A state monitoring device and method for an industrial robot

Abstract

The present invention discloses a state monitoring device and method for an industrial robot, which are applied to the technical field of state monitoring devices for industrial robots. The device includes a bracket and a robot state monitoring system. A rotating table is arranged at the top of the bracket, and the rotating table is controlled by a first rotation drive to rotate 360 degrees on the bracket. A robotic arm is arranged on the rotating table, a first vibration sensor is installed on the rotating table, and a second vibration sensor is installed on the robotic arm. A grasping assembly is connected to the end of the robotic arm. The robot state monitoring system includes a data receiving module and a processing module. The data receiving module is used to receive signals during the operation of the robot and analyze the working state, and the processing module is used to take different measures according to the working state of the robot. This device realizes real-time monitoring of the working state of the robot during operation, timely maintenance and servicing, and avoids unnecessary production interruptions.

Description

Technical Field

[0001] The present invention belongs to the technical field of state monitoring devices for industrial robots, and particularly relates to a state monitoring device and method for industrial robots. Background Art

[0002] The intelligent transformation and upgrading of production and manufacturing have promoted the rapid development and wide application of industrial robots. Robots can tirelessly replace humans to complete operations such as handling, sorting, grinding, stacking, welding, and spraying, which not only improves production efficiency and product quality but also ensures the safety of personnel.

[0003] However, the complex electromechanical structure of industrial robots themselves and the changing working environment pose quite a challenge to maintenance work. To ensure the stable operation of industrial robots, regular maintenance is required.

[0004] The traditional robot maintenance plan arranges the robot's maintenance plan regularly according to the technical guidance when the robot leaves the factory. It does not take into account the situation that after the actual industrial robot has been running on-site for a period of time, the operating state of the robot has completely changed. For example, the phenomenon of jamming during the robot's operation will affect the work efficiency and quality, and even more seriously, there will be unnecessary interruptions. Therefore, we need to monitor the operating state of industrial robots on-site in real time.

[0005] For this reason, a state monitoring device and method for industrial robots are provided to monitor the working state of the robot in real time during operation, perform timely maintenance, avoid unnecessary production interruptions, thus ensuring the normal operation of industrial robot production and maximizing production efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide a state monitoring device and method for industrial robots for the existing logging device to solve the problems raised in the above background art.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: A state monitoring device and method for industrial robots, including a bracket and a robot state monitoring system. A rotating table is provided at the top of the bracket, and a first rotation drive is connected between the bracket and the rotating table to control the rotating table to rotate 360 degrees on the bracket through the first rotation drive;

[0008] A robotic arm is provided on the rotating table, and a second rotation drive is connected between the rotating table and the robotic arm to control the robotic arm to swing on the rotating table through the second rotation drive;

[0009] A first vibration sensor is installed on the rotating table, and a second vibration sensor is installed on the robotic arm;

[0010] A grasping component is connected to the end of the robotic arm;

[0011] The robot status monitoring system includes a data receiving module and a processing module. The data receiving module is used to receive signals during the operation of the robot and analyze the working status, and the processing module is used to take different measures according to the working status of the robot.

[0012] The present invention further illustrates that the grasping component includes a mounting bracket. The mounting bracket is of an interleaved structure and is fixedly connected to the end of the robotic arm;

[0013] Fixing rods are uniformly distributed and fixed on the top of the mounting bracket. A tension sensor is fixed inside the fixing rod, and a suction cup is fixed at the bottom of the tension sensor.

[0014] The present invention further illustrates that the circumferential sides of the bracket are respectively provided with a first working line and a second working line.

[0015] The present invention further illustrates that the data receiving module includes a path setting sub-module, a tension receiving sub-module, a vibration receiving sub-module, and an analysis sub-module. The path setting sub-module is used to set the working path of the robotic arm. The tension receiving sub-module is electrically connected to the tension sensor and is used to receive the signal of the tension sensor. The vibration receiving sub-module is electrically connected to the first vibration sensor and the second vibration sensor and is used to receive the signals of the first vibration sensor and the second vibration sensor. The analysis sub-module is used to analyze the working status of the industrial robot;

[0016] The tension receiving sub-module includes a judgment unit, and the judgment unit judges the working condition of the grasping component.

[0017] The present invention further illustrates that the processing module includes an adjustment sub-module, a warning sub-module, and a lubrication reminder sub-module. The adjustment sub-module is used to adjust the working status of the industrial robot. The warning sub-module is used for alarm, and the lubrication reminder sub-module is used to remind the staff to lubricate the industrial robot.

[0018] The present invention further illustrates that the robot status monitoring system includes the following specific steps:

[0019] S1. When the industrial robot is working, the staff sets the working path of the industrial robot in the path setting sub-module according to the actual situation, so as to move the workpiece from the first working line to the second working line;

[0020] S2. When the grasping component on the industrial robot grasps the workpiece and moves the workpiece, the tension sensor is used to judge the firmness degree during the grasping operation of the grasping component;

[0021] S3. When the industrial robot transports workpieces, a vibration sensor is used to determine whether the industrial robot vibrates;

[0022] S4. The analysis sub-module combines the vibration condition of the industrial robot and the firmness of the grasping component during grasping work to determine the working state of the industrial robot, and takes remedial measures to ensure the normal operation of the industrial robot production.

[0023] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention adopts a vibration sensor, a tension sensor, and a robot status monitoring system. When the industrial robot is working, the vibration sensor is used to monitor in real time whether the industrial robot vibrates, the tension sensor is used to monitor the firmness of the grasping component, and the robot status monitoring system is combined to analyze the working state of the industrial robot. Different states are processed differently, and direct monitoring, maintenance, and servicing are carried out during its operation to avoid unnecessary interruptions, thereby ensuring the normal operation of the industrial robot production and maximizing production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 is the present invention Figure 1 an enlarged schematic view of area A;

[0027] Figure 3 is a schematic diagram of the robot status monitoring system of the present invention;

[0028] In the figure: 1. Bracket; 2. Rotary table; 3. Manipulator; 4. First working line; 5. Second working line; 6. Grasping component; 7. Fixed rod; 8. Suction cup; 9. Mounting frame. EMBODIMENTS

[0029] The technical solution of the present invention will be further described in detail below in conjunction with the preferred embodiments and their accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0030] Please refer to Figures 1-3, the present invention provides a technical solution: a state monitoring device and method for an industrial robot, including a bracket 1 and a robot state monitoring system. A rotating table 2 is provided at the top of the bracket 1, and a first rotation drive (not shown in the figure) is connected between the bracket 1 and the rotating table 2. The rotating table 2 is controlled to rotate 360 degrees on the bracket 1 by the first rotation drive.

[0031] A robotic arm 3 is provided on the rotating table 2, and a second rotation drive (not shown in the figure) is connected between the rotating table 2 and the robotic arm 3. The robotic arm 3 is controlled to swing on the rotating table 2 by the second rotation drive.

[0032] A first vibration sensor (not shown in the figure) is installed on the rotating table 2, and a second vibration sensor (not shown in the figure) is installed on the robotic arm 3.

[0033] A grasping assembly 6 is connected to the end of the robotic arm 3.

[0034] The robot state monitoring system includes a data receiving module and a processing module. The data receiving module is used to receive the signals during the robot's work and analyze the working state, and the processing module is used to take different measures according to the robot's working state.

[0035] The grasping assembly 6 includes a mounting frame 9. The mounting frame 9 is an interleaved structure and is fixedly connected to the end of the robotic arm 3.

[0036] Fixed rods 7 are evenly distributed and fixed on the top of the mounting frame 9. A tension sensor is fixed inside the fixed rod 7. A suction cup 8 is fixed to the bottom of the tension sensor. The bottom of the suction cup 8 is connected to a gas source. Negative pressure is introduced through the gas source to suck the workpiece. When the suction cup 8 adsorbs the workpiece, the workpiece is lifted by the robotic arm 3, and the tension sensor inside the fixed rod 7 can detect the tension of the suction cup 8 on the workpiece.

[0037] A first working line 4 and a second working line 5 are respectively arranged on the periphery of the bracket 1. The workpiece on the first working line 4 can be moved to the second working line 5 through the action of the robotic arm 3.

[0038] The data receiving module includes a path setting sub-module, a tension receiving sub-module, a vibration receiving sub-module, and an analysis sub-module. The path setting sub-module is used to set the working path of the robotic arm 3. The tension receiving sub-module is electrically connected to the tension sensor and is used to receive the signal of the tension sensor. The vibration receiving sub-module is electrically connected to the first vibration sensor and the second vibration sensor and is used to receive the signals of the first vibration sensor and the second vibration sensor. The analysis sub-module is used to analyze the working state of the industrial robot;

[0039] The tension receiving sub-module includes a judgment unit, and the judgment unit judges the working condition of the grasping assembly 6.

[0040] The processing module includes an adjustment sub-module, an early warning sub-module, and a lubrication reminder sub-module. The adjustment sub-module is used to adjust the working state of the industrial robot. The early warning sub-module is used for alarm purposes. The lubrication reminder sub-module is used to remind the staff to lubricate the industrial robot.

[0041] The robot status monitoring system includes the following specific steps:

[0042] S1. When the industrial robot is working, the staff sets the working path of the industrial robot in the path setting sub-module according to the actual situation, so as to move the workpiece from the first working line 4 to the second working line 5;

[0043] Specifically, the staff measures the distance between the first working line 4 and the second working line 5, and automatically sets the working path of the industrial robot through the path setting sub-module according to the distance between the first working line 4 and the second working line 5. The operation of the first rotation drive and the second rotation drive controls the operation of the robotic arm 3 and the rotating table 2, and then the suction cup 8 on the grasping component 6 works to move the workpiece from the first working line 4 to the second working line 5, completing the workpiece handling work.

[0044] S2. When the grasping component 6 on the industrial robot grasps the workpiece and moves the workpiece, the tensile sensor is used to judge the firmness degree when the grasping component 6 is grasping the workpiece;

[0045] S3. When the industrial robot transports the workpiece, the vibration sensor is used to judge whether the industrial robot generates vibration;

[0046] S4. The analysis sub-module combines the vibration situation of the industrial robot and the firmness when the grasping component 6 is grasping the workpiece to judge the working state of the industrial robot, and takes remedial measures to ensure the normal operation of the industrial robot production.

[0047] S2 includes the following specific operation steps:

[0048] S21. When the grasping component 6 is working, start the external air source to generate negative pressure in the suction cup 8 to suck the workpiece;

[0049] S22. When the suction cup 8 sucks the workpiece and moves the workpiece, the gravity of the workpiece gives a tensile force to the tensile sensor downward, and the tensile sensor transmits the monitored signal to the tensile force receiving sub-module;

[0050] It should be noted that multiple groups of tensile sensors are set, so the tensile force receiving sub-module can receive the tensile force of each group of tensile sensors;

[0051] S23. The judgment unit is used to judge whether the workpiece grasped by the grasping component 6 is firm;

[0052] Since there are multiple sets of suction cups 8, when the suction cups 8 suck the workpiece, a pulling force will be generated, indicating that there is no problem with the working state of the suction cups 8. When the suction cups 8 suck the workpiece but no pulling force is generated, it indicates that there is a problem with the suction cups 8. By judging the number of problems with the suction cups 8, it is determined whether the workpiece grasped by the grasping assembly 6 is firm. The specific formula is as follows:

[0053]

[0054] S3 includes the following specific operation steps:

[0055] S31. The vibration sensor transmits the monitored vibration signal to the vibration receiving sub-module;

[0056] S32. The vibration receiving sub-module judges whether the industrial robot vibrates during operation;

[0057] Specifically, the staff sets the vibration levels of the industrial robot to low and high in the vibration receiving sub-module. The vibration signal transmitted by the vibration sensor that monitors in real time is compared with the set low and high states in the vibration receiving sub-module to judge the vibration level of the industrial robot during operation.

[0058] S4 includes the following specific operation steps:

[0059] S41. When the vibration level of the industrial robot is low and the firmness of the grasped workpiece is high, it indicates that the industrial robot is in a good state during work, and the handling work continues.

[0060] S42. When the vibration level of the industrial robot is low and the firmness of the grasped workpiece is medium, at this time, the adjustment sub-module controls the first rotation drive and the second rotation drive to slow down to improve the working stability of the industrial robot.

[0061] S43. When the vibration level of the industrial robot is high and the firmness of the grasped workpiece is high, a signal is transmitted to the lubrication reminder sub-module to remind the staff to add lubricating oil to ensure the working state of the industrial robot.

[0062] It should be noted that when the industrial robot vibrates at a high level, it means that the industrial robot shakes severely during operation. At this time, the pulling force sensor monitors the pulling force of the suction cup 8 in real time. If the firmness of the workpiece grasped by the grasping assembly 6 is still high in the state where the industrial robot shakes severely, it indicates that the grasping assembly 6 is not affected by the vibration intensity of the industrial robot, indicating that the quality of the grasping assembly 6 is high.

[0063] If, when the industrial robot is severely jittery, the firmness of the workpiece grasped by the grasping component 6 still drops from high level to medium level, it indicates that the grasping component 6 is affected by the vibration intensity of the industrial robot. At this time, while the staff continues the lubrication work, the working speeds of the first rotation drive and the second rotation drive are reduced to further ensure the stability of the industrial robot during lubrication.

[0064] If, when the industrial robot is severely jittery, the firmness of the workpiece grasped by the grasping component 6 drops from high level to low level, the signal is transmitted to the warning sub-module at this time to make the industrial robot give an autonomous alarm, and it is handled by the staff.

[0065] When the lubrication work is completed and the industrial robot is still jittery, it indicates that the state of the industrial robot is poor and maintenance needs to be suspended.

[0066] Through the above steps, the real-time monitoring of the state of the industrial robot during its operation is realized, different states are processed differently, and monitoring, maintenance and upkeep are directly carried out during its operation to avoid unnecessary interruptions, thereby ensuring the normal operation of the industrial robot production and maximizing the production efficiency.

[0067] It should be noted that unless the working state of the industrial robot is very poor, active interruption can be adopted. Active interruption is convenient for the staff to better arrange subsequent work.

[0068] S44. When the vibration level of the industrial robot is high and the firmness of the grasped workpiece is medium level, it indicates that the working state of the industrial robot is poor, and the signal is directly transmitted to the warning sub-module to make the industrial robot give an alarm.

[0069] Specifically, this step makes the industrial robot actively stop working instead of passively stopping working, which can reserve time for arranging subsequent work, thus achieving the effect of orderly interruption.

[0070] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the state of an industrial robot, characterized in that: The detection device of this method includes a bracket and a robot status monitoring system. A rotating table is provided at the top of the bracket. A first rotation drive is connected between the bracket and the rotating table. A first working line and a second working line are respectively arranged on the circumferential side of the bracket. A robotic arm is provided on the rotating table. A second rotation drive is connected between the rotating table and the robotic arm. A first vibration sensor is installed on the rotating table, and a second vibration sensor is installed on the robotic arm. A grasping component is connected to the end of the robotic arm. The grasping component includes a mounting frame. Fixed rods are evenly distributed and fixed on the top of the mounting frame. A tension sensor is fixed inside the fixed rod. A suction cup is fixed to the bottom of the tension sensor. The robot status monitoring system includes a data receiving module and a processing module. The data receiving module includes a path setting sub-module, a tension receiving sub-module, a vibration receiving sub-module, and an analysis sub-module. The processing module includes an adjustment sub-module, a warning sub-module, and a lubrication reminder sub-module; The method for monitoring the status of an industrial robot includes the following specific steps: S1. When the industrial robot is working, the staff sets the working path of the industrial robot in the path setting sub-module according to the actual situation, so as to move the workpiece from the first working line to the second working line; S2. When the grasping component on the industrial robot grasps the workpiece and moves the workpiece, the tension sensor is used to judge the firmness degree when the grasping component grasps the workpiece; S3. When the industrial robot transports the workpiece, the vibration sensor is used to judge whether the industrial robot generates vibration; S4. The analysis sub-module combines the vibration situation of the industrial robot and the firmness when the grasping component grasps the workpiece to judge the working state of the industrial robot, and takes remedial measures to ensure the normal operation of the industrial robot production; The S4 includes the following specific operation steps: S41. When the vibration level of the industrial robot is low and the firmness when grasping the workpiece is high, it means that the industrial robot is in a good state during work, and continue with the handling work; S42. When the vibration level of the industrial robot is low and the firmness when grasping the workpiece is medium, at this time, the adjustment sub-module controls the first rotation drive and the second rotation drive to slow down to improve the working stability of the industrial robot; S43. When the vibration level of the industrial robot is high and the firmness when grasping the workpiece is high, the signal is transmitted to the lubrication reminder sub-module to remind the staff to add lubricating oil to ensure the working state of the industrial robot; S44. When the vibration level of the industrial robot is high and the firmness when grasping the workpiece is medium, it means that the working state of the industrial robot is poor, and the signal is directly transmitted to the warning sub-module to make the industrial robot alarm.

2. The state monitoring method for an industrial robot according to claim 1, wherein: The S2 includes the following specific operation steps: S21. When the grasping component works, start the external air source to generate negative pressure in the suction cup to suck the workpiece; S22. When the suction cup sucks the workpiece and moves the workpiece, the gravity of the workpiece gives a tension to the tension sensor downward, and the tension sensor transmits the monitored signal to the tension receiving sub-module; S23. The judgment unit judges whether the workpiece grasped by the grasping component is firm.

3. The state monitoring method for an industrial robot according to claim 2, wherein: The S3 includes the following specific operation steps: S31. The vibration sensor transmits the monitored vibration signal to the vibration receiving sub-module; S32. The vibration receiving sub-module determines whether the industrial robot vibrates during operation.

4. The monitoring device for the state monitoring method of an industrial robot according to claim 3, characterized in that: The first rotation drive is used to control the turntable to rotate 360 degrees on the bracket; The second rotation drive is used to control the robotic arm to swing on the turntable; The data receiving module is used to receive the signals during the robot's work and analyze the working state, and the processing module is used to take different measures according to the robot's working state.

5. The monitoring device for the state monitoring method of an industrial robot according to claim 4, characterized in that: The mounting bracket is of a staggered structure and is fixedly connected to the end of the robotic arm.

6. The monitoring device for the state monitoring method of an industrial robot according to claim 5, characterized in that: The path setting sub-module is used to set the working path of the robotic arm. The tension receiving sub-module is electrically connected to the tension sensor and is used to receive the signal of the tension sensor. The vibration receiving sub-module is electrically connected to the first vibration sensor and the second vibration sensor and is used to receive the signals of the first vibration sensor and the second vibration sensor. The analysis sub-module is used to analyze the working state of the industrial robot; The tension receiving sub-module includes a judgment unit, and the judgment unit judges the working condition of the grasping component.

7. The monitoring device for the state monitoring method of an industrial robot according to claim 6, characterized in that: The adjustment sub-module is used to adjust the working state of the industrial robot. The warning sub-module is used for alarming, and the lubrication reminder sub-module is used to remind the staff to lubricate the industrial robot.

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