An end mechanism and flexible robot for life prediction

Abstract

The present invention provides a terminal mechanism and a flexible robot for life prediction experiments, which are arranged on a robot body and include: a terminal part connected to an execution end of the robot body, the terminal part can move and rotate in the horizontal and vertical directions; a fault simulation workpiece is used to simulate fracture and relaxation experiments; a fixed support part arranged on the terminal part, the fixed support part is used to fix and support the fault simulation workpiece; a first data acquisition component arranged on the terminal part, the first data acquisition component is used to collect acceleration and posture signals of the terminal part, and output the collected signals as reference signals; a second data acquisition component is arranged on the fault simulation workpiece, the second data acquisition component is used to collect acceleration and posture signals of the terminal of the fault simulation workpiece, and output the collected signals as workpiece life prediction signals. The present invention has the characteristics of strong adaptability, high experimental efficiency, accelerated experimental process, increased data acquisition dimension, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot state monitoring and fault diagnosis, and in particular to an end mechanism and a flexible robot for predicting the life of a robot. Background Art

[0002] With the development of science and technology and the progress of production technology, contemporary equipment is increasingly developing towards large-scale, complex, automated and intelligent directions. In order to ensure the safety and reliability of equipment, the remaining life prediction technology is in urgent need of development. With the continuous development of science and technology, robotics technology has been widely used in more and more fields. At present, more and more robots have been applied to different places such as factories, shopping malls and homes. Compared with traditional manual and mechanical equipment, robots have many advantages such as high intelligence, low management difficulty and high economic benefits. However, in the face of increasingly complex social needs, the scale of many robot systems has become larger and larger, and the integration of the system has become higher and higher. Therefore, once the robot has an unexpected failure or its performance deteriorates due to use beyond the expected life, it may seriously damage the interests of users. In order to solve these hidden dangers in the operation and maintenance of robots, it is necessary to effectively evaluate the operating status of the robot and accurately predict the life of the robot.

[0003] After searching, it was found that the Chinese patent with publication number CN110757510A proposed a method and system for predicting the remaining life of a robot. The system uses the DTW algorithm and matching library to establish a prediction model for the robot dynamics, and uses the XGBoost algorithm for multi-step regression prediction to improve the prediction efficiency and accuracy; the Chinese invention patent with publication number CN110044609A proposed a life prediction system for a robot reducer. The system realizes the numerical acquisition of the precision cycloid reducer through a certain mechanical design, and analyzes the collected data through the corresponding signal processing method, thereby indirectly predicting the life of the robot reducer. The simulation predicts the life limit of the precision cycloid reducer; the Chinese patent with publication number CN108363836A proposes a multi-condition adaptive industrial robot health assessment method and system. The system effectively realizes the prediction of the service life and health assessment of the industrial robot through steps such as data collection, feature matching and establishment of association models for the industrial robot; the invention patents with publication numbers CN109849055A and CN109719756A propose a system and device for predicting the life of the robot cable harness, which effectively realizes the accurate prediction of the robot cable life.

[0004] However, most of the above-mentioned systems for predicting the life of robots focus on predicting the life of the robot's cables, reducers and other structures, and basically do not involve the life prediction of the robot's end effector. The end effector plays a very important role in the operation and work of the robot, and is also an important part of the robot's maintenance work. Therefore, it is necessary to develop a system that can quickly and accurately predict the life of the robot's end effector.

[0005] In the process of life prediction, it is often necessary to conduct experimental calibration on the object to be measured to clarify the state curve of the entire life cycle. This process is tedious and lengthy. In addition, the equipment used for special life prediction itself has poor adaptability and cannot be universally used for different workpieces.

[0006] Therefore, a flexible robot end mechanism for life prediction is proposed to improve this aspect. Summary of the invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide an end mechanism and a flexible robot for life prediction, so as to solve the problems existing in the existing life prediction experiment process, such as poor equipment adaptability, long experiment time, insufficient experimental data and low experimental efficiency.

[0008] The first aspect of the present invention provides a flexible robot end mechanism for life prediction experiment, which is arranged on a robot body and includes:

[0009] The end portion is connected to the execution end of the robot body, and the end portion can move in the horizontal direction, the vertical direction and perform rotational motion;

[0010] The end portion is arranged on the body of the robot to be tested, and the end portion can move in the horizontal direction, the vertical direction and perform rotational motion;

[0011] A fault simulation workpiece disposed on the end portion, the fault simulation workpiece being used to simulate fracture and relaxation experiments;

[0012] A fixed support portion provided on the terminal portion, the fixed support portion being used to fixedly support the fault simulation workpiece;

[0013] A first data acquisition component disposed on the terminal portion, the first data acquisition component is used to collect acceleration and posture signals of the terminal portion, and output the collected signals as reference signals;

[0014] A second data acquisition component is arranged on the fault simulation workpiece, and is used to collect acceleration and posture signals of the end of the fault simulation workpiece, and output the collected signals as workpiece life prediction signals.

[0015] Preferably, the fixed support portion comprises:

[0016] A first support disposed on the lower end surface of the terminal portion;

[0017] An upper cover disposed on the first support, wherein the upper cover and the first support are mutually clamped to fix the first data acquisition component;

[0018] A second support is disposed below the first support and connected to the terminal portion.

[0019] Preferably, the fault simulation artifact comprises:

[0020] A fracture test workpiece, wherein the fracture test workpiece is arranged on the outer side of the upper cover and fixed to the first support by a fixing bolt, and the fixing bolt is orthogonal to the direction of the second support, so that the force directions of the fracture test workpiece and the relaxation test workpiece are orthogonal and completely decoupled; a fracture test workpiece test point is arranged on the fracture test workpiece;

[0021] A relaxation test workpiece, wherein the relaxation test workpiece is connected to the second support; and a relaxation test workpiece test point is provided on the relaxation test workpiece;

[0022] a first workpiece counterweight, the first workpiece counterweight being connected to the fracture test workpiece;

[0023] A second workpiece counterweight is connected to the relaxation test workpiece.

[0024] Preferably, the number of the fracture test workpieces is two, and the two fracture test workpieces are bilaterally symmetrical;

[0025] The number of the relaxation test workpieces is three, and the three relaxation test workpieces are located in the same plane, wherein one relaxation test workpiece is distributed at 90 degrees with two adjacent relaxation test workpieces.

[0026] Preferably, the second data acquisition component includes:

[0027] First sensors are respectively arranged on the two fracture test workpieces, and the first sensors arranged on the two fracture test workpieces are located in the same plane;

[0028] The second sensors are respectively arranged on the three relaxation test workpieces, and the second sensors arranged on the three relaxation test workpieces are located in the same plane.

[0029] Preferably, the first sensor and the second sensor are respectively fixed to the fracture test workpiece and the relaxation test workpiece through a connector or an adhesive.

[0030] A second aspect of the present invention provides a flexible robot, comprising the above-mentioned end mechanism for life prediction experiment and a mechanical arm assembly, wherein the end of the mechanical arm assembly is connected to the end portion of the end mechanism.

[0031] Preferably, the flexible robot comprises:

[0032] A support base for supporting upper components;

[0033] A base for mounting the mechanical arm assembly is arranged on the support seat, and a vibration-damping component for reducing vibration is arranged between the base and the support seat.

[0034] Preferably, the mechanical arm assembly comprises:

[0035] A first mechanical arm is disposed on the base, one end of the first mechanical arm is connected to the base to form a first rotation pair;

[0036] A second mechanical arm is arranged above the first mechanical arm, one end of the second mechanical arm is connected to the other end of the first mechanical arm to form a second rotation pair;

[0037] The third mechanical arm is arranged at the other end of the second mechanical arm, and the third mechanical arm is arranged vertically along the second mechanical arm and connected therewith to form a third rotation pair, and the third mechanical arm can move along the vertical direction.

[0038] Preferably, the support seat, the base, the first mechanical arm, and the second mechanical arm are arranged parallel to each other, and are orthogonal to the third mechanical arm;

[0039] The rotation axis of the first rotation pair, the rotation axis of the second rotation pair, and the rotation axis of the third rotation pair are parallel to each other.

[0040] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0041] The above mechanism of the present invention is the first to propose a structural improvement of a dedicated life prediction machine based on a robot, which meets complex working conditions and improves the universality and practicality of the equipment.

[0042] The above mechanism of the present invention can load two kinds of experimental workpieces at the end of a robot at the same time, and can load multiple experimental workpieces at the same time, thereby reducing the cost of the experiment and improving the experimental efficiency.

[0043] The above mechanism of the present invention carries a counterweight on the experimental workpiece to accelerate the life cycle of the workpiece, thereby shortening the experimental time and facilitating rapid production of results.

[0044] The above mechanism of the present invention increases the dimension of data collection by arranging multiple sensors on the experimental workpiece and the end of the robot, thereby solving the problem of insufficient data during the life prediction experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0046] Figure 1 It is a schematic structural diagram of an end mechanism for life prediction experiment according to a preferred embodiment of the present invention;

[0047] Figure 2 A flexible robot according to a preferred embodiment of the present invention;

[0048] The marks in the figure are respectively represented as: support seat 1, base 2, first robotic arm 3, second robotic arm 4, third robotic arm 5, end portion 6, first support 7, upper cover 8, first fixing bolt 9, second support 10, first data acquisition component 11, first sensor 12B, second sensor 12A, fracture test workpiece 13, relaxation test workpiece 14, first workpiece counterweight 15A, second workpiece counterweight 15B, fracture test workpiece test point 16, relaxation test workpiece test point 17. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] Reference Figure 1 As shown, it is a schematic diagram of the structure of the end mechanism for life prediction experiment of a preferred embodiment of the present invention, which includes: a terminal part connected to the execution end of the robot body, a fault simulation workpiece, a fixed support part, a first data acquisition component 11 and a second data acquisition component. The robot body can enable the terminal part to move in the horizontal direction, the vertical direction and rotate.

[0051] Fault simulation workpieces are used to simulate fracture and relaxation experiments.

[0052] The fixed support portion is connected to the terminal portion 6 and is used to fixedly support the fault simulation workpiece so that the fault simulation workpiece is connected to the terminal portion.

[0053] The first data acquisition component 11 is disposed at the terminal 6 and is used to collect the acceleration and posture of the terminal 6. The collected data is output to a computer of an external terminal and used as a reference signal for life prediction. The first data acquisition component 11 may be a terminal sensor.

[0054] The second data acquisition component is arranged on the fault simulation workpiece, and is used to collect the acceleration and posture of the end of the fault simulation workpiece, and the collected data is output to the computer and used as the workpiece life prediction signal for life prediction.

[0055] The reference signal and workpiece life prediction signal collected by the first data acquisition component 11 and the second data acquisition component are output to the computer of the terminal. The computer uses the training model identified by the user according to the required fault mode to make a comprehensive judgment on the reference signal and the workpiece life prediction signal, thereby determining the remaining life of the workpiece.

[0056] The terminal mechanism for life prediction experiment proposed in this embodiment solves the problems existing in the existing life prediction experiment process, such as poor equipment adaptability, long experiment time, insufficient experiment data, and low experiment efficiency.

[0057] In other preferred embodiments, the fixed support portion includes: a first support 7, an upper cover 8 and a second support 10, wherein the first support 7 is arranged on the lower end surface of the terminal portion; the upper cover 8 is arranged on the first support 7, in plane contact with the first support 7, and the first data acquisition component 11 is fixed by the mutual clamping of the upper cover 8 and the first support 7 under the bolts; the first support 7 and the upper cover 8 are fixedly connected to the terminal portion by bolts and plane contact; the second support 10 is arranged below the first support 7 and connected to the terminal portion. As a preferred mode, the second supports 10 are distributed in a cross shape.

[0058] In some other preferred embodiments, the fault simulation workpiece includes a fracture test workpiece 13 and a relaxation test workpiece 14 .

[0059] The fracture test workpiece 13 is arranged on the outer side of the upper cover 8 and fixed to the first support 7 by the first fixing bolt 9, and the direction of the first fixing bolt 9 is orthogonal to the direction of the second support 10, so that the force direction of the fracture test workpiece 13 and the relaxation test workpiece 14 are orthogonal, and are completely decoupled; a fracture test workpiece test point 16 is provided on the fracture test workpiece 13, and the probability of fracture of the fracture test workpiece 13 is the highest at this position, which requires special attention; the first fixing bolt 9 is fixedly connected with the fracture test workpiece 13, the upper cover 8, the first support 7 and the end portion 6 by threads.

[0060] The loosening test workpiece 14 is fixed to the second support 10 by a second fixing bolt; the second support 10 is fixed to the end portion 6 by a second fixing bolt.

[0061] A relaxation test workpiece test point 17 is provided on the relaxation test workpiece 14, and the relaxation test workpiece test point 17 is located at the bolt where the relaxation test workpiece 14 is connected to the second support 10. The relaxation test workpiece test point 17 is used for the relaxation test workpiece. The probability of relaxation occurring at this position is the highest, and special attention should be paid.

[0062] The first workpiece counterweight 15A can be fixedly connected to the fracture test workpiece 13 by bolts or glue; the first workpiece counterweight 15A is used to simulate the mechanical properties of the actual workpiece and accelerate the test.

[0063] The second workpiece counterweight 15B can be fixedly connected to the relaxation test workpiece 14 by bolts or glue; the second workpiece counterweight 15B is used to simulate the mechanical properties of the actual workpiece and accelerate the test.

[0064] In other preferred embodiments, the number of the fracture test workpieces 13 is two, and the two fracture test workpieces 13 are arranged symmetrically on the left and right sides, so that the left and right halves have the same working state.

[0065] The number of the relaxation test workpieces 14 is three, and the three relaxation test workpieces 14 are located in the same plane, and one relaxation test workpiece 14 is distributed at 90 degrees with two adjacent relaxation test workpieces 14 .

[0066] In other preferred embodiments, the second data acquisition component includes: two first sensors 12B and three second sensors 12A, wherein the two first sensors 12B are respectively arranged on two fracture test workpieces 13, and the two first sensors 12B arranged on the two fracture test workpieces 13 are located in the same plane; the first sensors 12B and the fracture test workpieces 13 can be fixed by bolts or glue.

[0067] The three second sensors 12A are respectively disposed on the three relaxation test workpieces 14, and the three second sensors disposed on the three relaxation test workpieces 14 are located in the same plane. The second sensors and the relaxation test workpieces 14 can be fixed by bolts or glue.

[0068] The working process of the above-mentioned end mechanism used for life prediction experiment is as follows:

[0069] After the first data acquisition component is mounted on the end portion, and the plurality of second data acquisition components are mounted on the fracture test workpiece and the relaxation test workpiece, respectively, the fracture test workpiece and the relaxation test workpiece are mounted on the end portion by a fixed support component.

[0070] The robot is operated to drive the end portion to move, and the complete life cycle of the simulated workpiece is continuously measured through the data collected by the first data acquisition component and the second data acquisition component to obtain a full life cycle curve of the simulated workpiece.

[0071] By replacing any workpiece with the same fault simulation, the remaining life of the workpiece can be comprehensively judged through the data collected by the data acquisition component.

[0072] In another embodiment, a flexible robot is provided, referring to Figure 2 As shown, the flexible robot includes the above-mentioned end mechanism for life prediction experiment, a mechanical arm assembly, a support seat 1 and a base 2.

[0073] The end of the robot arm assembly is connected to the end portion of the end mechanism.

[0074] The support seat 1 is used to support the upper components; the lower end of the base 2 is fixed to the upper end of the support seat 1 by bolts, and the base 2 is used to install the mechanical arm assembly. A vibration reduction component is provided between the base 2 and the support seat 1 to reduce the impact of vibration.

[0075] As a preferred embodiment, the mechanical arm assembly includes a first mechanical arm 3, a second mechanical arm 4 and a third mechanical arm 5, wherein the first mechanical arm 3 is arranged on the base 2, and one end of the first mechanical arm 3 is connected to the base 2 through a bearing to form a first rotation pair. The second mechanical arm 4 is arranged above the first mechanical arm 3, and one end of the second mechanical arm 4 is connected to the other end of the first mechanical arm 3 through a bearing to form a second rotation pair. The third mechanical arm 5 is arranged at the other end of the second mechanical arm 4, and the third mechanical arm 5 is arranged vertically along the second mechanical arm 4 and connected to it through a bearing to form a third rotation pair, and the third mechanical arm 5 can move in the vertical direction, so that the third mechanical arm 5 and the second mechanical arm 4 can not only rotate relative to each other, but also move relative to each other along the fixed axis. The other end of the third mechanical arm 5 can be fixed to the end portion 6 by a bolt, that is, the end portion 6 can be driven to move synchronously by the third mechanical arm 5. The first rotation pair, the second rotation pair and the third rotation pair are all driven by a motor.

[0076] As a preferred embodiment, the support seat 1, the base 2, the first robotic arm 3, and the second robotic arm 4 are arranged parallel to each other and orthogonal to the third robotic arm 5; the rotation axis of the first rotating pair, the rotation axis of the second rotating pair, and the rotation axis of the third rotating pair are parallel to each other.

[0077] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which will not affect the essence of the present invention.

Claims

1. An end mechanism for life prediction experiment, arranged on a robot body, characterized in that: include: The end portion is connected to the execution end of the robot body, and the end portion can move in the horizontal direction, the vertical direction and perform rotational motion; A fault simulation workpiece disposed on the end portion, the fault simulation workpiece being used to simulate fracture and relaxation experiments; A fixed support portion provided on the terminal portion, the fixed support portion being used to fixedly support the fault simulation workpiece; A first data acquisition component disposed on the terminal portion, the first data acquisition component is used to collect acceleration and posture signals of the terminal portion, and output the collected signals as reference signals; a second data acquisition component disposed on the fault simulation workpiece, the second data acquisition component being used to acquire acceleration and posture signals of the end of the fault simulation workpiece, and output the acquired signals as workpiece life prediction signals; The fixed support portion comprises: A first support disposed on the lower end surface of the terminal portion; An upper cover disposed on the first support, wherein the first data acquisition component is fixed by clamping the upper cover and the first support; a second support disposed below the first support and connected to the terminal portion; The fault simulation workpiece includes: A fracture test workpiece, wherein the fracture test workpiece is arranged on the outer side of the upper cover and fixed to the first support by a fixing bolt, and the fixing bolt is orthogonal to the direction of the second support, so that the force directions of the fracture test workpiece and the relaxation test workpiece are orthogonal and completely decoupled; a fracture test workpiece test point is arranged on the fracture test workpiece; A relaxation test workpiece, wherein the relaxation test workpiece is connected to the second support; and a relaxation test workpiece test point is provided on the relaxation test workpiece; a first workpiece counterweight, the first workpiece counterweight being connected to the fracture test workpiece; A second workpiece counterweight is connected to the relaxation test workpiece.

2. The end mechanism for life prediction experiment according to claim 1, characterized in that: The number of the fracture test workpieces is two, and the two fracture test workpieces are arranged symmetrically on the left and right; The number of the relaxation test workpieces is three, and the three relaxation test workpieces are located in the same plane, wherein one relaxation test workpiece is distributed at 90 degrees with two adjacent relaxation test workpieces.

3. The end mechanism for life prediction experiment according to claim 2, characterized in that: The second data acquisition component comprises: First sensors are respectively arranged on the two fracture test workpieces, and the first sensors arranged on the two fracture test workpieces are located in the same plane; The second sensors are respectively arranged on the three relaxation test workpieces, and the second sensors arranged on the three relaxation test workpieces are located in the same plane.

4. The end mechanism for life prediction experiment according to claim 3, characterized in that: The first sensor and the second sensor are respectively fixed to the fracture test workpiece and the relaxation test workpiece through a connector or an adhesive.

5. A flexible robot, characterized in that: It comprises the end mechanism and the mechanical arm assembly for life prediction experiment as described in any one of claims 1 to 4, wherein the end of the mechanical arm assembly is connected to the end of the end mechanism.

6. The flexible robot according to claim 5, characterized in that: Also includes: A support base for supporting upper components; A base for mounting the mechanical arm assembly is arranged on the support seat, and a vibration-damping component for reducing vibration is arranged between the base and the support seat.

7. The flexible robot according to claim 6, characterized in that: The mechanical arm assembly comprises: A first mechanical arm is disposed on the base, one end of the first mechanical arm is connected to the base to form a first rotation pair; A second mechanical arm is arranged above the first mechanical arm, one end of the second mechanical arm is connected to the other end of the first mechanical arm to form a second rotation pair; The third mechanical arm is arranged at the other end of the second mechanical arm, and the third mechanical arm is arranged vertically along the second mechanical arm and connected therewith to form a third rotation pair, and the third mechanical arm can move along the vertical direction.

8. The flexible robot according to claim 7, characterized in that: The support seat, the base, the first mechanical arm, and the second mechanical arm are arranged parallel to each other and are orthogonal to the third mechanical arm; The rotation axis of the first rotation pair, the rotation axis of the second rotation pair, and the rotation axis of the third rotation pair are parallel to each other.

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