Data acquisition and monitoring system of industrial robot
By setting up a data acquisition device in the same network, and regularly reading and converting internal parameter storage files of industrial robots, the problem of difficulty in obtaining and monitoring closed internal parameters in the prior art is solved, and data acquisition and monitoring without external network connection is realized, which improves production safety and reduces costs.
Patent Information
- Application Number
- CN202411826754.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-12
- Publication Date
- 2025-03-11
AI Technical Summary
It is difficult for the prior art to effectively obtain and monitor the internal parameters of closed industrial robots, and the existing methods have problems of network security risks and incomplete data acquisition.
A data acquisition and monitoring system for industrial robots is designed. By setting up a data acquisition device in the same network, the internal parameter storage files of industrial robots are read regularly, and converted into Excel file format, and sent to the monitoring device for analysis and display.
It enables the acquisition of large amounts of industrial robot data and analysis and monitoring without connecting to the external network, improving production safety and reducing costs.
Smart Images
Figure CN119596884A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of industrial robots, and in particular to a data acquisition and monitoring system for industrial robots. Background Art
[0002] With the development of industrialization and intelligence, it has become a trend for production workshops to use industrial robots for production. However, since industrial robots are all purchased products, for some industrial robots, their internal parameters are closed, such as the internal parameters of the industrial robot servo system of Japan's FANUC, such as torque, angle and other important data, which play a vital role in preventing and analyzing robot problems.
[0003] In the prior art, there are two ways to obtain closed internal parameters. The first way is to connect the industrial robots in the workshop to the external network and send the data to FANUC in real time. FANUC uses its private software to analyze and then transmit the data back. This method will cause the workshop network to be connected externally, making the workshop network extremely vulnerable to external network attacks, causing serious network risks, and this method is expensive. The second method is to install third-party interface plug-in software to obtain data, but this method only supports the reading of a very small number of parameters, while the number of parameters required in the production process is huge. Summary of the invention
[0004] To solve at least one aspect of the above problems, the present invention provides a data acquisition and monitoring system for an industrial robot, comprising a data acquisition device and a monitoring device; the data acquisition device and the industrial robot are in the same network, and the data acquisition device is communicatively connected to the industrial robot; the data acquisition device is used to periodically read a storage file about the internal parameters of the industrial robot from the industrial robot; the internal parameter storage file is opened in TXT file format; according to the internal parameter storage file opened in TXT file format, the internal parameter data is split and copied to several independent cells of a file in Excel file format in sequence and stored; the storage file in Excel file format is sent to the monitoring device; the monitoring device is used to receive the storage file in Excel file format from the data acquisition device; read the first specified parameter in the storage file in Excel file format; compare the first specified parameter with the first specified parameter preset threshold value; according to the first specified parameter data, the first specified parameter preset threshold value data and the comparison result, draw an image and / or table about the first specified parameter and display it; the monitoring device is communicatively connected to the data acquisition device.
[0005] Preferably, it also includes a control device, which is communicatively connected to the monitoring device; the monitoring device is also used to read the second specified parameter in the storage file in Excel file format, and send the read second specified parameter to the control device; the control device is used to receive the second specified parameter data from the monitoring device; analyze the second specified parameter data to form an analysis result; and send the analysis result to the device to be controlled.
[0006] Preferably, it also includes an alarm device, which is used to receive an alarm signal from the control device and to sound an alarm when the alarm signal is received, and the alarm device is communicatively connected to the control device; the analysis of the second specified parameter data in the control device includes comparing the second specified parameter with a preset threshold range of the second specified parameter, and when the second specified parameter exceeds the preset threshold range of the second specified parameter, an alarm signal is generated and the alarm signal is sent to the alarm device.
[0007] Preferably, the second specified parameters include the torque of each shaft, the service life, and the number of times the nozzle is opened and closed; the data acquisition device is also used to calculate the service life based on the internal parameter data and store it in an independent cell of a file in Excel file format.
[0008] Preferably, the monitoring device is used to draw and display a table about the first designated parameter, and mark and display it according to the ratio of the first designated parameter to a preset threshold value of the first designated parameter.
[0009] Preferably, the marking display method includes the following steps: when the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is less than the first preset value, the table box of the first specified parameter is marked with a first preset color; when the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is between the first preset value and the second preset value, the table box of the first specified parameter is marked with a second preset color; when the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is between the second preset value and the third preset value, the table box of the first specified parameter is marked with a third preset color; when the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is greater than the third preset value, the table box of the first specified parameter is marked with a fourth preset color.
[0010] Preferably, an analysis message is generated when the ratio of the data of the first specified parameter to the first specified parameter preset threshold is greater than a third preset value.
[0011] Preferably, the data acquisition device is also used to draw and display an image according to the data of the third designated parameter in the internal parameters read at regular intervals.
[0012] Preferably, the data acquisition device is connected to the industrial robot through FTP protocol, and the data acquisition device is connected to the monitoring device through a DASERVER server.
[0013] Preferably, the first specified parameters include angles of each axis, torques of each axis, and running time.
[0014] The data collection and monitoring system of an industrial robot of the present invention has the following beneficial effects:
[0015] The present application is provided with a data acquisition device in the same network as the industrial robot, and the internal parameter storage file in the industrial robot is read regularly by a computer program on the data acquisition device, and the file is opened in TXT file format, the internal parameter data is split and copied to several independent cells of the file in Excel file format in sequence and stored, so as to realize the conversion of the internal parameter storage file in the industrial robot into a file in Excel file format on the data acquisition device; and then the image and / or table drawing of the first specified parameter in the internal parameter is realized by a computer program on the monitoring device, so as to realize the monitoring of the first specified parameter; preferably, a control device and an alarm device are further provided, the monitoring device is used as a data transfer station, the control device obtains the second specified parameter data in the internal parameter through the monitoring device, and the preset threshold range corresponding to the second specified parameter data is monitored, and an alarm signal is generated when the second specified parameter exceeds the preset threshold range of the second specified parameter, and the alarm signal is sent to the alarm device, so as to realize the monitoring and timely notification of the second specified parameter. The present application can obtain a large amount of data about the industrial robot and analyze and monitor it without connecting to the external network, which is helpful to improve production safety and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.
[0017] Figure 1 A structural block diagram of a data acquisition and monitoring system for an industrial robot according to an embodiment of the present invention is shown;
[0018] Figure 2 A display interface diagram of a data acquisition device of a data acquisition and monitoring system for an industrial robot according to an embodiment of the present invention is shown;
[0019] Figure 3 A diagram showing a first display interface of a monitoring device of a data acquisition and monitoring system for an industrial robot according to an embodiment of the present invention is shown;
[0020] Figure 4 A second display interface diagram of a monitoring device of a data acquisition and monitoring system for an industrial robot according to an embodiment of the present invention is shown.
[0021] Description of reference numerals:
[0022] 1. Industrial robot; 2. Data acquisition device; 3. Monitoring device; 4. Control device; 5. Alarm device. DETAILED DESCRIPTION
[0023] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0024] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.
[0025] In order to at least partially solve the above problems and one or more of other potential problems, the embodiments of the present disclosure provide a data acquisition and monitoring system for an industrial robot, such as Figure 1 As shown, it includes a data acquisition device 2 and a monitoring device 3.
[0026] The data acquisition device 2 and the industrial robot 1 are in the same network, and the data acquisition device 2 is connected to the industrial robot 1 in communication. Preferably, the data acquisition device 2 and the industrial robot 1 are connected to each other in communication based on the FTP protocol; the data acquisition device 2 is used to read the storage file about the internal parameters of the industrial robot 1 from the industrial robot 1 at a regular interval. Specifically, the data acquisition device 2 sets a collection period, for example, the collection period is 200ms or 500ms or 1s, etc. In each collection period, the data acquisition device 2 reads the storage file about the internal parameters of the industrial robot 1 from the industrial robot 1 once. The storage file about the internal parameters of the industrial robot 1 includes .DG files such as system running time, current position of robot axis, robot axis encoder data, system self-test LOG file, robot coordinate system data, FTP processing LOG file, IO configuration file, IO full status, macro program, memory usage, communication rate, task execution status, safety emergency stop signal, timer, robot version data, etc., and .LS files For example, all robot user programs, and .VA files such as bus communication configuration files and matrix files; use the VBA programming module in the EXCEL software to program the computer program, wherein the computer program realizes opening the collected internal parameter storage file in the TXT file format; according to the internal parameter storage file opened in the TXT file format, the internal parameter data is split and copied to several independent cells of the file in the Excel file format in sequence and stored, specifically, the internal parameter data is split according to the number of characters or specific characters of the internal parameters; preferably, the data acquisition device 2 is also used to calculate the service life based on the internal parameter data based on the existing service life calculation method and store it in independent cells of the file in the Excel file format; send the storage file in the Excel file format to the monitoring device 3; preferably, the data acquisition device 2 is also used to draw an image and display it according to the data of the third specified parameter in the internal parameter read at a fixed time, and the third specified parameter includes the torque of each axis, such as Figure 2 As shown, the horizontal axis is the time for reading data from the industrial robot 1 each time, and the vertical axis is the torque of each axis.
[0027] The monitoring device 3 is connected to the data acquisition device 2 in communication. Preferably, the data acquisition device 2 is connected to the monitoring device 3 in communication via a DASERVER server. The monitoring device 3 is used to receive a storage file in the Excel file format from the data acquisition device 2; read the first specified parameter in the storage file in the Excel file format; specifically, the first specified parameter includes the angle of each axis, the torque of each axis, and the running time; compare the first specified parameter with the first specified parameter preset threshold; draw and display an image and / or table about the first specified parameter according to the first specified parameter data, the first specified parameter preset threshold data, and the comparison result, such as Figure 3 and Figure 4 As shown, in Figure 3 In the figure, the horizontal axis is the time when data is read from the industrial robot 1 each time, the vertical axis is the torque of each axis, the broken line is drawn according to the data of the torque of each axis in the internal parameters read at a fixed time, and the horizontal line at the top and the horizontal line at the bottom are the maximum preset threshold value and the minimum preset threshold value of the torque of each axis, respectively.
[0028] Preferably, if Figure 4 As shown, the monitoring device 3 is used to draw and display a table about the first specified parameter, and mark and display it according to the ratio of the first specified parameter to the preset threshold value of the first specified parameter, wherein the marking and display method includes the following steps: when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is less than the first preset value, the table box of the first specified parameter is marked with a first preset color; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is between the first preset value and the second preset value, the table box of the first specified parameter is marked with a second preset color; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is between the second preset value and the third preset value, the table box of the first specified parameter is marked with a third preset color; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is greater than the third preset value, the table box of the first specified parameter is marked with a third preset color. Four preset colors; in a specific embodiment, when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is less than 0.6, the table box of the first specified parameter is marked in green; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is between 0.6 and 0.85, the table box of the first specified parameter is marked in yellow; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is between 0.85 and 0.95, the table box of the first specified parameter is marked in orange; when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is greater than 0.95, the table box of the first specified parameter is marked in red; more preferably, when the ratio of the data of the first specified parameter to the preset threshold value of the first specified parameter is greater than a third preset value, an analysis message is generated, the analysis message including the industrial robot 1 number, vehicle model, name of the first specified parameter and prompt information, such as Figure 4 shown.
[0029] In a preferred embodiment, if Figure 1As shown, the system of the present application also includes a control device 4, which is connected to the monitoring device 3 in communication. Preferably, the control device 4 and the monitoring device 3 are connected in communication via a DASERVER server. The monitoring device 3 is also used to read the second specified parameter in the storage file in the Excel file format, and send the read second specified parameter to the control device 4. Preferably, the second specified parameter includes the torque of each shaft, the service life, and the number of times the nozzle is switched. The control device 4 is used to receive the second specified parameter data from the monitoring device 3; analyze the second specified parameter data to form an analysis result; and send the analysis result to the device to be controlled. Specifically, the control device can be an alarm device 5, a motor, etc. Preferably, the system of the present application also includes an alarm device 5, which is used to receive an alarm signal from the control device 4 and alarm when receiving the alarm signal. The alarm device 5 is connected to the control device 4 in communication. The analysis of the second specified parameter data in the control device 4 includes comparing the second specified parameter with the preset threshold range of the second specified parameter, and when the second specified parameter exceeds the preset threshold range of the second specified parameter, an alarm signal is formed, and the alarm signal is sent to the alarm device 5.
[0030] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.
Claims
1. A data acquisition and monitoring system for an industrial robot, characterized in that: It comprises a data acquisition device (2) and a monitoring device (3); The data acquisition device (2) and the industrial robot (1) are in the same network, and the data acquisition device (2) is connected to the industrial robot (1) for communication; the data acquisition device (2) is used to read a storage file about the internal parameters of the industrial robot (1) from the industrial robot (1) at a regular interval; Opening the internal parameter storage file in the TXT file format; splitting the internal parameter storage file opened in the TXT file format and sequentially copying the internal parameter data into a plurality of independent cells of a file in the Excel file format and storing the cells; sending the storage file in the Excel file format to the monitoring device (3); The monitoring device (3) is used to receive a storage file in Excel file format from the data acquisition device (2); Read a first specified parameter from a storage file in an Excel file format; compare the first specified parameter with a preset threshold value of the first specified parameter; According to the first designated parameter data, the first designated parameter preset threshold data and the comparison result, an image and / or table about the first designated parameter is drawn and displayed; the monitoring device (3) is communicatively connected with the data acquisition device (2).
2. The data acquisition and monitoring system for an industrial robot according to claim 1, characterized in that: The invention also comprises a control device (4), which is communicatively connected with the monitoring device (3); the monitoring device (3) is further used to read the second specified parameter in the storage file in the Excel file format, and send the read second specified parameter to the control device (4); the control device (4) is used to receive the second specified parameter data from the monitoring device (3); analyze the second specified parameter data to form an analysis result; and send the analysis result to the device to be controlled.
3. The data acquisition and monitoring system for an industrial robot according to claim 2, characterized in that: The invention also comprises an alarm device (5), which is used to receive an alarm signal from the control device (4) and to give an alarm when receiving the alarm signal, and the alarm device (5) is communicatively connected with the control device (4); the analysis of the second specified parameter data in the control device (4) comprises comparing the second specified parameter with a preset threshold range of the second specified parameter, and when the second specified parameter exceeds the preset threshold range of the second specified parameter, an alarm signal is generated, and the alarm signal is sent to the alarm device (5).
4. The data acquisition and monitoring system for an industrial robot according to claim 3, characterized in that: The second specified parameters include the torque of each shaft, the service life, and the number of times the nozzle is opened and closed; the data acquisition device (2) is also used to calculate the service life based on the internal parameter data and store it in an independent cell of a file in Excel file format.
5. The data acquisition and monitoring system for an industrial robot according to claim 1, characterized in that: The monitoring device (3) is used to draw and display a table about the first specified parameter, and to mark and display the table according to the ratio of the first specified parameter to a preset threshold value of the first specified parameter.
6. The data acquisition and monitoring system for an industrial robot according to claim 5, characterized in that: The method for marking display comprises the following steps: When the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is less than the first preset value, the table box of the first specified parameter is marked with a first preset color; When the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is between the first preset value and the second preset value, the table box of the first specified parameter is marked with a second preset color; When the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is between the second preset value and the third preset value, the table box of the first specified parameter is marked with a third preset color; When the ratio of the data of the first specified parameter to the preset threshold of the first specified parameter is greater than the third preset value, the table box of the first specified parameter is marked with a fourth preset color.
7. The data acquisition and monitoring system for an industrial robot according to claim 6, characterized in that: When the ratio of the data of the first designated parameter to the preset threshold of the first designated parameter is greater than a third preset value, an analysis message is generated.
8. The data acquisition and monitoring system for an industrial robot according to claim 1, characterized in that: The data acquisition device (2) is also used to draw and display an image according to the data of the third designated parameter in the internal parameters read at regular intervals.
9. The data acquisition and monitoring system for an industrial robot according to claim 1, characterized in that: The data acquisition device (2) is connected to the industrial robot (1) through communication based on the FTP protocol, and the data acquisition device (2) is connected to the monitoring device (3) through communication via a DASERVER server.
10. The data acquisition and monitoring system for an industrial robot according to claim 1, characterized in that: The first specified parameters include the angle of each axis, the torque of each axis, and the running time.