Manipulator monitoring device and system

Abstract

The invention relates to the technical field of mechanical arm monitoring, and provides a mechanical arm monitoring device and system.The mechanical arm monitoring device comprises a device body, a fixing base, a mounting base, an image acquisition module, a digital information acquisition module and a safety protection module; a fixing seat is arranged on the device main body and is used for mounting a manipulator; the mounting seat is arranged in the device main body, an assembly area is arranged on the mounting seat, and a die holder for testing is detachably mounted in the assembly area of the mounting seat; an outer frame is detachably installed on the device body, and a side door is installed on the outer side of the outer frame. The image acquisition module comprises a camera and a display screen; the digital information acquisition module comprises a vibration sensor and a noise sensor which are respectively arranged on the device main body; the safety protection module comprises a hollow air column and an inflation and deflation mechanism. Movement of the manipulator can be monitored in real time, and the practicability and reliability of the monitoring process are improved.

Description

Technical Field

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

[0002] As an important automation equipment, robots are widely used in various production lines and work scenarios. They can perform tasks that are highly repetitive, require strict precision, or are too dangerous for human workers. However, with the increase in the application of robots, the safety, accuracy and efficiency of their operation have become particularly important.

[0003] Before a robot is designed and put into use, it is usually necessary to assemble a prototype first, so as to better understand the robot's operating mode, etc.; therefore, controlling the robot's simulated operation and conducting monitoring and analysis have become one of the necessary measures before the equipment is put into production, which can not only analyze the robot's performance, but also understand the robot's operating conditions in detail.

[0004] Traditional robot monitoring methods mainly rely on manual visual inspection, which is not only time-consuming and labor-intensive, but also difficult to achieve real-time monitoring and accurate analysis.

[0005] The application scheme of Chinese patent application No. 201520154543.9 discloses a manipulator monitoring system, including: a power supply, a control panel and a monitoring device, the control panel is connected to the manipulator; the monitoring device includes a transmitting end and a receiving end, the transmitting end includes a transmitting bracket and a plurality of first photoelectric sensors, the first photoelectric sensor is connected to the power supply, the receiving end includes a receiving bracket and a plurality of second photoelectric sensors, the second photoelectric sensors are connected to the control panel, the plurality of second photoelectric sensors correspond to the plurality of first photoelectric sensors one by one and define a storage space for storing materials between the plurality of first photoelectric sensors, each second photoelectric sensor is used to receive a photoelectric signal emitted by a corresponding first photoelectric sensor, and when the plurality of manipulators extend into the storage space, the control panel controls the operation of the plurality of manipulators to prevent the plurality of manipulators from colliding in the storage space.

[0006] However, the robot monitoring system in the above patent mainly monitors problems such as collisions that may occur during the operation of the robot, and is more suitable for analysis during the actual production process. It lacks the ability to monitor other data and cannot assist in analyzing the operation mode of the robot. Summary of the invention

[0007] The present invention mainly solves the technical problems that the manipulator monitoring system in the prior art lacks the ability to monitor other data and cannot assist in analyzing the operation mode of the manipulator. A manipulator monitoring device and system are proposed, which can monitor the movement of the manipulator in real time and improve the practicality and reliability of the monitoring process.

[0008] The present invention provides a manipulator monitoring device, comprising: a device body, a fixing seat, a mounting seat, an image acquisition module, a digital information acquisition module, and a safety protection module;

[0009] A fixing seat is arranged on the device body, and the fixing seat is used to install the manipulator;

[0010] The mounting seat is arranged in the device body, and an assembly area is arranged on the mounting seat, and the assembly area of ​​the mounting seat can detachably install a mold base for testing;

[0011] An outer frame is detachably mounted on the device body, and a side door is mounted on the outer side of the outer frame;

[0012] The image acquisition module includes: a camera and a display screen;

[0013] A mounting frame is installed on the device body, and a plurality of mounting frames are distributed outside the manipulator, and cameras are respectively installed on the mounting frames;

[0014] The display screen is installed on the device body, and the display screen is connected to each camera signal;

[0015] The digital information acquisition module includes: a vibration sensor and a noise sensor respectively installed on the device body;

[0016] The safety protection module comprises: a hollow air column and an air charging and discharging mechanism; the hollow air column is installed on an outer frame; the air charging and discharging mechanism is connected to the hollow air column through an air pipe.

[0017] Preferably, a mounting cavity is provided in the device body, and parallel cross bars are fixed in the mounting cavity;

[0018] A base is slidably mounted on the crossbar, and a fixing knob for fixing the base to the crossbar is threadedly connected to the base;

[0019] The mounting seat is mounted on the base.

[0020] Preferably, the mounting seat is connected with an adjusting knob via a thread, and the bottom end of the adjusting knob is rotatably mounted in the base;

[0021] The mounting seat is provided with level gauges distributed in a mouth shape.

[0022] Preferably, a plurality of vertical plates are fixed on the top of the base, the vertical plates are located outside the corners of the mounting seat, and scale lines are provided on one side outer wall of the vertical plates.

[0023] Preferably, the side door comprises a door frame and a transparent door panel;

[0024] The transparent door panel is arranged inside the door frame, and the door frame is detachably installed on the outer frame.

[0025] Preferably, the vibration sensor is installed on the outer wall of one side of the door frame through a lower bracket;

[0026] The noise sensor is installed on the outer wall of one side of the door frame through an upper bracket.

[0027] Preferably, a pair of distributed racks are installed on the outer side of the outer frame;

[0028] A pair of distributed guide frames are also installed on the outer side of the outer frame. The guide frame has an inverted L-shaped structure, and the position of the guide frame is adapted to the rack;

[0029] A sleeve is slidably installed on the guide frame, and a C-shaped bracket is arranged on one side of the sleeve;

[0030] Connection frames are fixed on both sides of the door frame. The connection frames slide horizontally in the C-shaped brackets of the sleeves, and one end of the connection frame penetrates through the C-shaped bracket and is connected with a tooth block;

[0031] The tooth block is adapted to the rack, and the tooth block and the C-shaped bracket are connected by a spring;

[0032] When the door frame is installed on the outer frame, based on the support of the spring, the tooth block meshes with the rack;

[0033] A guide post is arranged on one side of the tooth block, and the guide post slides on the inner wall of the C-shaped bracket.

[0034] Preferably, the hollow air column is closely attached to the door frame or the transparent door panel;

[0035] An FFU mechanism is detachably installed on the top of the outer frame.

[0036] Preferably, a plurality of counterweight cavities are arranged on the outer side of the device main body, and positioning rods are installed in the counterweight cavities;

[0037] A plurality of counterweight blocks are detachably installed on the positioning rods, and the shape of the counterweight blocks is adapted to the counterweight cavities.

[0038] Correspondingly, the present invention also provides a manipulator monitoring system, including: a control module and multiple manipulator monitoring devices provided by any embodiment of the present invention;

[0039] The control module is used to control the movement of the manipulator and the manipulator monitoring device;

[0040] When the detection value of the vibration sensor exceeds the set value, the control module controls the inflation and deflation mechanism to inflate the hollow air column; if the detection value of the vibration sensor still exceeds the set value after the inflation process, the control module controls the manipulator to stop operating.

[0041] The present invention provides a manipulator monitoring device and system, which has the following advantages compared with the prior art:

[0042] 1. The present invention can install a corresponding assembly area on the mounting seat according to actual test requirements, and use the robot and the mold base to complete simulation operations, such as grasping, assembling, etc. During the process, the image acquisition module and the digital information acquisition module are used to monitor the movement of the robot in real time for analysis.

[0043] 2. The present invention can adjust the height and level of the mounting seat according to needs by setting the adjustment knob and the level, so as to facilitate the detection operation and improve the practicality; by setting the vertical plate and the scale line, the adjustment amount of the mounting seat can be better judged, which improves the practicality.

[0044] 3. The present invention provides structures such as a guide frame, a rack and a connecting frame, and can, according to actual needs, separate the tooth block from the rack by moving the connecting frame closer to the sleeve, thereby unlocking the structure, so as to facilitate the removal of the side door, or adjust the position of the side door and then use the tooth block and the rack to support and fix the side door, which is convenient for on-site observation and maintenance.

[0045] 4. In the present invention, since the side door can move to a certain extent, when it is impacted, such as an accident where a robot collides with a machine, the side door can unload the force based on the deformation of the spring, or even fall off downward, thereby achieving the purpose of protecting the components and improving reliability.

[0046] 5. The present invention provides a hollow air column and an inflation and deflation mechanism, and can adjust the supporting effect on the door frame by inflating and deflation of the hollow air column. When there is less gas in the hollow air column, the structure is relatively easier to shake, and the stability of the side door can be increased to a certain extent after inflation. When it is inflated to the set value, based on the detection of the vibration sensor, if the vibration still exceeds the limit, it is determined that the manipulator is working abnormally, and the control module controls the manipulator to stop operating in time to ensure safety.

[0047] 6. The present invention can increase or decrease the overall weight of the device according to actual conditions by providing structures such as counterweight blocks and positioning rods, so as to simulate the weight of the equipment in actual operations, thereby better detecting the vibration of the equipment and improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of the manipulator monitoring device provided by the present invention;

[0049] Figure 2 It is a structural schematic diagram of the manipulator monitoring device provided by the present invention;

[0050] Figure 3 It is a structural schematic diagram of the upper half of the manipulator monitoring device provided by the present invention;

[0051] Figure 4 It is a structural schematic diagram of a sleeve and a connecting frame in the manipulator monitoring device provided by the present invention;

[0052] Figure 5 It is a structural schematic diagram of a manipulator, a base and a mold base in the manipulator monitoring device provided by the present invention;

[0053] Figure 6 It is a structural schematic diagram of a base and a mold base in the manipulator monitoring device provided by the present invention;

[0054] Figure 7 The structure diagram of the manipulator monitoring system provided by the present invention is Figure 1 ;

[0055] Figure 8 The structure diagram of the manipulator monitoring system provided by the present invention is Figure 2 .

[0056] Figure numerals: 1. Device body; 2. Transparent door panel; 3. Outer frame; 4. FFU mechanism; 5. Door frame; 6. Rack; 7. Display screen; 8. Gear block; 9. Counterweight; 10. Positioning rod; 11. Sleeve; 12. Guide frame; 13. Mounting frame; 14. Base; 15. Lower bracket; 16. Vibration sensor; 17. Noise sensor; 18. Upper bracket; 19. Connecting frame; 20. Hollow gas column; 21. Camera; 22. Fixed seat; 23. Manipulator; 24. Scale line; 25. Vertical plate; 26. Mold base; 27. Level; 28. Mounting seat; 29. ​​Cross bar; 30. Fixed knob; 31. Adjustment knob; 32. Guide column; 33. Spring. DETAILED DESCRIPTION

[0057] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all the contents.

[0058] Embodiment 1

[0059] like Figure 1-6As shown, a manipulator monitoring device provided by an embodiment of the present invention includes: a device body 1, a fixing seat 22, a mounting seat 28, an image acquisition module, a digital information acquisition module, and a safety protection module.

[0060] The device body 1 is provided with a fixing seat 22, and the fixing seat 22 is used to install the manipulator 23; the mounting seat 28 is provided in the device body 1, and can be provided with an assembly area according to actual test requirements, and the assembly area of ​​the mounting seat 28 can detachably install a mold base 26 for testing. The manipulator 23 and the mold base 26 are used to cooperate to complete simulation operations, such as grasping, assembly, etc. During the process, the movement of the manipulator 23 is monitored in real time by using an image acquisition module and a digital information acquisition module for analysis.

[0061] In order to facilitate the adjustment of the position of the mounting seat 28; an installation cavity is provided in the device body 1, and a parallel cross bar 29 is fixed in the installation cavity; a base 14 is slidably installed on the cross bar 29, and a fixing knob 30 for fixing the base 14 to the cross bar 29 is threadedly connected on the base 14, and the fixing knob 30 is located on the side of the door frame 5 close to the outer frame 3; the mounting seat 28 is installed on the base 14.

[0062] In order to facilitate the adjustment of the level of the mounting seat 28, the mounting seat 28 is connected with an adjusting knob 31 through a thread, and the bottom end of the adjusting knob 31 is rotatably installed in the base 14; the mounting seat 28 is provided with a level 27 in a mouth shape. By providing the adjusting knob 31 and the level 27, the height and level of the mounting seat 28 can be adjusted according to needs, so as to facilitate the detection operation and improve the practicality.

[0063] In order to facilitate the adjustment of the position of the mounting seat 28, a plurality of vertical plates 25 are fixed on the top of the base 14, the vertical plates 25 are located outside the corners of the mounting seat 28, and a scale line 24 is provided on one side of the outer wall of the vertical plate 25. By providing the vertical plates 25 and the scale line 24, the adjustment amount of the mounting seat 28 can be better judged, thereby improving practicality.

[0064] In order to better monitor, the device body 1 is provided with a plurality of counterweight cavities on the outside, and a positioning rod 10 is installed in the counterweight cavity; a plurality of counterweight blocks 9 are detachably installed on the positioning rod 10, and the shape of the counterweight block 9 is adapted to the counterweight cavity. By providing structures such as the counterweight block 9 and the positioning rod 10, the weight of the device as a whole can be increased or decreased according to actual conditions, so as to simulate the weight of the equipment in actual operation, thereby better detecting the vibration of the equipment and improving practicality.

[0065] For the purpose of enhancing safety; an outer frame 3 is detachably installed on the device main body 1, and side doors are installed on the outer side of the outer frame 3; the side doors include a door frame 5 and a transparent door panel 2; the transparent door panel 2 is arranged inside the door frame 5, and the door frame 5 is detachably installed on the outer frame 3.

[0066] For the convenience of disassembling and assembling the side door; paired racks 6 are installed on the outer side of the outer frame 3; paired guide frames 12 are also installed on the outer side of the outer frame 3, the guide frames 12 are in an inverted L-shaped structure, and the positions of the guide frames 12 are adapted to the racks 6; a sleeve 11 is slidably installed on the guide frames 12, and a C-shaped bracket is arranged on one side of the sleeve 11; connecting frames 19 are fixed on both sides of the door frame 5, the connecting frames 19 slide horizontally in the C-shaped brackets of the sleeve 11, and one end of the connecting frame 19 passes through the C-shaped bracket and is connected with a tooth block 8; the tooth block 8 is adapted to the rack 6, and the tooth block 8 and the C-shaped bracket are connected by a spring 33; when the door frame 5 is installed on the outer frame 3, based on the support of the spring 33, the tooth block 8 meshes with the rack 6; a guide post 32 is arranged on one side of the tooth block 8, and the guide post 32 slides on the inner wall of the C-shaped bracket.

[0067] By arranging structures such as the guide frame 12, the rack 6 and the connecting frame 19, according to actual needs, by moving the connecting frame 19 closer to the sleeve 11, the tooth block 8 can be separated from the rack 6, so as to unlock the structure, facilitate the removal of the side door, or adjust the position of the side door and then use the tooth block 8 and the rack 6 to support and fix the side door, which is convenient for better on-site observation and maintenance;

[0068] In addition, since the side door can move to a certain extent, when impacted, such as in the accidental situation of the manipulator 23 hitting the machine, the side door can unload the force based on the deformation of the spring 33 and even fall off downward, so as to achieve the purpose of protecting components and improve the reliability.

[0069] The image acquisition module is used to acquire image information of the movement of the manipulator 23, such as information about vibrations generated, noise information, etc. For the convenience of image acquisition; the image acquisition module includes: a camera 21 and a display screen 7; mounting brackets 13 are installed on the device main body 1, and multiple mounting brackets 13 are distributed outside the manipulator 23, and cameras 21 are respectively installed on the mounting brackets 13; the display screen 7 is installed on the device main body 1, and the display screen 7 is signal-connected to each camera 21.

[0070] The digital information acquisition module is used to collect other data information of the movement of the manipulator 23. The digital information acquisition module includes: a vibration sensor 16 and a noise sensor 17 respectively installed on the device body 1; the vibration sensor 16 is installed on the outer wall of one side of the door frame 5 through the lower bracket 15; the noise sensor 17 is installed on the outer wall of one side of the door frame 5 through the upper bracket 18.

[0071] In order to improve reliability, the safety protection module is used for safety protection in abnormal situations. The safety protection module includes: a hollow air column 20 and an air charging and discharging mechanism; the hollow air column 20 is installed on the outer frame 3; the air charging and discharging mechanism is connected to the hollow air column 20 through an air pipe. The hollow air column 20 fits tightly with the door frame 5 or the transparent door panel 2; the top of the outer frame 3 is detachably installed with an FFU (Fan Filter Unit) mechanism 4.

[0072] By setting up the hollow air column 20 and the inflation and deflation mechanism, the supporting effect on the door frame 5 can be adjusted by inflating and deflation of the hollow air column 20. When there is less gas in the hollow air column 20, the structure is relatively easier to shake. After inflation, the stability of the side door can be increased to a certain extent. When it is inflated to the set value, based on the detection of the vibration sensor 16, if the vibration still exceeds the limit, it is determined that the manipulator 23 is working abnormally, and the control module controls the manipulator 23 to stop operating in time to ensure safety.

[0073] Embodiment 2

[0074] like Figure 7-8 As shown, a manipulator monitoring system provided by an embodiment of the present invention comprises: a control module, an analysis module and a plurality of manipulator monitoring devices provided by any embodiment of the present invention. The manipulator monitoring system is implemented based on the manipulator monitoring device, and the image acquisition module, digital information acquisition module and safety protection module are all integrated in the manipulator monitoring device.

[0075] The control module is used to control the movement of the manipulator 23 and the manipulator monitoring device;

[0076] The analysis module is used to analyze and process the data transmitted by the image acquisition module and the digital information acquisition module to determine whether the manipulator 23 meets the monitoring standards;

[0077] When the detection value of the vibration sensor 16 exceeds the set value, the control module controls the inflation and deflation mechanism to inflate the hollow air column 20; if the detection value of the vibration sensor 16 still exceeds the set value after the inflation process, the control module controls the manipulator 23 to stop operating.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that modifying the technical solutions described in the aforementioned embodiments, or replacing some or all of the technical features therein by equivalents, does not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A manipulator monitoring device, characterized in that: include: Device body (1), fixing seat (22), mounting seat (28), image acquisition module, digital information acquisition module, and safety protection module; A fixing seat (22) is provided on the device body (1), and the fixing seat (22) is used to install a manipulator (23); The mounting seat (28) is arranged in the device body (1), and an assembly area is arranged on the mounting seat (28). The assembly area of ​​the mounting seat (28) can be detachably mounted with a mold base (26) for testing; An outer frame (3) is detachably mounted on the device body (1), and a side door is mounted on the outer side of the outer frame (3); The image acquisition module comprises: a camera (21) and a display screen (7); A mounting frame (13) is installed on the device body (1), a plurality of mounting frames (13) are distributed outside the manipulator (23), and cameras (21) are respectively installed on the mounting frames (13); The display screen (7) is mounted on the device body (1), and the display screen (7) is connected to each camera (21) by signal; The digital information acquisition module comprises: a vibration sensor (16) and a noise sensor (17) respectively mounted on the device body (1); The safety protection module comprises: a hollow air column (20) and an air charging and discharging mechanism; the hollow air column (20) is mounted on an outer frame (3); and the air charging and discharging mechanism is connected to the hollow air column (20) via an air pipe.

2. The manipulator monitoring device according to claim 1, characterized in that: The device body (1) is provided with an installation cavity, and a parallel crossbar (29) is fixed in the installation cavity; The crossbar (29) is slidably mounted with a base (14), and the base (14) is threadedly connected with a fixing knob (30) for fixing the base (14) to the crossbar (29); The mounting seat (28) is mounted on the base (14).

3. The manipulator monitoring device according to claim 2, characterized in that: The mounting seat (28) is connected to an adjusting knob (31) via a thread, and the bottom end of the adjusting knob (31) is rotatably mounted in the base (14); The mounting seat (28) is provided with a level (27) distributed in a mouth shape.

4. The manipulator monitoring device according to claim 3, characterized in that: A plurality of vertical plates (25) are fixed on the top of the base (14), the vertical plates (25) are located outside the corners of the mounting seat (28), and a scale line (24) is provided on one side outer wall of the vertical plates (25).

5. The manipulator monitoring device according to claim 1, characterized in that: The side door comprises a door frame (5) and a transparent door panel (2); The transparent door panel (2) is arranged on the inner side of the door frame (5), and the door frame (5) is detachably mounted on the outer frame (3).

6. The manipulator monitoring device according to claim 5, characterized in that: The vibration sensor (16) is installed on an outer wall of one side of the door frame (5) via a lower bracket (15); The noise sensor (17) is mounted on an outer wall of one side of the door frame (5) via an upper bracket (18).

7. The manipulator monitoring device according to claim 5, characterized in that: Racks (6) distributed in pairs are installed on the outer side of the outer frame (3); The outer side of the outer frame (3) is also provided with guide frames (12) distributed in pairs, the guide frames (12) are in an inverted L-shaped structure, and the position of the guide frames (12) is adapted to the rack (6); A sleeve (11) is slidably mounted on the guide frame (12), and a U-shaped bracket is provided on one side of the sleeve (11); On both sides of the door frame (5), connecting frames (19) are fixed. The connecting frames (19) slide horizontally within the U-shaped brackets of the sleeves (11). One end of the connecting frame (19) passes through the U-shaped bracket and is connected to a toothed block (8). The toothed block (8) is adapted to the rack (6). The toothed block (8) and the U-shaped bracket are connected by a spring (33). When the door frame (5) is installed on the outer frame (3), based on the support of the spring (33), the toothed block (8) meshes with the rack (6). On one side of the toothed block (8), a guide post (32) is provided. The guide post (32) slides within the inner wall of the U-shaped bracket.

8. The manipulator monitoring device according to claim 5, characterized in that: The hollow air column (20) is in close contact with the door frame (5) or the transparent door panel (2). On the top of the outer frame (3), an FFU mechanism (4) is detachably installed.

9. The manipulator monitoring device according to claim 1, characterized in that: On the outside of the device body (1), a plurality of counterweight cavities are provided. Positioning rods (10) are installed within the counterweight cavities. A plurality of counterweight blocks (9) are detachably installed on the positioning rods (10). The shape of the counterweight blocks (9) is adapted to the counterweight cavities.

10. A manipulator monitoring system, characterized in that: Comprising: A control module and multiple manipulator monitoring devices according to any one of claims 1 to 9; The control module is used to control the movement of the manipulator (23) and the manipulator monitoring device. When the detection value of the vibration sensor (16) exceeds the set value, the control module controls the air charging and discharging mechanism to inflate the hollow air column (20). If the detection value of the vibration sensor (16) still exceeds the set value after the inflation process, the control module controls the manipulator (23) to stop working.

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