Safety monitoring system for intelligent production

Abstract

The invention discloses a safety monitoring system for intelligent production, and relates to the technical field of robot intelligent production, the safety monitoring system comprises a safety production center, the safety production center is connected with a production data setting module, a production data monitoring module, a production data acquisition module, an analysis processing module, a production control module and a safety early warning module; the production data setting module is used for setting production data of a production line and a robot; the production data monitoring module is used for monitoring production data of a production line and a robot; the production data acquisition module is used for acquiring production data of a production line and a robot; the analysis processing module is used for analyzing and processing the production data of the production line and the robot; the production control module is used for controlling and adjusting the production process of the production line and the robot; the safety early warning module is used for receiving abnormal production data of the robot and sending out an early warning signal.

Description

Technical Field

[0001] The present invention relates to the technical field of robot intelligent production, and specifically to a safety monitoring system for intelligent production. Background Art

[0002] In current industrial production, to save labor costs and improve production quality, intelligent production usually equips industrial production robots to complete production processes through collaborative work. Industrial production robots are multi-joint manipulators or multi-degree-of-freedom machine devices for the industrial field. They can automatically perform work and are a kind of machine that realizes various functions by its own power and control ability. They can accept human commands or run according to pre-coded programs; to ensure stable production, it is necessary to collect on-site working state data of industrial production robots and monitor them in real time, so that industrial production managers can make reasonable arrangements for the operating conditions of industrial production robots in a timely manner, avoid accidents, ensure the stable operation of the production line, and thus improve production efficiency.

[0003] In the prior art, current intelligent production mainly makes fault judgments based on the monitoring information provided by industrial production robots, and cannot analyze and process the operating state of industrial production robots in advance, nor can it control the operating state of industrial production robots according to the operating state of the industrial production line. To solve these problems, a safety monitoring system for intelligent production is provided herein. Summary of the Invention

[0004] To solve the above technical problems, the purpose of the present invention is to provide a safety monitoring system for intelligent production.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A safety monitoring system for intelligent production includes a safety production center, which is connected with a production data setting module, a production data monitoring module, a production data collection module, an analysis and processing module, a production control module, and a safety warning module;

[0006] The production data setting module is used to set the production data of the production line and the robot;

[0007] Set the production data set of the production line;

[0008] The production data set of the production line includes: an order management data set, a production management data set, and a material management data set;

[0009] The order management data set includes: the total number of orders, the number of shipped products;

[0010] The production management data set includes: the target output, the actual output, and the production capacity status;

[0011] The material management dataset includes: material types, material requirements, and available quantity;

[0012] The process of setting production data for the production line includes:

[0013] Obtain the total order quantity in the order management dataset;

[0014] Obtain the material types, material requirements, and available material quantity in the material management dataset;

[0015] Set the target production volume of the production line based on the total order quantity and the available material quantity;

[0016] Generate the production tasks corresponding to each work station of the production line based on the target production volume of the production line;

[0017] Set the robot production dataset;

[0018] The robot production dataset includes: the robot structure dataset and the robot production management dataset;

[0019] The robot structure dataset includes: the robot position coordinates and the robot running trajectory;

[0020] The robot running trajectory includes: the robot movement path trajectory and the grasping end grasping path trajectory;

[0021] The robot production management dataset includes: the target production volume and the actual production volume;

[0022] The process of setting the robot movement path trajectory includes:

[0023] According to the production tasks set for the robot, obtain the position information of the work station corresponding to the robot;

[0024] Obtain the starting position information of the robot;

[0025] Mark the starting position of the robot as The position information of the work station corresponding to the robot, that is, the end position, is marked as

[0026] Set the robot from the starting position to the end position of the movement path trajectory;

[0027] Set the acceleration in the robot movement path;

[0028] The process of setting the grasping end grasping path trajectory includes:

[0029] Set the initial position of the grasping end the intermediate point position the end position

[0030] Set the grasping end from the initial position Pass through the intermediate point position To the end position Of the grasping path trajectory;

[0031] Set the initial acceleration and intermediate point acceleration in the grasping path of the grasping end;

[0032] The production data monitoring module is used to monitor the production data of the production line and the robot;

[0033] Install cameras during the operation of the production line and the robot;

[0034] The camera collects product images during the operation of the production line and the robot, and enters the collected product images into the corresponding labels of the production line and the robot respectively;

[0035] Install a temperature monitor, a current monitor, a rotation angle monitor, and a cycle monitor on the grasping end, which are used to monitor the temperature parameters, current values, position information, and operation cycles during the operation of the grasping end respectively;

[0036] The process of the production data acquisition module for acquiring the production data of the production line and the robot includes:

[0037] According to the cameras installed during the operation of the production line and the robot, record the number of products produced by the production line and the robot within the rated time;

[0038] Sequentially obtain the temperature parameters monitored by the temperature monitor, the current values monitored by the current monitor, the position information monitored by the rotation angle monitor, and the operation cycles monitored by the cycle monitor;

[0039] Specifically, mark the initial position of the grasping end monitored by the rotation angle monitor as (x 1 , y 1 , z 1 ), mark the intermediate point position as (x 2 , y 2 , z 2 ), and mark the end position as (x 3 , y 3 , z 3 );

[0040] The process of the analysis and processing module for analyzing and processing the production data of the production line and the robot includes:

[0041] Obtain the target output set for the production line and the robot;

[0042] Obtain the number of products produced by the production line and the robot within the rated time recorded;

[0043] Determine whether the production line and the robot can achieve the set target output through analysis and judgment;

[0044] Obtain the temperature parameters, current values, and position information monitored at the grasping end;

[0045] Set the safety temperature threshold, safety current threshold, and safety position threshold respectively, and determine whether the monitored temperature parameters, current values, and position information exceed the set safety temperature threshold, safety current threshold, and safety position threshold;

[0046] Mark the temperature parameters, current values, and position information that exceed the set safety temperature threshold, safety current threshold, and safety position threshold as abnormal production data;

[0047] Specifically, for the safety position threshold, set the safety position thresholds corresponding to the initial position, middle point position, and end position of the grasping end respectively:

[0048] For the initial position (x 1 , y 1 , z 1 ):

[0049]

[0050] For the middle point position (x 2 , y 2 , z 2 ):

[0051]

[0052] For the end position (x 3 , y 3 , z 3 ):

[0053]

[0054] The production control module is used to control and adjust the production process of the production line and the robot;

[0055] For the production line that has not completed the target output, the production control module management personnel perform control and adjustment: station sharing or robot assistance;

[0056] The process of using robot assistance includes:

[0057] Obtain the position information of the station that has not completed the target output

[0058] Obtain the starting position coordinates (x i , y i ) of the selected robot and set the running trajectory of the robot;

[0059] Set the initial position of the robot's grasping end Midpoint position End position

[0060] For machines that have not completed the target output, the production control module managers will carry out control adjustments: adjust the robot acceleration, the initial acceleration of the grasping end, and the midpoint acceleration, thereby improving the operation cycle of the robot and the grasping end;

[0061] The safety warning module is used to receive abnormal production data of the robot and issue a warning signal;

[0062] The abnormal production data includes the temperature parameter, current value, and position information of the grasping end;

[0063] After the safety warning module receives the abnormal production data of the robot, it issues a warning signal and sends the position information corresponding to the abnormal production data to the management personnel for comprehensive analysis.

[0064] Compared with the prior art, the beneficial effects of the present invention are as follows: on the one hand, the combination of the production line and the robot in intelligent production improves economic benefits and production efficiency; on the other hand, by monitoring the temperature parameter, current value, and position information of the robot's grasping end, the whole process of the robot's operation is monitored, reducing the safety risks brought by human workers in the production line due to robot failures, playing a role in safety monitoring, and improving safety guarantee and production efficiency. Brief description of the drawings

[0065] Figure 1 It is the schematic diagram of the present invention; Detailed implementation manners

[0066] As Figure 1 shown, a safety monitoring system for intelligent production includes a safety production center, and the safety production center is connected with a production data setting module, a production data monitoring module, a production data collection module, an analysis and processing module, a production control module, and a safety warning module;

[0067] In intelligent production, it is not necessary to invest robots in every production line link. Before the robot is put into production application, according to a comprehensive technical and economic benefit evaluation, it is ensured whether it is applied to production, because the intelligent production in this system adopts a mode of combining the production line and the robot;

[0068] The production data setting module is used to set the production data of the production line and the robot in the intelligent production process;

[0069] The set identifier of the production line-related production data is marked as the production line production data set;

[0070] The production line production dataset includes: order management dataset, production management dataset, and material management dataset;

[0071] The order management dataset includes: total order quantity, shipped quantity;

[0072] The production management dataset includes: target production volume, actual production volume, production capacity status;

[0073] The material management dataset includes: material types, material requirements, available quantity;

[0074] The process of setting production data related to the production line includes:

[0075] Obtain the total order quantity in the order management dataset;

[0076] Obtain the material types, material requirements, and available material quantity in the material management dataset;

[0077] Set the production line target production volume based on the total order quantity and available material quantity;

[0078] Intelligently generate production tasks corresponding to each station of the production line in detail based on the production line target production volume, combined with the production process of the production line, the actual number of operators at each station, the total number of people on the production line, etc.;

[0079] Identify the set of production data related to the robot as the robot production dataset;

[0080] The robot production dataset includes: robot structure dataset, robot production management dataset;

[0081] The robot structure dataset includes: robot position coordinates, robot running trajectory;

[0082] The robot running trajectory includes: robot movement path trajectory, grasping end grasping path trajectory;

[0083] The robot production management dataset includes: target production volume, actual production volume, production capacity status;

[0084] The process of setting production data related to the robot includes:

[0085] Set the robot position coordinate identifier:

[0086] Identify the robot's moving position coordinates as (x i , y i ), and identify the set robot position coordinates as

[0087] Identify the robot's grasping position coordinates as (x i , y i , z i), identifying the set robot position coordinates as

[0088] The process of setting the robot moving path trajectory includes:

[0089] According to the production tasks corresponding to each workstation on the production line refined by the production line, obtain the position information of the workstations where the robot moves correspondingly;

[0090] Set the starting position of the robot movement according to the position information of the workstation corresponding to the robot End position

[0091] Set the acceleration in the robot moving path;

[0092] Set the robot from the starting position To the end position After setting the movement path trajectory, set the robot grasping path trajectory;

[0093] The process of setting the grasping path trajectory of the grasping end includes:

[0094] Set the initial position of the grasping end Middle point position End position

[0095] Set the initial acceleration and middle point acceleration in the grasping path of the grasping end;

[0096] Set the grasping end from the initial position Passing through the middle point position To the end position Of the grasping path trajectory;

[0097] The production data monitoring module is used to monitor the production status of the production line and the robot during the intelligent production process, and send the monitored data to the production data acquisition module;

[0098] The process of the production data monitoring module monitoring the production line includes:

[0099] Install cameras during the operation of the production line;

[0100] The cameras collect product images during the operation of the production line, and enter the corresponding label of the production line for each collected product image;

[0101] The process of the production data monitoring module monitoring the robot includes:

[0102] Install cameras during the operation of the robot;

[0103] The camera captures product images during the operation of the robot, and enters the corresponding label of the robot for each captured product image;

[0104] At the same time, temperature monitors, current monitors, rotation angle monitors, and cycle monitors are installed throughout the grasping end of the robot;

[0105] The temperature monitor is used to monitor the temperature parameters during the operation of the grasping end of the robot;

[0106] The current monitor is used to monitor the current value during the operation of the grasping end of the robot;

[0107] The rotation angle monitor is used to monitor the position information during the operation of the grasping end of the robot;

[0108] The cycle monitor is used to record the operation cycle during the operation of the grasping end of the robot;

[0109] The production data acquisition module is used to acquire the production data of the production line and the robot during the intelligent production process;

[0110] The process of acquiring production line production data includes:

[0111] Recording the number of products produced within the rated time according to the cameras installed on the production line;

[0112] Compared with the method of manually recording production status data in traditional industrial production lines, it solves the error of manual recording and realizes the real-time display and backup of production status data;

[0113] The process of acquiring robot production data includes:

[0114] Recording the number of products produced within the rated time according to the cameras installed on the robot;

[0115] Sequentially obtaining the temperature parameters monitored by the temperature monitor, the current value monitored by the current monitor, the position information monitored by the rotation angle monitor, and the operation cycle monitored by the cycle monitor;

[0116] Mark the initial position of the grasping end monitored by the rotation angle monitor as (x 1 , y 1 , z 1 ), the intermediate point position as (x 2 , y 2 , z 2 ), and the end position as (x 3 , y 3 , z 3 );

[0117] The analysis and processing module is used to analyze and process the production data of the production line and the robot collected and the set production data of the production line and the robot;

[0118] The process of analyzing and processing the production data of the production line includes:

[0119] Obtain the target output of the set production line within the rated time;

[0120] Calculate according to the number of products produced within the rated time recorded by the production line camera, and judge whether the production line can complete the set target output within the rated time;

[0121] If it is judged that the production line fails to complete the set target output within the rated time, collect the production data of each station in the production line through the camera, obtain the number of products produced at each station, and then judge whether each station has completed the set target output through calculation;

[0122] The process of analyzing and processing the production data of the robot includes:

[0123] Obtain the target output of the set robot within the rated time;

[0124] Calculate according to the number of products produced within the rated time recorded by the robot camera, and judge whether the robot can complete the set target output within the rated time;

[0125] The process of analyzing and processing the robot's grasping end includes:

[0126] Obtain the temperature parameter, current value, position information and operation cycle monitored by the robot's grasping end;

[0127] Set the safety temperature threshold and safety current threshold respectively;

[0128] Compare the obtained temperature parameter and current value with the safety temperature threshold and safety current threshold to determine whether the monitored temperature parameter and current value exceed the set safety temperature threshold and safety current threshold;

[0129] If it exceeds the set safety threshold range, mark the temperature parameter and current value that exceed the set safety temperature threshold and safety current threshold as abnormal temperature parameter and abnormal current value, and send them to the safety warning module;

[0130] Obtain the initial position (x 1 , y 1 , z 1 ) of the robot's grasping end, the intermediate point position (x 2 , y 2 , z 2 ) and the end position (x 3 , y 3, z 3 ), and the initial position of the robot's grasping end set The intermediate point position The end position are analyzed;

[0131] The safety position thresholds corresponding to the initial position, intermediate point position, and end position of the robot's grasping end are set respectively;

[0132] For the initial position (x 1 , y 1 , z 1 ):

[0133]

[0134] For the intermediate point position (x 2 , y 2 , z 2 ):

[0135]

[0136] For the end position (x 3 , y 3 , z 3 ):

[0137]

[0138] Determine whether the monitored position information exceeds the set safety position threshold;

[0139] Mark the position information that exceeds the set safety position threshold as abnormal position information;

[0140] During the grasping process of the robot's grasping end, due to some minor force changes, the position information of the grasping end is changed. Therefore, a safety position threshold is set. When the position information of the grasping end is within the safety position threshold, it is defaulted that the grasping end is normal. When the position information of the grasping end is outside the safety position threshold, it is considered that the grasping end is abnormal;

[0141] If the position information in any direction (x, y, z) of the grasping end is outside the safety position threshold, it is considered as abnormal position information and sent to the safety warning module;

[0142] The production control module is used to control and adjust the production process of the production line and the robot in intelligent production;

[0143] The process of controlling and adjusting the production process of the production line includes:

[0144] For the production line that has not completed the target output, the production control module management personnel conduct control and adjustment: station sharing or robot assistance;

[0145] Workstation sharing: The remaining target output of this workstation is divided among other workstations for sharing, which solves the problem of product accumulation at a certain workstation, reduces the phenomenon of low production line efficiency caused by low efficiency of individual workstations, and improves the overall efficiency of the production line products;

[0146] Robot assistance: Select a robot to complete the remaining target output;

[0147] Obtain the position information of the workstation with uncompleted target output

[0148] Obtain the starting position coordinates (x i , y i ) of the selected robot, set the running trajectory of the robot, and complete the process of the robot moving from the starting position to the corresponding workstation position;

[0149] Furthermore, set the initial position of the robot's grasping end Intermediate point position End point position

[0150] The process of controlling and adjusting the robot production process includes:

[0151] For the machines with uncompleted target output, the production control module managers conduct control and adjustment;

[0152] The production control module managers obtain the set robot acceleration, initial acceleration of the grasping end, intermediate point acceleration of the grasping end, and the operation cycle during the robot operation recorded by the cycle monitor;

[0153] The production control module managers improve the operation cycle of the robot and the grasping end during the operation process by adjusting the robot acceleration, initial acceleration of the grasping end, and intermediate point acceleration, thereby improving the production efficiency;

[0154] The safety warning module is used to receive the abnormal production data of the robot and issue a warning signal;

[0155] The abnormal data includes: abnormal temperature parameters, abnormal current values, and abnormal position information;

[0156] For the abnormal temperature parameters and abnormal current values, the safety warning module managers determine the position information of the robot corresponding to the abnormal data, conduct a comprehensive analysis of the robot, judge the cause of the abnormal data, and repair the robot;

[0157] For the abnormal position information, the safety warning module managers determine the position information of the robot's grasping end corresponding to the abnormal data, conduct a comprehensive analysis of the robot's grasping end, judge the cause of the abnormal data, and repair the robot's grasping end.

[0158] The above embodiments are only used to illustrate the technical method of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A safety monitoring system for intelligent production, including a safety production center, characterized in that, The safety production center is connected to a production data setting module, a production data monitoring module, a production data collection module, an analysis and processing module, a production control module, and a safety warning module; The production data setting module is used to set the production data of the production line and the robot; The production data monitoring module is used to monitor the production data of the production line and the robot; The production data collection module is used to collect the production data of the production line and the robot; The analysis and processing module is used to analyze and process the production data of the production line and the robot; The production control module is used to control and adjust the production process of the production line and the robot; The safety warning module is used to receive abnormal production data of the robot and issue a warning signal.

2. The safety monitoring system for intelligent production according to claim 1, characterized in that The process of the production data setting module setting the production data of the production line includes: Setting the production data set of the production line; The production data set of the production line includes: an order management data set, a production management data set, and a material management data set; Obtaining the total number of orders in the order management data set; Obtaining the types of materials, material requirements, and available material quantities in the material management data set; Setting the target production output of the production line according to the total number of orders and the available material quantity.

3. The safety monitoring system for intelligent production according to claim 1, characterized in that, The process of the production data setting module setting the production data of the robot includes: Setting the production data set of the robot; The production data set of the robot includes: a robot structure data set, a robot production management data set; The process of setting the movement path trajectory of the robot includes: According to the set production task of the robot, obtaining the corresponding station position information of the robot; Obtaining the starting position information of the robot; Identify the starting position of the robot as The station position information corresponding to the robot, i.e., the end position, is identified as Set the movement path trajectory of the robot from the starting position to the end position ; The process of setting the grasping path trajectory of the grasping end includes: Set the initial position of the grasping end Initial velocity, initial acceleration, intermediate point position Intermediate point velocity, intermediate point acceleration, end point position Set the grasping end to move from the initial position through the intermediate point position to the end position of the grasping path trajectory.

4. A safety monitoring system for intelligent production according to claim 1, characterized in that, The process of the production data monitoring module monitoring the production data of the production line and the robot includes: Installing cameras during the operation of the production line and the robot; Installing a temperature monitor, a current monitor, a rotation angle monitor, and a cycle monitor at the grasping end, which are respectively used to monitor the temperature parameter, current value, position information, and operation cycle during the operation of the grasping end.

5. A safety monitoring system for intelligent production according to claim 1, characterized in that, The process of the production data collection module collecting the production data of the production line and the robot includes: According to the cameras installed during the operation of the production line and the robot, recording the number of products produced within the rated time; Obtaining the temperature parameter, current value, and position information monitored by the grasping end; Mark the initial position of the grasping end detected as (x 1 , y 1 , z 1 ), mark the intermediate point position as (x 2 , y 2 , z 2 ), and mark the end position as (x 3 , y 3 , z 3 ).

6. The safety monitoring system for intelligent production according to claim 2, wherein, The process of the analysis and processing module analyzing and processing the production data of the production line and the robot includes: Obtaining the target production output set for the production line and the robot; Obtaining the number of products produced by the production line and the robot within the rated time recorded; Judging whether the production line and the robot can complete the set target production output through analysis; Obtaining the temperature parameter, current value, and position information monitored by the grasping end; Respectively setting a safety temperature threshold, a safety current threshold, and a safety position threshold to determine whether abnormal production data appears at the grasping end; For the safety position threshold, respectively setting the safety position thresholds x, y, z corresponding to the initial position, middle point position, and end position of the grasping end: For the initial position (x 1 , y 1 , z 1 ): For the intermediate point position (x 2 , y 2 , z 2 ): For the end position (x 3 , y 3 , z 3 ):

7. The safety monitoring system for intelligent production according to claim 1, characterized in that, The process of the production control module controlling and adjusting the production process of the production line and the robot includes: For the production lines that have not achieved the target output, the management adopts the methods of work station sharing or robot assistance: Obtain the location information of the workstations with uncompleted target production Obtain the starting position coordinates (x i , y i ) of the selected robot and set the running trajectory of the robot; Set the initial position of the robot's grasping end Intermediate point position End position For the robots that have not achieved the target output, the management adopts the method of adjusting the acceleration of the robot, the initial acceleration of the grasping end and the acceleration at the intermediate point to improve the operation cycle of the robot and the grasping end.

8. A safety monitoring system for intelligent production according to claim 6, characterized in that, The process in which the safety warning module receives the abnormal production data of the robot and issues a warning signal includes: The abnormal production data includes the temperature parameter, current value and position information of the grasping end; After receiving the abnormal production data of the robot, the safety warning module issues a warning signal and sends the position information corresponding to the abnormal production data to the management personnel for comprehensive analysis.

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