrared light emitting diode P1, the second end of the infrared light emitting diode P1 is grounded, and the second power supply Vcc1 is electrically connected to the key switch K and the microprocessor U. When the key switch K is pressed, the microprocessor U sends a pulse electrical signal to the infrared light emitting diode P1, so that the infrared light emitting diode P1 emits an infrared light signal. In actual use, the infrared emitting device 100 can be installed at the robot's mechanical arm by magnet adsorption, so it is easy to use.

[0022] The infrared receiving monitoring device 200 is installed at the target position, and includes an infrared receiving circuit 1, a first signal amplifying circuit 2, a coupling circuit 3, a detection circuit 4, a filtering circuit 5, a second signal amplifying circuit 6, a first signal indicating circuit 7, a resonant circuit 8, a second signal indicating circuit 9 and a first power supply Vcc2. The infrared receiving circuit 1 is used to convert the optical signal emitted by the infrared emitting device 100 into a trigger signal. The first signal amplifying circuit 2 is used to amplify the trigger signal. The coupling circuit 3 is used to couple the amplified signal to the detection circuit 4. The detection circuit 4 is used to send the signal coupled by the coupling circuit 3 to the second signal amplifying circuit 6. The filtering circuit 5 is used to filter the signal output by the detection circuit 4. The first signal indicating circuit 7 is used to indicate the working state of the second signal amplifying circuit 6. The resonant circuit 8 is used to form a resonant signal that drives the second signal indicating circuit 9 to work according to the signal output by the second signal amplifying circuit 6. The first power supply Vcc2 is used to provide electrical energy.

[0023] In this embodiment, the infrared receiving circuit 1 includes an infrared receiving diode P2 and a second resistor R2, wherein a first end of the infrared receiving diode P2 is electrically connected to the first power supply Vcc2, a second end of the infrared receiving diode P2 is connected to a first end of the second resistor R2, and a second end of the second resistor R2 is grounded. After receiving the pulse signal sent by the infrared light emitting diode P1, the infrared receiving diode P2 converts it into a fluctuating electrical signal and outputs it.

[0024] The first signal amplifying circuit 2 includes a first transistor Q1 and a third resistor R3, wherein the collector of the first transistor Q1 is electrically connected to the first power supply Vcc2, the base of the first transistor Q1 is electrically connected to the second end of the infrared receiving diode P2, and the emitter of the first transistor Q1 is electrically connected to the first end of the third resistor R3; the second end of the third resistor R3 is grounded. When the infrared receiving diode P2 receives the pulse signal sent by the infrared light emitting diode P1, the signal formed by the first transistor Q1 is amplified, and a pulse voltage is formed at the end of the third resistor R3. That is to say, the pulse signal is the trigger signal.

[0025] The coupling circuit 3 includes a first capacitor C1, a first end of the first capacitor C1 is electrically connected to a first end of the first signal amplifying circuit 2, and a second end of the first capacitor C1 is electrically connected to the detection circuit 4. The coupling circuit 3 has filtering and isolation functions, and the signal can be transmitted to the detection circuit 4 through the coupling of the first capacitor C1.

[0026] The detection circuit 4 includes a first rectifier diode D1 and a second rectifier diode D2, wherein a first end of the first rectifier diode D1 is electrically connected to a second end of the first capacitor C1, and a second end of the first rectifier diode D1 is grounded; a first end of the second rectifier diode D2 is electrically connected to a first end of the first rectifier diode D1, and a second end of the second rectifier diode D2 is electrically connected to the filter circuit 5. The filter circuit 5 includes a second capacitor C2, wherein a first end of the second capacitor C2 is electrically connected to a second end of the second rectifier diode D2, and a second end of the second capacitor C2 is grounded.

[0027] The second signal amplifying circuit 6 includes a fourth resistor R4 and a second transistor Q2, the first end of the fourth resistor R4 is electrically connected to the second end of the second rectifier diode D2, and the second end of the fourth resistor R4 is electrically connected to the base of the second transistor Q2; the collector of the second transistor Q2 is electrically connected to the first signal indicating circuit 7 and the resonant circuit 8; the emitter of the second transistor Q2 is grounded.

[0028] The first signal indication circuit 7 includes a fifth resistor R5 and a first light emitting diode M1, wherein the first end of the fifth resistor R5 is electrically connected to the first power supply, and the second end of the fifth resistor R5 is electrically connected to the first end of the first light emitting diode M1; the second end of the first light emitting diode M1 is electrically connected to the collector of the second transistor Q2. When the infrared receiving diode P2 receives the pulse signal sent by the infrared light emitting diode P1, it is filtered by the filtering circuit 5 and becomes a smoother DC voltage, thereby making the first light emitting diode M1 emit light to indicate that the robot arm can move normally to the preset position, i.e., the test is qualified. In this embodiment, the light emitted by the first light emitting diode M1 is green light, which conforms to the user's usage habits.

[0029] The resonant circuit 8 includes a sixth resistor R6, a seventh resistor R7, a third rectifier diode D3, a third transistor Q3, a fourth transistor Q4, and a third capacitor C3. The first end of the sixth resistor R6 is electrically connected to the first power supply, and the second end of the sixth resistor R6 is electrically connected to the first end of the third rectifier diode D3; the first end of the seventh resistor R7 is electrically connected to the first end of the third capacitor C3, and the second end of the seventh resistor R7 is electrically connected to the second end of the sixth resistor R6; the second end of the third rectifier diode D3 is electrically connected to the second end of the first light-emitting diode M1 and the collector of the second transistor Q2.

[0030] The base of the third transistor Q3 is electrically connected to the second end of the seventh resistor R7, the collector of the third transistor Q3 is electrically connected to the base of the fourth transistor Q4, and the emitter of the third transistor Q3 is grounded; the emitter of the fourth transistor Q4 is electrically connected to the first power supply, and the collector of the fourth transistor Q4 is electrically connected to the second end of the third capacitor C3; the second end of the third capacitor C3 is electrically connected to the second signal indication circuit 9. The second signal indication circuit 9 includes a second light emitting diode M2, which emits red light when working. It can be understood that when the infrared receiving monitoring device 200 is working, the second light emitting diode M2 ​​keeps emitting a continuously flashing red light until the infrared receiving monitoring device 200 receives the infrared pulse signal, and then the second light emitting diode M2 ​​goes out. This method is more convenient for testers to distinguish.

[0031] Example 2

[0032] See also Figure 3, the structure of this embodiment is similar to that of embodiment 1, except that: the rectifier circuit of this embodiment includes a first operational amplifier A1, a second operational amplifier A2, a fourth rectifier diode D4, a fifth rectifier diode D5, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11 and a twelfth resistor R12, the anode of the fourth rectifier diode D4 is electrically connected to the output end of the first operational amplifier A1, and the cathode of the fourth rectifier diode D4 is electrically connected to the reverse input end of the first operational amplifier A1; the anode of the fifth rectifier diode D5 is electrically connected to the first end of the tenth resistor R10, and the cathode of the fifth rectifier diode D5 is electrically connected to the output end of the first operational amplifier A1;

[0033] The first end of the eighth resistor R8 is electrically connected to the coupling circuit 3, the second end of the eighth resistor R8 is electrically connected to the reverse input end of the first operational amplifier A1, and the forward input end of the first operational amplifier A1 is grounded; the first end of the ninth resistor R9 is electrically connected to the second end of the eighth resistor R8, the second end of the ninth resistor R9 is electrically connected to the first end of the tenth resistor R10, the second end of the tenth resistor R10 is electrically connected to the first end of the twelfth resistor R12 and the reverse input end of the second operational amplifier A2, the forward input end of the second operational amplifier A2 is grounded, the output end of the second operational amplifier A2 is electrically connected to the second end of the twelfth resistor R12 and the second signal amplification circuit 6, the first end of the eleventh resistor R11 is electrically connected to the coupling circuit 3, and the second end of the eleventh resistor R11 is electrically connected to the first end of the twelfth resistor R12. The output of the rectifier circuit is equal to the absolute value of the input, so it has the advantage of precise rectification and better avoids misjudgment.

[0034] In summary, the present invention, through the ingenious cooperation between the infrared emitting device 100 and the infrared receiving monitoring device 200, when the robot needs to be tested, the infrared emitting device 100 is installed at the robot's mechanical arm, and the infrared receiving device is installed at the target position. When the mechanical arm moves according to the preset program and moves with the infrared emitting device 100 to the position corresponding to the target position, the infrared receiving circuit 1 receives the signal sent by the infrared emitting device 100, thereby triggering the first signal indicating circuit 7 to send out an in-place prompt signal, otherwise only the second signal indicating circuit 9 is seen to send out an out-of-place signal, thereby achieving the purpose of testing. The present invention has the advantages of simple structure, low cost, and easy promotion and application. Compared with the prior art, it can greatly reduce the testing cost.

[0035] The robot monitoring system provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification is only an implementation method of the present invention, and does not limit the patent scope of the present invention. All equivalent structures or equivalent process changes made using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, are included in the patent protection scope of the present invention and should not be understood as limitations on the present invention.

Claims

1. A robot monitoring system, characterized in that: It comprises an infrared transmitting device and an infrared receiving monitoring device, wherein the infrared transmitting device is used to be installed at the mechanical arm of the robot to transmit infrared rays to the infrared receiving monitoring device; the infrared receiving monitoring device is installed at the target position, and comprises an infrared receiving circuit, a first signal amplifying circuit, a coupling circuit, a detection circuit, a filtering circuit, a second signal amplifying circuit, a first signal indicating circuit, a resonant circuit, a second signal indicating circuit and a first power supply, wherein the infrared receiving circuit is used to convert the optical signal emitted by the infrared transmitting device into a trigger signal, the first signal amplifying circuit is used to amplify the trigger signal, the coupling circuit is used to couple the amplified signal to the detection circuit, the detection circuit is used to send the signal coupled by the coupling circuit to the second signal amplifying circuit, the filtering circuit is used to filter the signal output by the detection circuit, the first signal indicating circuit is used to indicate the working state of the second signal amplifying circuit, the resonant circuit is used to form a resonant signal that drives the second signal indicating circuit to work according to the signal output by the second signal amplifying circuit, and the first power supply is used to provide electric energy; The second signal indicating circuit includes a second light emitting diode, which emits red light when in operation; when the infrared receiving monitoring device is in operation, the second light emitting diode continuously emits a flashing red light until the infrared receiving monitoring device receives an infrared pulse signal, and then the second light emitting diode goes out; The robot monitoring system further includes a rectifier circuit, which includes a first operational amplifier, a second operational amplifier, a fourth rectifier diode, a fifth rectifier diode, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor and a twelfth resistor, wherein an anode of the fourth rectifier diode is electrically connected to an output terminal of the first operational amplifier, and a cathode of the fourth rectifier diode is electrically connected to a reverse input terminal of the first operational amplifier; an anode of the fifth rectifier diode is electrically connected to a first end of the tenth resistor, and a cathode of the fifth rectifier diode is electrically connected to an output terminal of the first operational amplifier; The first end of the eighth resistor is electrically connected to the coupling circuit, the second end of the eighth resistor is electrically connected to the inverting input terminal of the first operational amplifier, and the positive input terminal of the first operational amplifier is grounded; the first end of the ninth resistor is electrically connected to the second end of the eighth resistor, the second end of the ninth resistor is electrically connected to the first end of the tenth resistor, the second end of the tenth resistor is electrically connected to the first end of the twelfth resistor and the inverting input terminal of the second operational amplifier, the positive input terminal of the second operational amplifier is grounded, the output terminal of the second operational amplifier is electrically connected to the second end of the twelfth resistor and the second signal amplification circuit, the first end of the eleventh resistor is electrically connected to the coupling circuit, and the second end of the eleventh resistor is electrically connected to the first end of the twelfth resistor.

2. The robot monitoring system according to claim 1, characterized in that: The infrared emitting device includes a key switch, a microprocessor, a first resistor, an infrared light emitting diode and a second power supply. The key switch is electrically connected to the microprocessor, the first end of the first resistor is electrically connected to the microprocessor, the second end of the first resistor is electrically connected to the first end of the infrared light emitting diode, the second end of the infrared light emitting diode is grounded, and the second power supply is electrically connected to the key switch and the microprocessor.

3. The robot monitoring system according to claim 1 or 2, characterized in that: The infrared receiving circuit comprises an infrared receiving diode and a second resistor, wherein a first end of the infrared receiving diode is electrically connected to the first power supply, a second end of the infrared receiving diode is connected to a first end of the second resistor, and a second end of the second resistor is grounded; The first signal amplifying circuit includes a first transistor and a third resistor, the collector of the first transistor is electrically connected to the first power supply, the base of the first transistor is electrically connected to the second end of the infrared receiving diode, the emitter of the first transistor is electrically connected to the first end of the third resistor; the second end of the third resistor is grounded.

4. The robot monitoring system according to claim 1 or 2, characterized in that: The coupling circuit includes a first capacitor, a first end of the first capacitor is electrically connected to a first end of the first signal amplifying circuit, and a second end of the first capacitor is electrically connected to the detection circuit.

5. The robot monitoring system according to claim 4, characterized in that: The detection circuit includes a first rectifier diode and a second rectifier diode, the first end of the first rectifier diode is electrically connected to the second end of the first capacitor, and the second end of the first rectifier diode is grounded; the first end of the second rectifier diode is electrically connected to the first end of the first rectifier diode, and the second end of the second rectifier diode is electrically connected to the filter circuit.

6. The robot monitoring system according to claim 5, characterized in that: The filter circuit includes a second capacitor, a first end of the second capacitor is electrically connected to a second end of the second rectifier diode, and a second end of the second capacitor is grounded.

7. The robot monitoring system according to claim 5, characterized in that: The second signal amplifying circuit includes a fourth resistor and a second transistor, the first end of the fourth resistor is electrically connected to the second end of the second rectifier diode, and the second end of the fourth resistor is electrically connected to the base of the second transistor; the collector of the second transistor is electrically connected to the first signal indication circuit and the resonant circuit; the emitter of the second transistor is grounded.

8. The robot monitoring system according to claim 7, characterized in that: The first signal indication circuit includes a fifth resistor and a first light-emitting diode, wherein the first end of the fifth resistor is electrically connected to the first power supply, the second end of the fifth resistor is electrically connected to the first end of the first light-emitting diode; and the second end of the first light-emitting diode is electrically connected to the collector of the second transistor.

9. The robot monitoring system according to claim 8, characterized in that: The resonant circuit includes a sixth resistor, a seventh resistor, a third rectifier diode, a third transistor, a fourth transistor, and a third capacitor. The first end of the sixth resistor is electrically connected to the first power supply, and the second end of the sixth resistor is electrically connected to the first end of the third rectifier diode; the first end of the seventh resistor is electrically connected to the first end of the third capacitor, and the second end of the seventh resistor is electrically connected to the second end of the sixth resistor; the second end of the third rectifier diode is electrically connected to the second end of the first light-emitting diode and the collector of the second transistor; the base of the third transistor is electrically connected to the second end of the seventh resistor, the collector of the third transistor is electrically connected to the base of the fourth transistor, and the emitter of the third transistor is grounded; the emitter of the fourth transistor is electrically connected to the first power supply, and the collector of the fourth transistor is electrically connected to the second end of the third capacitor; the second end of the third capacitor is electrically connected to the second signal indication circuit.

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