Industrial robot health state data acquisition device and acquisition method

Abstract

The invention discloses an industrial robot health state data acquisition device and an acquisition method. A vertically-arranged magnetic pen is fixedly arranged on a joint of the industrial robot, a horizontally-arranged magnetic drawing board is fixedly arranged above the joint, in the working process of the industrial robot, the magnetic pen draws a movement track on the magnetic drawing board, and the pen point of the magnetic pen makes contact with the surface of the magnetic drawing board all the time. The lower end of a refill of the magnetic pen is connected into the pen container through a spring; the method comprises the steps that the robot is controlled to conduct standard homework for the first time, in the process, a magnetic pen draws a standard track on a magnetic drawing board, in the subsequent homework process of the robot, the magnetic pen also draws a movement track on the magnetic drawing board, and the movement track serves as data for judging the health state of the robot. According to the invention, the health state of the robot is monitored by an extremely low and simple scheme, the monitoring mode is greatly simplified, and the problem that a conventional sensor is easy to damage is fundamentally solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot monitoring, and particularly relates to a device and method for collecting industrial robot health status data. Background Art

[0002] Generally speaking, industrial robot health status monitoring refers to the use of advanced sensor technology, signal processing technology, communication technology and other means to monitor the status of industrial robots in real time, comprehensively and accurately during operation, so as to timely detect potential faults and achieve preventive maintenance and fault diagnosis.

[0003] Currently, the main technical routes for industrial robot health status monitoring are: using temperature monitoring to monitor its health status, using vibration signal analysis to monitor its health status, using oil analysis to monitor its health status, using acoustic emission signals to monitor its health status, and monitoring its health status based on the above multi-sensor fusion method. However, these existing technical routes all have problems such as high monitoring costs (the monthly average monitoring cost is as high as several thousand yuan), complex monitoring methods, and easy damage to sensors. In particular, the sensors applied in the working space of spraying robots are extremely easy to be damaged, and most spraying robots are tightly covered by cloth bags, making it inconvenient to implement their health status monitoring. Summary of the Invention

[0004] At least to solve the technical problems mentioned in the background art, the purpose of the present invention is to provide a device and method for collecting industrial robot health status data.

[0005] The present invention adopts the following technical solutions.

[0006] A device for collecting industrial robot health status data is provided. A vertically arranged magnetic pen is fixedly arranged on the joint of the industrial robot, and a horizontally arranged magnetic drawing board is fixedly arranged above the joint of the industrial robot. During the operation of the industrial robot, the magnetic pen draws a movement trajectory on the magnetic drawing board, and the tip of the magnetic pen is always in contact with the surface of the magnetic drawing board. The lower end of the pen core of the magnetic pen is connected to the pen barrel through a spring.

[0007] To improve the accuracy of industrial robot health status data collection, the magnetic pen is arranged on the end joint of the industrial robot.

[0008] Preferably, the magnetic pen is connected to the end joint of the industrial robot through a clamp.

[0009] More preferably, the lower part of the magnetic pen is threadedly engaged in the screw hole on the joint.

[0010] Preferably, the industrial robot is a spraying robot, a welding robot, or a fixed-point material transfer robot.

[0011] A collection method for the health status data acquisition device of the aforementioned industrial robot, the steps include: Step 1, set the standard working process of the industrial robot, so that the execution end or the end joint of the industrial robot moves according to the preset trajectory; Step 2, fix and vertically install a magnetic pen on the joint of the industrial robot, fix and horizontally install a magnetic drawing board above the joint of the industrial robot, and adjust the height of the tip of the magnetic pen until the tip can always contact the surface of the magnetic drawing board; Step 3, control the industrial robot to perform standard operations for the first time. During this process, the magnetic pen will draw a standard trajectory on the magnetic drawing board; Step 4, during the subsequent operation of the industrial robot, the magnetic pen will also draw a motion trajectory on the magnetic drawing board, and use this motion trajectory as the data for evaluating the health status of the industrial robot.

[0012] Furthermore, regularly obtain the motion trajectory, compare it with the standard trajectory, and give the health status of the industrial robot according to the comparison result.

[0013] Beneficial effects: The present invention not only realizes the health status monitoring of industrial robots with an extremely low and minimalist solution, the monthly average monitoring cost does not exceed three hundred yuan, the monitoring method is greatly simplified, eliminating the software system and complex algorithms required during the monitoring process, but also fundamentally solves the problem of easy damage of conventional sensors, and is particularly suitable for the health status monitoring of several spraying robots. Description of the Drawings

[0014] Figure 1 It is a schematic diagram of the industrial robot health status data acquisition process in Embodiment 1; Figure 2 It is Figure 1 The enlarged view of part A in Figure 3 It is a schematic diagram of the industrial robot health status data acquisition process in Embodiment 2; Figure 4 It is a schematic diagram of the trajectory during the industrial robot health status data acquisition process in the embodiment. Detailed Embodiments

[0015] The following combines the drawings to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Embodiment 1

[0016] Combined with Figures 1 to 3As shown in the figure, a device for collecting health status data of an industrial robot is provided. A vertically arranged magnetic pen 1 is fixedly installed on the joint of the industrial robot, and a horizontally arranged magnetic drawing board 2 is fixedly installed above the joint of the industrial robot. During the operation of the industrial robot, the magnetic pen 1 draws a motion trajectory on the magnetic drawing board 2, and the tip of the magnetic pen 1 is always in contact with the surface of the magnetic drawing board 2. The lower end of the refill 6 of the magnetic pen 1 is connected to the pen barrel 5 through a spring 7. Among them, the lower part of the magnetic pen 1 is threadedly engaged in the screw hole 4 on the end joint of the industrial robot. When the end joint of the industrial robot is at the lower limit position during operation, the compression of the spring 7 is the smallest, and at this time, the tip of the magnetic pen 1 is in contact with the surface of the magnetic drawing board 2; when the end joint of the industrial robot is at the upper limit position during operation, the compression of the spring 7 is the largest, and at this time, the tip of the magnetic pen 1 is still in contact with the surface of the magnetic drawing board 2.

[0017] A collection method using the device for collecting health status data of the industrial robot in this embodiment for monitoring the health status of a spraying robot includes the following steps: Step 1: Set the standard working process of the industrial robot to make the execution end or the end joint of the industrial robot move according to a preset trajectory. Step 2: Fix and vertically install the magnetic pen 1 on the joint of the industrial robot, fix and horizontally install the magnetic drawing board 2 above the joint of the industrial robot, and adjust the height of the tip of the magnetic pen 1 until the tip can always be in contact with the surface of the magnetic drawing board 2 (here it means that during the spraying process of the industrial robot, the tip can always be in contact with the surface of the magnetic drawing board 2). Step 3: Control the industrial robot to perform the standard operation for the first time. During this process, the magnetic pen 1 will draw a standard trajectory on the magnetic drawing board 2. Step 4: During the subsequent operation of the industrial robot, the magnetic pen 1 will also draw a motion trajectory on the magnetic drawing board 2, and use this motion trajectory as the data for evaluating the health status of the industrial robot. Step 5: Regularly obtain the motion trajectory and compare it with the standard trajectory, and give the health status of the industrial robot according to the comparison result.

[0018] In an application case, during the process of a spraying robot spraying a protective coating on a certain equipment panel in mass production (the equipment panel is vertically suspended on a jig), it is necessary to monitor the health status of the robot. The end joint of the spraying robot sprays vertically and moves horizontally by a standard distance after each vertical spraying. After setting the standard working process of the spraying robot, the robot is controlled to perform the standard operation for the first time. During this process, the magnetic pen 1 will draw a standard trajectory 10 on the magnetic drawing board 2; during the subsequent operation of the robot, the magnetic pen 1 will draw a motion trajectory 11 on the magnetic drawing board 2 each time. The motion trajectory 11 can be used as data for evaluating the health status of the robot. If the subsequent obtained motion trajectory 11 coincides with the standard trajectory 10, it indicates that the health status of the robot is good; if the motion trajectory 11 obtained in a subsequent time deviates from the standard trajectory 10 (such as Figure 4 as shown), it indicates that the health status of the robot is poor and needs to be readjusted or maintained. Embodiment 2

[0019] An industrial robot health status data acquisition device, referring to Embodiment 1, the difference from Embodiment 1 is that: as shown in combination with Figure 4 , the magnetic pen 1 is connected to the end joint of the industrial robot through a clamp 3, and this device is used to monitor the health status of the welding robot. Embodiment 3

[0020] An industrial robot health status data acquisition device, referring to Embodiment 1, the difference from Embodiment 1 is that: this device is used to monitor the health status of a fixed-point transfer robot, and a fixed-point transfer robot refers to a robot that is fixedly installed at a position and is used to transfer workpieces between adjacent processes.

[0021] The present invention not only realizes the health status monitoring of industrial robots with an extremely low and minimalist solution, the monthly average monitoring cost does not exceed three hundred yuan (the main commercially available components involved, the magnetic pen 1 and the magnetic drawing board 2, only cost dozens of yuan), the monitoring method is greatly simplified, eliminating the software system and complex algorithms required during the monitoring process, but also fundamentally solves the problem of easy damage of conventional sensors (because there is no need to use precise optical and acoustic sensors), and is especially suitable for the health status monitoring of several spraying robots.

Claims

1. An industrial robot health status data acquisition device, characterized in that: A magnetic pen (1) arranged vertically is fixedly provided on the joint of the industrial robot, and a magnetic drawing board (2) arranged horizontally is fixedly provided above the joint of the industrial robot. During the operation of the industrial robot, the magnetic pen (1) draws a motion trajectory on the magnetic drawing board (2), and the tip of the magnetic pen (1) is always in contact with the surface of the magnetic drawing board (2). The lower end of the pen core (6) of the magnetic pen (1) is connected in the pen barrel (5) through a spring (7).

2. The industrial robot health status data acquisition device according to claim 1, characterized in that: The magnetic pen (1) is arranged on the end joint of the industrial robot.

3. The industrial robot health status data acquisition device according to claim 2, wherein: The magnetic pen (1) is connected to the end joint of the industrial robot through a clamp (3).

4. The industrial robot health status data acquisition device according to claim 2, wherein: The lower part of the magnetic pen (1) is threadedly engaged in the screw hole (4) on the joint.

5. The industrial robot health status data acquisition device according to any one of claims 1-4, characterized in that: The industrial robot is a spraying robot, a welding robot, or a fixed-point material transfer robot.

6. A collection method for the industrial robot health status data collection device according to any one of claims 1-5, characterized in that the steps Including: Step 1: Set the standard working process of the industrial robot so that the execution end or the end joint of the industrial robot moves according to the preset trajectory. Step 2: Fix and vertically install the magnetic pen (1) on the joint of the industrial robot, fix and horizontally install the magnetic drawing board (2) above the joint of the industrial robot, and adjust the height of the tip of the magnetic pen (1) until the tip can always be in contact with the surface of the magnetic drawing board (2). Step 3: Control the industrial robot to perform the standard operation for the first time. During this process, the magnetic pen (1) will draw a standard trajectory on the magnetic drawing board (2). Step 4: During the subsequent operation of the industrial robot, the magnetic pen (1) will also draw a motion trajectory on the magnetic drawing board (2). Use this motion trajectory as the data for evaluating the health status of the industrial robot.

7. The acquisition method according to claim 6, characterized in that: Regularly obtain the motion trajectory and compare it with the standard trajectory, and give the health status of the industrial robot according to the comparison result.

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