A robot torque monitoring method and system

Abstract

The application discloses a robot torque monitoring method and system, comprising: a robot generates and stores torque information through an output module; a real-time running collection module is arranged in the robot; the collection module collects the torque information of the robot through the output module; a communication connection between a monitoring module and the collection module is established, so that the monitoring module receives the torque information of the robot through the collection module; and the monitoring module generates a torque change curve based on the torque information of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot monitoring, in particular to a robot torque monitoring method and system. BACKGROUND

[0002] Torque is a special moment of force that causes an object to rotate; multiple axes of the robot use AC servo drivers to make the robot motor produce different torques, so as to realize accurate control of the position and speed of the robot; the size of the torque reflects the load state of the multiple axes of the robot. When the torque of the robot is too large, the following problems are likely to occur: motor and motor driver overload and overheating, thereby affecting accuracy and real-time performance, and even affecting service life and even burning out; mechanical structure overload, thereby affecting accuracy and even affecting service life and even damaging; overall system accuracy, service life and other indicators decrease. Therefore, robot torque control plays a crucial role in the service life and accuracy control of the robot.

[0003] INVENTION PATENT CONTENT

[0004] To solve at least one aspect of the above problem, the present application provides a robot torque monitoring method, comprising: a robot generating and storing torque information through an output module; setting a collection module running in real time in the interior of the robot; collecting torque information of the robot by the collection module through the output module; establishing a communication connection between a monitoring module and the collection module, so that the monitoring module receives the torque information of the robot through the collection module; the monitoring module generates a torque change curve based on the torque information of the robot.

[0005] Preferably, the torque information of the robot includes real-time torque information and historical torque information.

[0006] Preferably, the step of the monitoring module generating a torque change curve based on the torque information of the robot further comprises: receiving an instruction through an input unit of the monitoring module, wherein the instruction includes an instruction for receiving real-time torque information and an instruction for receiving historical torque information; the monitoring module receives the torque information of the robot based on the instruction, and generates a torque change curve based on the received torque information of the robot.

[0007] Preferably, the step of collecting the torque information of the robot by the collection module through the output module further comprises: setting a collection frequency of the collection module, so that the collection module collects the torque information of the robot according to the set collection frequency.

[0008] Preferably, the collection frequency is set to 1.5S.

[0009] Preferably, the collection module and the monitoring module establish a communication connection using an OPC communication protocol.

[0010] In another aspect, a robot torque monitoring system is provided, comprising: a robot comprising an output module for generating and storing torque information; an acquisition module arranged inside the robot for acquiring torque information of the robot; a monitoring module comprising an input unit for input of instructions, the monitoring module being in communication connection with the acquisition module, the monitoring module receiving torque information of the robot based on the input instructions and generating a torque change curve.

[0011] Preferably, the acquisition module further comprises a clock unit configured to drive the acquisition module to acquire torque information of the robot at a preset frequency.

[0012] The robot torque monitoring method and system of the embodiment of the present application have the following beneficial effects:

[0013] (1) By arranging the acquisition module inside the robot to acquire torque information of the output module, and by running the acquisition module as a background task of the running track task of the robot at all times, real-time acquisition of torque information of the robot is facilitated, and further, by communication connection between the monitoring module and the acquisition module to acquire torque information of the robot and draw a torque change curve, monitoring of the torque of the robot is realized.

[0014] (2) By arranging the acquisition module inside the robot to realize sharing with the robot processor, monitoring cost is reduced; further, by setting the acquisition frequency of the acquisition module, the occupation of the memory space of the robot processor by the acquisition module is reduced, and the normal operation of the robot is avoided from being affected by the acquisition module. BRIEF DESCRIPTION OF DRAWINGS

[0015] For better understanding of the above and other objects, features, advantages and functions of the present application, reference can be made to the embodiments shown in the drawings. The same reference numerals in the drawings refer to the same components. It should be understood by those skilled in the art that the drawings are intended to illustrate the preferred embodiments of the present application schematically, and have no limiting effect on the scope of the present application, and the components in the drawings are not drawn to scale.

[0016] Figure 1 A flowchart of a robot torque monitoring method according to an embodiment of the present application is shown;

[0017] Figure 2 A structural block diagram of a robot torque monitoring system according to an embodiment of the present application is shown.

[0018] Explanation of reference numerals:

[0019] 10, robot; 11, processor one; 12, joint; 13, output module; 14, storage unit; 20, acquisition module; 21, clock unit; 30, monitoring module; 31, processor two; 32, input unit; 33, display. DETAILED DESCRIPTION

[0020] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are included to provide a thorough understanding of embodiments of the present disclosure by a person of ordinary skill in the art, and should not be construed as a limit to the present disclosure. It will be understood that those skilled in the art can make various changes and modifications without departing from the scope and spirit of the present disclosure. Also, in the following description, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0021] The term "comprising" and variations thereof as used herein are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Unless otherwise defined, the term "or" as used herein is intended to mean "and / or", i.e., to include any and all combinations of one or more of the associated listed items. The term "based on" means "based, at least in part, on". The terms "one example embodiment" and "an example embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "a first", "a second", etc. can refer to different or the same objects. Other explicit or implicit definitions can also be included below.

[0022] To at least partially solve one or more of the above problems and other potential problems, one embodiment of the present disclosure proposes a robot torque monitoring method, comprising:

[0023] Step S1, the robot generates and stores torque information through the output module.

[0024] Specifically, as shown in Figure 1 and Figure 2 , an ABB robot is taken as an example to illustrate the robot torque monitoring method. The robot 10 includes a processor one 11 and a plurality of joints 12, wherein the plurality of joints 12 include a rotating shaft driven by a motor, the processor one 11 controls the operation of the joint 12 by driving the rotating shaft of the motor, and at the same time, the processor one 11 outputs and stores the torque information of the joint 12 by controlling the output module 13.

[0025] Step S2, an acquisition module running in real time is arranged in the robot.

[0026] By arranging the acquisition module 20 at the end of the robot 10, the acquisition module 20 is used to acquire the torque information of the robot 10 from the output information of the output module 13. The acquisition module 20 keeps running in a continuous state as a background task of the trajectory task of the joint 12 of the robot 10, so as to realize real-time acquisition of the torque information of the robot 10.

[0027] Step S3, collecting the torque information of the robot by the collecting module through the output module.

[0028] In some embodiments, the collecting module 20 is a program module with the above-mentioned functions, the collecting module 20 contains instructions for receiving the torque information of the output module 13, the collecting module 20 is arranged in the processor one 11 of the robot 10, and the collecting module 20 is run by the processor one 11 to realize the directional collection of the output data of the output module 13. In other embodiments, the collecting module 20 is a computer readable storage medium with the above-mentioned functions, the collecting module 20 is connected with the processor one 11 by being arranged inside the robot 10, and the directional collection of the output data of the output module 13 is realized by the processor one 11 by reading and running the program instructions of the collecting module 20.

[0029] Step S4, establishing a communication connection between the monitoring module and the collecting module, so that the monitoring module receives the torque information of the robot through the collecting module.

[0030] Specifically, the monitoring module 30 includes a processor two 31, an input unit 32 and a display 33, wherein the processor two 31 receives the torque information of the robot 10 through the communication connection with the collecting module 20. At the same time, the processor two 31 is electrically connected with the input unit 32 and the display 33 respectively, wherein the processor two 31 receives the input of the user instruction through the input unit 32, and the processor two 31 controls the image display of the display 33 through the electrical connection with the display 33.

[0031] Step S5, the monitoring module generates a torque change curve based on the torque information of the robot.

[0032] Specifically, the processor two 31 of the monitoring module 30 receives and processes the torque information of the robot 10, and outputs and displays the torque change curve drawn based on the torque information of the robot 10 through the display 33, so as to realize the monitoring of the torque of the robot 10 by the user. The monitoring module 30 further includes a memory, the memory includes computer instructions, and the processor two 31 realizes the processing of the torque information of the robot 10 by running the computer instructions stored in the memory, so as to generate the torque change curve. In this embodiment, the Intouch software package is stored in the memory, and the processor two 31 realizes the processing of the torque information of the robot 10 by running the Intouch software package, so as to generate the torque change curve. Those skilled in the art can understand that the processor two 31 of the monitoring module 30 is connected with the collecting module of at least one robot, the number of robots can be one, two or more, and the collecting modules of the plurality of robots are respectively connected in communication with the processor two 31 of the monitoring module 30.

[0033] In some embodiments, the torque information of the robot comprises real-time torque information and historical torque information.

[0034] The output module 11 of the robot 10 further comprises a storage unit 14 for storing the torque information generated by the output module 13, wherein the real-time torque information comprises the implemented torque information of the plurality of joints 12 of the robot 10, and the historical torque information comprises the historical torque information of the plurality of joints 12 of the robot 10, and the historical torque information further comprises the historical torque information stored at the set time interval.

[0035] In some embodiments, the step of generating the torque change curve based on the torque information of the robot by the monitoring module further comprises: receiving instructions by the input unit of the monitoring module, wherein the instructions comprise instructions for receiving the real-time torque information and instructions for receiving the historical torque information; the monitoring module receives the torque information of the robot based on the instructions, and generates the torque change curve based on the received torque information of the robot.

[0036] In particular, the monitoring module 30 comprises an output unit 32, through which a user inputs instructions for torque information monitoring of the robot 10, wherein the instructions input by the user comprise instructions for controlling the processor two 31 to receive the real-time torque information of the robot 10 and instructions for receiving the historical torque information of the robot 10. Further, the instructions input by the user further comprise instructions for receiving the real-time torque information of the specified joint 12 of the robot 10 and instructions for receiving the historical torque information of the specified joint 12 of the robot 10. In another embodiment, when the processor two 31 of the monitoring module 30 is connected to a plurality of robots, the input instructions further comprise instructions for receiving the real-time torque information of the specified robot and instructions for receiving the historical torque information of the specified robot at the specified time, so that the monitoring module 30 receives and processes the torque information of one or more specified robots according to the input instructions.

[0037] In some embodiments, the step of collecting the torque information of the robot by the output module through the collection module further comprises: setting the collection frequency of the collection module, so that the collection module collects the torque information of the robot at the set collection frequency.

[0038] In particular, as shown in Figure 2 the collection module 20 further comprises a clock unit 21 for starting the collection module 20 at a set time interval, and the clock unit 21 is run by the processor one 11, so that the processor one 11 runs the program instructions of the collection module 20 for collecting the torque information of the robot 10 within the set time interval, so as to reduce the memory occupation of the collection module 20 to the processor one 11, and avoid negative impact on the normal operation quality and efficiency of the robot 10.

[0039] In some embodiments, the collection frequency is set to 1.5S.

[0040] The clock unit 21 sets the time interval to 1.5S, that is, the processor one 11 collects the torque information of the robot 10 from the output module 13 every 1.5S when running the collection module 20. At the same time of avoiding frequent collection of torque information occupying the running memory of the processor one 11, it also avoids too long interval leading to too little collected torque information to realize accurate monitoring of the torque information of the robot 10.

[0041] In some embodiments, the collection module and the monitoring module establish a communication connection by using the OPC communication protocol.

[0042] Specifically, the collection module 20 is in communication connection with the processor two 31 of the monitoring module 30 by using the OPC (Object Linking and Embedding for Process Control, i.e. Object Linking and Embedding for Process Control) communication protocol, so as to realize receiving the torque information of the robot 10.

[0043] Another aspect of the present application provides a robot torque monitoring system, comprising: a robot, the robot comprising an output module, the output module being used for generating and storing torque information; a collection module, the collection module being arranged in the interior of the robot, the collection module being used for collecting the torque information of the robot; a monitoring module, the monitoring module comprising an input unit, the input unit being used for inputting instructions, the monitoring module being in communication connection with the collection module, the monitoring module receiving the torque information of the robot and generating a torque change curve based on the input instructions.

[0044] Specifically, as shown in Figure 2 The robot torque monitoring system comprises at least one robot 10, wherein the output module 13 of the robot 10 comprises computer instructions, the processor one 11 executes the computer instructions of the output module 13 to generate the torque information of the joint 12 of the robot 10 and / or store the torque information of the joint 12 through the storage unit 14. The collection module 20 is a computer readable medium comprising computer instructions, the collection module 20 is connected with the processor one 11, so that the processor one 11 collects the torque information generated and / or stored by the output module 13 when running the computer instructions of the collection module 20.

[0045] The monitoring module 30 comprises a processor 31, an input unit 32 and a display 33, and is communicatively connected with the robot 10 through the acquisition module 20. The monitoring module 30 further comprises a memory storing computer instructions, and the processor 31 is configured to generate a torque change curve based on the received torque information of the robot 10 when running the computer instructions stored in the memory, and display the torque change curve on the display 33. In the embodiment, the computer instructions are stored in the memory through Intouch software, and the monitoring module 30 realizes the above steps by running the Intouch software. The monitoring module 30 further comprises the input unit 32, through which a user inputs instructions, and the processor 31 receives the input instructions and receives the torque information of the robot 10 through the acquisition module 30 based on the received instructions. The input instructions include an instruction for receiving real-time torque information of a specified joint and generating a torque change curve, an instruction for receiving historical torque information of a specified joint at a specified time and generating a torque change curve, an instruction for receiving real-time torque information of multiple joints and generating torque change curves respectively, and an instruction for receiving historical torque information of multiple joints at a specified time and generating a torque change curve.

[0046] In some embodiments, the acquisition module further comprises a clock unit configured to drive the acquisition module to acquire the torque information of the robot at a preset frequency.

[0047] The clock unit 21 comprises computer instructions, and the processor 11 is configured to drive the acquisition module 20 to acquire the torque information of the robot 10 at a preset frequency when running the computer instructions of the clock unit 21. Specifically, the processor 11 drives the acquisition module 20 to acquire the torque information of the robot 10 at a preset frequency when running the computer instructions of the acquisition module 20.

[0048] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications or improvements to the technology in the market, or to enable other ordinary skilled persons in the art to understand the present disclosure.

Claims

1. A robot torque monitoring method, characterized by, The robot generates and stores torque information through an output module. A collection module is arranged inside the robot and runs in real time, and the collection module is arranged in a processor of the robot, and the processor runs the collection module to realize directional collection of output data of the output module. The collection module collects torque information of the robot through the output module, the collection frequency of the collection module is set, the collection module collects torque information of the robot according to the set collection frequency, the torque information of the robot includes real-time torque information and historical torque information, and the historical torque information further includes historical torque information stored according to a set time interval. A monitoring module is communicatively connected with the collection module, so that the monitoring module receives torque information of the robot through the collection module. The monitoring module generates a torque change curve based on the torque information of the robot, and receives an instruction through an input unit of the monitoring module, wherein the instruction includes an instruction for receiving real-time torque information and an instruction for receiving historical torque information, the monitoring module receives the torque information of the robot based on the instruction, and generates a torque change curve based on the received torque information of the robot. The collection frequency is set to 1.5S.

2. The method of claim 1, wherein, The collection module and the monitoring module are communicatively connected by using an OPC communication protocol.

3. The method of claim 1, wherein, The robot includes an output module for generating and storing torque information.

4. A robot torque monitoring system characterized by, A collection module is arranged inside the robot and runs in real time, and the collection module is arranged in a processor of the robot, and the processor runs the collection module to realize directional collection of output data of the output module. A monitoring module is communicatively connected with the collection module, so that the monitoring module receives torque information of the robot through the collection module. The monitoring module generates a torque change curve based on the torque information of the robot, and receives an instruction through an input unit of the monitoring module, wherein the instruction includes an instruction for receiving real-time torque information and an instruction for receiving historical torque information, the monitoring module receives the torque information of the robot based on the instruction, and generates a torque change curve based on the received torque information of the robot. ​

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