Product quality monitoring system for industrial robot

Abstract

The invention discloses a product quality monitoring system for an industrial robot, and relates to the technical field of product quality monitoring, and the system comprises an acquisition module which is used for acquiring the basic information of preset parts in a qualified state of the industrial robot, and a construction module which is connected with the acquisition module and is used for constructing the basic information; the building module is used for building a product three-dimensional model corresponding to a plurality of parts based on basic information of the parts, and the marking module is connected with the building module and is used for selecting a monitoring area of a preset part based on a preset condition and correspondingly marking the monitoring area in the product three-dimensional model; the system comprises a marking module, a binding module connected with the marking module, a monitoring module connected with the binding module and used for extracting identification information based on a current preset part name, and a judgment module connected with the monitoring module and used for judging whether current monitoring information is qualified based on a preset qualification condition. The monitoring efficiency and the quality monitoring accuracy of the preset parts are greatly improved, and the quality control degree of the preset parts is high.

Description

Technical Field

[0001] The present invention relates to the technical field of product quality monitoring, and in particular to a product quality monitoring system for an industrial robot. Background Art

[0002] With the development of society and the progress of industrial manufacturing, industrial robots are an important part of modern manufacturing. They play an important role in improving production efficiency, reducing labor costs and improving working environment. Therefore, when producing and processing parts of industrial robots, the quality of parts also determines the user experience of industrial robots. At present, the important internal parts of industrial robots determine whether the industrial robots can operate normally. It is difficult to effectively monitor the important parts and components, and it is impossible to improve the quality control of important parts and components. It is easy for the operation of industrial robots to fail due to quality problems of important parts. Summary of the invention

[0003] The purpose of the present invention is to provide a product quality monitoring system for an industrial robot to solve the deficiencies in the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a product quality monitoring system for an industrial robot, comprising: An acquisition module is used to acquire basic information of preset parts of the industrial robot in a qualified state, wherein the preset basic information of parts includes part size information, part shape information and part name; A construction module, connected to the acquisition module, is used to construct product three-dimensional models for multiple parts based on basic information of parts, and divide the product three-dimensional models into regions; A marking module, connected to the building module, is used to select a monitoring area of ​​a preset component based on preset conditions and mark it accordingly in the product three-dimensional model; A binding module, connected to the marking module, is used to bind the monitoring area with the corresponding preset component basic information as matching information, and obtain the characteristics of the preset component basic information as identification information of the matching information; The monitoring module is connected to the binding module and is used to extract identification information based on the current preset component name, obtain corresponding matching information based on the identification information, determine the monitoring area for the current component based on the matching information, and obtain the current monitoring information of the current component product in the monitoring area; The judgment module is connected to the monitoring module and is used to judge whether the current monitoring information is qualified based on preset qualified conditions, and regard the monitoring area corresponding to the unqualified current monitoring information as an abnormal area.

[0005] In a preferred embodiment, the acquisition module includes: A first acquisition unit is used to acquire management values ​​of multiple parts of the industrial robot based on important parts information, wherein the important parts information includes a processing difficulty value and an importance value of the parts in the industrial robot; A selection unit, used to select a component corresponding to a management value that meets a preset value as a preset component; The second acquisition unit is used to acquire component size information, component shape information and component name as the preset component basic information based on the preset component when the preset component basic information is qualified.

[0006] In a preferred embodiment, the building blocks include: A construction unit, used for collecting multi-angle images of preset parts and components and constructing a product three-dimensional model of the preset parts and components based on the size information and shape information of the parts and components; The division unit is used to divide the product three-dimensional model into regions based on preset division conditions to obtain multiple model management regions, and to identify the multiple model management regions by identity coding in the product three-dimensional model.

[0007] In a preferred embodiment, the marking module comprises: An information acquisition unit, used for acquiring contact information between a preset component and other components based on the connection relationship between the components in the industrial robot, wherein the contact information includes a contact range and a contact position on the preset component; The selection unit is used to select a monitoring area of ​​a preset component in the contact information based on a preset distance, and mark the monitoring area accordingly in the three-dimensional model of the product.

[0008] In a preferred embodiment, the selection unit includes: When the preset component is in a qualified state, a base surface of the preset component within the contact range is obtained, and characteristic points within the contact range are obtained based on the base surface, wherein the characteristic points include convex points based on the base surface and concave points based on the base points; A three-dimensional coordinate system is established by taking the center of gravity of the preset parts as the origin and constructed in the three-dimensional model of the product, and the position information of the feature points is obtained based on the three-dimensional coordinate system; Based on the preset distance and position information, multiple feature points are bound as a monitoring feature set, and feature points at edge positions in the monitoring feature set are connected to obtain an area as a monitoring area.

[0009] In a preferred embodiment, the binding module includes: A binding unit, used to bind the location information of the monitoring area and feature points with the corresponding preset component basic information as matching information to form a database; The extraction unit is used to extract the component name in the preset component basic information as a feature, associate the feature with the matching information, and use the feature as identification information of the matching information.

[0010] In a preferred embodiment, the monitoring module includes: An information matching unit, used to obtain the name of the current preset component and extract the identification information, and match the corresponding matching information based on the identification information; The query unit is used to determine the monitoring area of ​​the current preset component based on the matching information, obtain the current position information of the feature points inside the monitoring area based on the three-dimensional coordinate system of the current preset component, and use the monitoring area and the current position information as the current monitoring information.

[0011] In a preferred embodiment, the judgment module includes: A corresponding unit, used to query the location information of the characteristic points corresponding to the current monitoring information in the monitoring area based on the database, and determine the corresponding relationship between the characteristic points in the monitoring area of ​​the current preset component and the characteristic points in the monitoring area in the database; The state judgment unit is used to obtain the position difference information of multiple feature points based on the corresponding relationship, and regard the position difference information that does not meet the preset qualification conditions as unqualified information, and regard the monitoring area of ​​the current preset component corresponding to the unqualified information as an abnormal area and mark it in the product three-dimensional model.

[0012] In the above technical solution, the technical effects and advantages provided by the present invention are: The present invention can clearly identify the monitoring points during the monitoring process, making the monitoring results more accurate, ensuring the quality of product production, and then completing the subsequent assembly of the industrial robot. It can be used for subsequent comparison of corresponding matching information to obtain the eligibility of preset parts, greatly improving the monitoring efficiency of preset spare parts and the accuracy of quality monitoring, and having a strong degree of quality control over the preset parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] Example 1, please refer to Figure 1 As shown, the product quality monitoring system for an industrial robot described in this embodiment includes: An acquisition module is used to acquire basic information of preset parts of the industrial robot in a qualified state, wherein the preset basic information of parts includes part size information, part shape information and part name; A construction module, connected to the acquisition module, is used to construct product three-dimensional models for multiple parts based on basic information of parts, and divide the product three-dimensional models into regions; A marking module, connected to the building module, is used to select a monitoring area of ​​a preset component based on preset conditions and mark it accordingly in the product three-dimensional model; A binding module, connected to the marking module, is used to bind the monitoring area with the corresponding preset component basic information as matching information, and obtain the characteristics of the preset component basic information as identification information of the matching information; The monitoring module is connected to the binding module and is used to extract identification information based on the current preset component name, obtain corresponding matching information based on the identification information, determine the monitoring area for the current component based on the matching information, and obtain the current monitoring information of the current component product in the monitoring area; A judgment module, connected to the monitoring module, is used to judge whether the current monitoring information is qualified based on preset qualified conditions, and to regard the monitoring area corresponding to the unqualified current monitoring information as an abnormal area; It is further explained that with the development of society and the progress of industrial manufacturing, industrial robots are an important part of modern manufacturing. They play an important role in improving production efficiency, reducing labor costs and improving working environment. Therefore, when producing and processing parts of industrial robots, the quality of parts also determines the user experience of industrial robots. At present, during the operation of industrial robots, important internal parts determine whether the industrial robots can operate normally. It is difficult to effectively monitor important parts and components, and it is impossible to improve the quality control of important parts and components. It is easy for important parts and components to cause failures in the operation of industrial robots due to quality problems. However, the present application can clearly identify the monitoring points during the monitoring process, making the monitoring results more accurate, ensuring the quality of product production, and then completing the subsequent assembly of industrial robots. It can be used for subsequent comparison of corresponding matching information to obtain the qualification of preset parts and components, greatly improving the monitoring efficiency of preset spare parts and the accuracy of quality monitoring, and having a strong quality control degree for preset parts and components; In one embodiment, the acquisition module includes: A first acquisition unit is used to acquire management values ​​of multiple parts of the industrial robot based on important parts information, wherein the important parts information includes a processing difficulty value and an importance value of the parts in the industrial robot; A selection unit, used to select a component corresponding to a management value that meets a preset value as a preset component; The second acquisition unit is used to acquire the component size information, component shape information and component name as the preset component basic information based on the preset component when the preset component basic information is qualified; It is further explained that the important component information includes the processing difficulty value and the importance value of the components in the industrial robot. The processing difficulty value and the importance value of the components in the industrial robot are integrated to obtain the management value. ,in, To manage the values, is the weight factor of the processing difficulty, is the difficulty value of the processing technology of parts in industrial robots, is the weight factor of the component’s importance, It is the importance value of the parts, and can manage the importance of multiple parts of industrial robots. The larger the value is, the more important the corresponding parts of the industrial robot are, and the more quality control and management are needed. For example, among the multiple parts of the industrial robot, the parts of its shell do not need to be monitored for quality, but the connecting parts of the movable arm of the industrial robot need to be monitored for quality. This is reflected by the processing difficulty value of the parts in the industrial robot and the importance value of the parts, and the management value of the parts is obtained by integration. Then, the parts corresponding to the management values ​​that meet the preset values ​​are used as preset parts. The preset data here is a value of the preset management value, which is used to limit the management value. Here, satisfying the preset value means that the management value exceeds the preset value. Then, based on the preset parts, the part size information, part shape information and part name are obtained as the preset part basic information, which can collect information on the parts that need to be monitored by the industrial robot, reduce the effectiveness and efficiency of monitoring parts of the industrial robot, and avoid collecting some parts that have little impact on quality. In one embodiment, the building blocks include: A construction unit, used for collecting multi-angle images of preset parts and components and constructing a product three-dimensional model of the preset parts and components based on the size information and shape information of the parts and components; A division unit, used for dividing the product three-dimensional model into regions based on preset division conditions to obtain multiple model management regions, and performing identity coding and marking on the multiple model management regions in the product three-dimensional model; Further explanation: multi-angle images of preset parts are collected as information references, and a three-dimensional proportional model of the product can be constructed based on the part size information and part shape information. Then, the three-dimensional proportional model can be improved based on the detail information parameters of the multi-angle images, and the three-dimensional model of the product can be obtained for monitoring the product quality. Then, the three-dimensional model of the product is divided according to the surface, and the folding degree greater than sixty degrees is used as the preset division condition for dividing the three-dimensional model of the product. When the folding degree of two surfaces is greater than sixty degrees, they are divided into two surfaces for management, and when the folding degree of two surfaces is less than or equal to sixty degrees, they are not divided and managed as one surface. Then, multiple model management areas are obtained according to the division of the three-dimensional model of the product, and identity coding is performed on the multiple model management areas at the same time to obtain the identity identification of the model management area, which can be managed in different areas when the product quality is monitored, and can better quickly determine the location of unqualified product quality, and can help staff to quickly understand product quality problems; In one embodiment, the marking module comprises: An information acquisition unit, used for acquiring contact information between a preset component and other components based on the connection relationship between the components in the industrial robot, wherein the contact information includes a contact range and a contact position on the preset component; A selection unit, used for selecting a monitoring area of ​​a preset component in the contact information based on a preset distance, and marking the monitoring area accordingly in the three-dimensional model of the product; It is further explained that an industrial robot is composed of multiple parts and put into use. Due to the quality problem of the preset parts, it may be difficult to combine and connect with other parts. Therefore, it is necessary to collect the connection relationship of the parts in the industrial robot to obtain the contact information between the preset parts and other parts. The contact information includes the contact range and the contact position on the preset parts. The contact information can be identified in the corresponding three-dimensional model of the product. Then, based on the preset conditions, the monitoring area of ​​the preset parts is selected in the contact information, and the monitoring area is marked in the three-dimensional model of the product. The monitoring area of ​​the product can be clearly determined, and then it can be used for subsequent quality monitoring of the preset parts to ensure the production qualification of the parts in key positions. In one embodiment, the selection unit includes: When the preset component is in a qualified state, a base surface of the preset component within the contact range is obtained, and characteristic points within the contact range are obtained based on the base surface, wherein the characteristic points include convex points based on the base surface and concave points based on the base points; A three-dimensional coordinate system is established by taking the center of gravity of the preset parts as the origin and constructed in the three-dimensional model of the product, and the position information of the feature points is obtained based on the three-dimensional coordinate system; Based on the preset distance and position information, multiple feature points are bound as a monitoring feature set, and feature points at edge positions in the monitoring feature set are connected to obtain an area as a monitoring area; Further explanation, in a preset component, feature points are obtained within the contact range between the preset component and other components. The feature points are represented as convex points and concave points. Therefore, a base surface needs to be established as a reference. Then, a three-dimensional coordinate system is established with the center of gravity of the preset component as the origin and constructed in the three-dimensional model of the product. The position information of the feature points is obtained based on the three-dimensional coordinate system, and the position of each feature point can be obtained. Then, the position relationship between the feature points is obtained through the position information based on the preset distance, and then multiple feature points are bound as a monitoring feature set. There will be multiple monitoring feature sets for a preset component. Since the feature points are scattered, the feature points at the edge are connected, so that an encirclement will be formed to encircle the feature points. Then, the area in the encirclement is used as the monitoring area. Here, the feature points are used as a reference for subsequent comparison of whether the actual production preset components are qualified. It has a good monitoring effect, and the monitoring points can be clearly identified during the monitoring process, so that the monitoring results are more accurate, which can ensure the quality of product production, and then the subsequent assembly of industrial robots can be completed; In one embodiment, the binding module includes: A binding unit, used to bind the location information of the monitoring area and feature points with the corresponding preset component basic information as matching information to form a database; An extraction unit, used to extract the component name from the preset component basic information as a feature, associate the feature with the matching information, and use the feature as identification information of the matching information; Further explanation: the corresponding preset component basic information and the monitoring area are bound and stored as matching information to form a database, and then the component name in the preset component basic information is extracted as a feature, and the feature is associated with the matching information, and the feature is used as identification information of the matching information, wherein the matching information and the feature are both stored in the database, and then the database can provide services for subsequent queries, and the monitoring area of ​​the preset component can be quickly obtained, thereby improving the monitoring efficiency of the preset component; In one embodiment, the monitoring module includes: An information matching unit, used to obtain the name of the current preset component and extract the identification information, and match the corresponding matching information based on the identification information; A query unit, used to determine the monitoring area of ​​the current preset component based on the matching information, obtain the current position information of the feature point inside the monitoring area based on the three-dimensional coordinate system of the current preset component, and use the monitoring area and the current position information as the current monitoring information; Further explanation, when performing quality inspection on parts in industrial robots, it is first necessary to determine the characteristics of the preset parts, which are the names of the preset parts here, and then match the corresponding matching information based on the identification information, determine the monitoring area of ​​the current preset parts through the matching information, obtain the current position information of the feature points inside the monitoring area based on the three-dimensional coordinate system of the current preset parts, and use the monitoring area and the current position information as the current monitoring information, and then obtain the current position information of the feature points, which can be used for subsequent comparison of the corresponding matching information to obtain the qualification of the preset parts, greatly improving the monitoring efficiency of the preset spare parts and the accuracy of quality monitoring, and having a strong degree of quality control over the preset parts; In one embodiment, the determination module includes: A corresponding unit, used to query the location information of the characteristic points corresponding to the current monitoring information in the monitoring area based on the database, and determine the corresponding relationship between the characteristic points in the monitoring area of ​​the current preset component and the characteristic points in the monitoring area in the database; A state judgment unit, used for obtaining position difference information of multiple feature points based on the corresponding relationship, treating the position difference information that does not meet the preset qualified conditions as unqualified information, treating the monitoring area of ​​the current preset parts corresponding to the unqualified information as an abnormal area and marking it in the product three-dimensional model; To further explain, by querying the data, the position information of the feature points corresponding to the current monitoring information in the current monitoring area is obtained. Since there is a correspondence of feature points between the current monitoring area and the monitoring area in the database, the corresponding relationship is determined, and then the position difference information of multiple feature points is obtained according to the correspondence of the feature points in the monitoring area. The position difference information that does not meet the preset qualified conditions is used as unqualified information, and the monitoring area of ​​the current preset component corresponding to the unqualified information is used as an abnormal area, which represents the unqualified quality of the preset component. It has a relatively accurate preset component monitoring function and can ensure the quality of the preset components.

[0017] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A product quality monitoring system for industrial robots, It is characterized in that include: An acquisition module is used to acquire basic information of preset parts of the industrial robot in a qualified state, wherein the preset basic information of parts includes part size information, part shape information and part name; A construction module, connected to the acquisition module, is used to construct product three-dimensional models for multiple parts based on basic information of parts, and divide the product three-dimensional models into regions; A marking module, connected to the building module, is used to select a monitoring area of ​​a preset component based on preset conditions and mark it accordingly in the product three-dimensional model; A binding module, connected to the marking module, is used to bind the monitoring area with the corresponding preset component basic information as matching information, and obtain the characteristics of the preset component basic information as identification information of the matching information; The monitoring module is connected to the binding module and is used to extract identification information based on the current preset component name, obtain corresponding matching information based on the identification information, determine the monitoring area for the current component based on the matching information, and obtain the current monitoring information of the current component product in the monitoring area; The judgment module is connected to the monitoring module and is used to judge whether the current monitoring information is qualified based on preset qualified conditions, and regard the monitoring area corresponding to the unqualified current monitoring information as an abnormal area.

2. A product quality monitoring system for an industrial robot according to claim 1, Features: The acquisition module comprises: A first acquisition unit is used to acquire management values ​​of multiple parts of the industrial robot based on important parts information, wherein the important parts information includes a processing difficulty value and an importance value of the parts in the industrial robot; A selection unit, used to select a component corresponding to a management value that meets a preset value as a preset component; The second acquisition unit is used to acquire component size information, component shape information and component name as the preset component basic information based on the preset component when the preset component basic information is qualified.

3. A product quality monitoring system for an industrial robot according to claim 1, Features: The building blocks include: A construction unit, used for collecting multi-angle images of preset parts and components and constructing a product three-dimensional model of the preset parts and components based on the size information and shape information of the parts and components; The division unit is used to divide the product three-dimensional model into regions based on preset division conditions to obtain multiple model management regions, and to identify the multiple model management regions by identity coding in the product three-dimensional model.

4. A product quality monitoring system for an industrial robot according to claim 1, Features: The marking module comprises: An information acquisition unit, used for acquiring contact information between a preset component and other components based on the connection relationship between the components in the industrial robot, wherein the contact information includes a contact range and a contact position on the preset component; The selection unit is used to select a monitoring area of ​​a preset component in the contact information based on a preset distance, and mark the monitoring area accordingly in the three-dimensional model of the product.

5. A product quality monitoring system for an industrial robot according to claim 4, Features: The selection unit comprises: When the preset component is in a qualified state, a base surface of the preset component within the contact range is obtained, and characteristic points within the contact range are obtained based on the base surface, wherein the characteristic points include convex points based on the base surface and concave points based on the base points; A three-dimensional coordinate system is established by taking the center of gravity of the preset parts as the origin and constructed in the three-dimensional model of the product, and the position information of the feature points is obtained based on the three-dimensional coordinate system; Based on the preset distance and position information, multiple feature points are bound as a monitoring feature set, and feature points at edge positions in the monitoring feature set are connected to obtain an area as a monitoring area.

6. A product quality monitoring system for an industrial robot according to claim 1, Features: The binding module includes: A binding unit, used to bind the location information of the monitoring area and feature points with the corresponding preset component basic information as matching information to form a database; The extraction unit is used to extract the component name in the preset component basic information as a feature, associate the feature with the matching information, and use the feature as identification information of the matching information.

7. A product quality monitoring system for an industrial robot according to claim 1, Features: The monitoring module comprises: An information matching unit, used to obtain the name of the current preset component and extract the identification information, and match the corresponding matching information based on the identification information; The query unit is used to determine the monitoring area of ​​the current preset component based on the matching information, obtain the current position information of the feature points inside the monitoring area based on the three-dimensional coordinate system of the current preset component, and use the monitoring area and the current position information as the current monitoring information.

8. A product quality monitoring system for an industrial robot according to claim 1, Features: The judging module comprises: A corresponding unit, used to query the location information of the characteristic points corresponding to the current monitoring information in the monitoring area based on the database, and determine the corresponding relationship between the characteristic points in the monitoring area of ​​the current preset component and the characteristic points in the monitoring area in the database; The state judgment unit is used to obtain the position difference information of multiple feature points based on the corresponding relationship, and regard the position difference information that does not meet the preset qualification conditions as unqualified information, and regard the monitoring area of ​​the current preset component corresponding to the unqualified information as an abnormal area and mark it in the product three-dimensional model.

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