Robot operation state detection device

Abstract

The utility model relates to the technical field of industrial robots, in particular to a robot operation state detection device which is fixedly installed on a base through a connecting rod, an installation base is fixedly installed on the connecting rod, a monitoring device is installed on an installation disc, and a first annular baffle is fixedly installed on the base. The second annular baffle is fixedly installed on the side, close to the first annular baffle, of the base, the moving body is slidably installed on the base through the driving assembly and makes contact with the first annular baffle and the second annular baffle, and the bearing rod is fixedly installed on the moving body and fixedly connected with the installation disc and driven by the driving assembly to move up and down. The moving body is matched with the bearing rod and the mounting disc to drive the monitoring device to move in the circumferential direction, so that the monitoring device can monitor the industrial robot without dead corners and can detect whether the industrial robot breaks down or not at any time, and therefore the monitoring range of the working state of the industrial robot is enlarged.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a robot operation state detection device. Background Technique

[0002] Conventional industrial robot fault detection generally involves technicians analyzing various parameter anomalies, such as abnormal temperature, abnormal operation trajectory, noise, etc., and then relying on their own experience to find faults.

[0003] The existing patent CN 217801806 U, an industrial robot state monitoring device, provides an installation basis for the industrial robot to be monitored by setting up an installation frame. The installation frame is installed on the workbench. By setting up a displacement unit, the connecting shaft can move within a certain range to expand the working range of the industrial robot to be monitored. The industrial robot to be monitored is installed on the robot installation base. By setting up an image sensing device, the actions of the industrial robot to be monitored during operation are collected, and the collected data is transmitted to the upper computer. The upper computer compares the motion posture of the industrial robot to be monitored with the pre-set industrial robot working program to realize the real-time working state of the industrial robot to be monitored.

[0004] However, during the use of the existing patent industrial robot state monitoring device, although the device expands the moving range of the connecting shaft carrying the sensor, the movement of the connecting shaft is only linear movement and cannot perform circumferential movement, resulting in limited sensing range of the sensor module, thus affecting the monitoring range of the robot working state. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a robot operation state detection device, which solves the problem that although the aforementioned device expands the moving range of the connecting shaft carrying the sensor, the movement of the connecting shaft is only linear movement and cannot perform circumferential movement, resulting in limited sensing range of the sensor module, thus affecting the monitoring range of the robot working state.

[0006] To achieve the above object, the utility model provides a robot operation state detection device, which includes a base, a connecting rod, a mounting seat, a mounting disc and a monitoring device. The connecting rod is fixedly installed on the base, the mounting seat is fixedly installed on the connecting rod, the monitoring device is installed on the mounting disc, and a moving device is further included. The moving device includes a first annular baffle, a second annular baffle, a bearing rod, a moving body and a driving component. The first annular baffle is fixedly installed on the base, the second annular baffle is fixedly installed on one side of the base close to the first annular baffle. The moving body is slidably installed on the base through the driving component and contacts the first annular baffle and the second annular baffle. The bearing rod is fixedly installed on the moving body and is fixedly connected to the mounting disc.

[0007] Wherein, the driving component includes a toothed ring, a first gear and a rotating member. The toothed ring is fixedly installed on the first annular baffle; the first gear is fixedly installed on the moving body and meshes with the toothed ring; the rotating member drives the first gear to rotate.

[0008] Wherein, the rotating member includes a second gear and a motor. The motor is fixedly installed on the moving body; the second gear is fixedly installed on the output shaft of the motor and meshes with the first gear.

[0009] Wherein, a reinforcing rod is further provided on the bearing rod, and one end of the reinforcing rod away from the bearing rod is fixedly connected to the mounting disc.

[0010] Wherein, the monitoring device includes a host computer, a slave computer and a grating displacement sensor. The host computer, the slave computer and the grating displacement sensor are respectively arranged on the mounting disc. At the same time, the host computer is electrically connected to the slave computer, and the slave computer is electrically connected to the grating displacement sensor.

[0011] When the robot operation state detection device of the utility model is in use, an industrial robot is installed on the mounting seat, and then the motor is started to drive the second gear to rotate. The second gear drives the first gear to rotate through meshing with the first gear. At the same time, the first gear also meshes with the toothed ring fixed on the first annular baffle. Through meshing with the toothed ring, the first gear enables the moving body to move circumferentially along the base between the first annular baffle and the second annular baffle. The movement of the moving body drives the monitoring device on the mounting disc to move circumferentially through the bearing rod, so that the monitoring device can monitor the industrial robot without dead angle, and can always detect whether the industrial robot fails, thereby increasing the monitoring range of the working state of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art.

[0013] Figure 1 It is a schematic diagram of the overall structure of a robot operation state detection device according to the first embodiment of the present utility model.

[0014] Figure 2 It is a schematic diagram of the structure of the moving device according to the first embodiment of the present utility model.

[0015] Figure 3 It is a schematic diagram of the overall structure of a robot operation state detection device according to the second embodiment of the present utility model.

[0016] Figure 4 It is a schematic diagram of the structure of the monitoring device according to the second embodiment of the present utility model.

[0017] In the figure: 101 - base, 102 - connecting rod, 103 - mounting seat, 104 - mounting disc, 105 - first annular baffle, 106 - second annular baffle, 107 - bearing rod, 108 - moving body, 109 - gear ring, 110 - first gear, 111 - second gear, 112 - motor, 113 - reinforcing rod, 201 - host computer, 202 - slave computer, 203 - grating displacement sensor. Specific embodiments

[0018] The following will describe in detail the embodiments of the present utility model. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present utility model, and should not be construed as a limitation to the present utility model.

[0019] The first embodiment of the present application is as follows:

[0020] Please refer to Figure 1 and Figure 2 , Figure 1 It is a schematic diagram of the overall structure of a robot operation state detection device according to the first embodiment of the present utility model, Figure 2 It is a schematic diagram of the structure of the moving device according to the first embodiment of the present utility model.

[0021] The utility model provides a robot operation state detection device, which includes a base 101, a connecting rod 102, a mounting seat 103, a mounting disc 104 and a monitoring device, and further includes a moving device. The moving device includes a first annular baffle 105, a second annular baffle 106, a bearing rod 107, a moving body 108 and a driving component. The driving component includes a gear ring 109, a first gear 110 and a rotating component. The rotating component includes a second gear 111 and a motor 112. A reinforcing rod 113 is further arranged on the bearing rod 107. Through the foregoing solution, the problem that although the moving range of the connecting shaft for carrying the sensor of the foregoing device is expanded, the movement of the connecting shaft is only linear movement and cannot perform circumferential movement, resulting in limited sensing range of the sensor module and thus affecting the monitoring range of the working state of the robot is solved. It can be understood that this solution can also be used to solve the problem of detecting industrial robots.

[0022] In this embodiment, driven by the driving component, the moving body 108 drives the monitoring device to perform circumferential movement through the cooperation with the bearing rod 107 and the mounting disc 104, so that the monitoring device can monitor the industrial robot without dead angles and can always detect whether the industrial robot fails, thereby increasing the monitoring range of the working state of the industrial robot.

[0023] Among them, the first annular baffle 105 is fixedly installed on the base 101, the second annular baffle 106 is fixedly installed on one side of the base 101 close to the first annular baffle 105. The moving body 108 is slidably installed on the base 101 through the driving component and contacts the first annular baffle 105 and the second annular baffle 106. The bearing rod 107 is fixedly installed on the moving body 108 and is fixedly connected to the mounting disc 104. The base 101 is in a ring structure. The first annular baffle 105 and the second annular baffle 106 are respectively close to the inner wall and the outer wall of the base 101. The moving body 108 is in a barbell shape. The bearing rod 107 is fixed on the top of the moving body. The driving component drives the moving body 108 to perform circumferential movement on the base 101, so that the moving body 108 drives the monitoring device to perform circumferential movement through the bearing rod 107 and the mounting disc 104, so that the monitoring device can monitor the industrial robot without dead angles and can always detect whether the industrial robot fails, thereby increasing the monitoring range of the working state of the industrial robot.

[0024] Secondly, the gear ring 109 is fixedly installed on the first annular baffle 105; the first gear 110 is fixedly installed on the moving body 108 and meshes with the gear ring 109; the rotating member drives the first gear 110 to rotate. The gear ring 109 has a ring-shaped structure with teeth provided on its outer wall. The axis of the first gear 110 is parallel to that of the gear ring 109. By driving the first gear 110 to rotate, the first gear 110 drives the moving body to rotate circumferentially on the base 101 through meshing with the gear ring 109, thereby realizing the driving of the moving body.

[0025] Thirdly, the motor 112 is fixedly installed on the moving body; the second gear 111 is fixedly installed on the output shaft of the motor 112 and meshes with the first gear 110. The motor 112 is fixed to the moving body by screws. The axis of the second gear 111 is parallel to that of the first gear 110. The motor 112 drives the second gear 111 to rotate, so that the second gear 111 drives the first gear 110 to rotate through meshing with the first gear 110, thereby realizing the rotation effect of the first gear 110.

[0026] Finally, one end of the reinforcing rod 113 away from the bearing rod 107 is fixedly connected to the mounting plate 104. The number of the reinforcing rods 113 is four groups and they are annularly distributed on the bearing rod 107. Through the arrangement of the reinforcing rods 113, the supporting effect of the bearing rod 107 on the mounting plate 104 can be improved.

[0027] In this embodiment, during use, the industrial robot is installed on the mounting seat 103, and then the motor 112 is started to drive the second gear 111 to rotate. The second gear 111 drives the first gear 110 to rotate through meshing with the first gear 110. At the same time, the first gear 110 also meshes with the gear ring 109 fixed on the first annular baffle 105. Through meshing with the gear ring 109, the first gear 110 makes the moving body move circumferentially along the base 101 between the first annular baffle 105 and the second annular baffle 106. The movement of the moving body drives the monitoring device on the mounting plate 104 to move circumferentially through the bearing rod 107, so that the monitoring device can monitor the industrial robot without dead angles and can always detect whether the industrial robot has a fault, thereby increasing the monitoring range of the working state of the industrial robot.

[0028] The second embodiment of the present application is:

[0029] Please refer to Figure 3 and Figure 4 whereinFigure 3 It is a schematic diagram of the overall structure of a robot operation state detection device according to the second embodiment of the present utility model. Figure 4 It is a schematic diagram of the structure of the monitoring device according to the second embodiment of the present utility model. On the basis of the first embodiment, the robot operation state detection device of this embodiment further includes a monitoring device, and the monitoring device includes a host computer 201, a slave computer 202, and a grating displacement sensor 203.

[0030] In this embodiment, through the cooperation of the host computer 201, the slave computer 202, and the grating displacement sensor 203, it is possible to realize real-time monitoring of the industrial robot and detect and judge whether a fault occurs.

[0031] Among them, the host computer 201, the slave computer 202, and the grating displacement sensor 203 are respectively arranged on the mounting plate 104. At the same time, the host computer 201 is electrically connected to the slave computer 202, and the slave computer 202 is electrically connected to the grating displacement sensor 203. The host computer 201 uses an Advantech industrial computer IPC-610, and the slave computer 202 uses a Siemens S7-1200 series PLC controller. A grating scale is arranged at the execution end of the industrial robot. The grating displacement sensor 203 can read the data of the grating scale. When in use, the grating displacement sensor 203 reads the position information of the grating scale and transmits the information to the slave computer 202. The slave computer 202 processes the information and transmits it to the host computer 201. The host computer 201 compares the motion posture of the industrial robot with the pre-set industrial robot working program. When the comparison result shows a deviation, the alarm device gives an audible and visual alarm, which is convenient for the staff to timely understand the abnormal working state of the industrial robot.

[0032] In this embodiment, when in use, the grating displacement sensor 203 reads the position information of the grating scale and transmits the information to the slave computer 202. The slave computer 202 processes the information and transmits it to the host computer 201. The host computer 201 compares the motion posture of the industrial robot with the pre-set industrial robot working program. When the comparison result shows a deviation, the alarm device gives an audible and visual alarm, which is convenient for the staff to timely understand the abnormal working state of the industrial robot.

[0033] The above-disclosed are only one or more preferred embodiments of the present application, and the scope of rights of the present application cannot be limited by this. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A robot operation status detection device, comprising a base, a connecting rod, a mounting seat, a mounting plate and a monitoring device, wherein the connecting rod is fixedly mounted on the base, the mounting seat is fixedly mounted on the connecting rod, and the monitoring device is mounted on the mounting plate, characterized in that: Also includes mobile devices; The moving device includes a first annular baffle, a second annular baffle, a bearing rod, a moving body and a driving assembly. The first annular baffle is fixedly mounted on the base, the second annular baffle is fixedly mounted on a side of the base close to the first annular baffle, the moving body is slidably mounted on the base through the driving assembly and contacts the first annular baffle and the second annular baffle, and the bearing rod is fixedly mounted on the moving body and fixedly connected to the mounting plate.

2. The robot operation status detection device according to claim 1, characterized in that: The driving assembly comprises a ring gear, a first gear and a rotating member, wherein the ring gear is fixedly mounted on the first annular baffle plate; the first gear is fixedly mounted on the moving body and meshes with the ring gear; The rotating member drives the first gear to rotate.

3. The robot operation status detection device according to claim 2, characterized in that: The rotating member includes a second gear and a motor, wherein the motor is fixedly mounted on the moving body; the second gear is fixedly mounted on the output shaft of the motor and meshes with the first gear.

4. The robot operation status detection device according to claim 1, characterized in that: A reinforcing rod is also provided on the bearing rod, and one end of the reinforcing rod away from the bearing rod is fixedly connected to the mounting plate.

5. The robot operation status detection device according to claim 1, characterized in that: The monitoring device includes a host computer, a slave computer and a grating displacement sensor, wherein the host computer, the slave computer and the grating displacement sensor are respectively arranged on the mounting plate, and the host computer is electrically connected to the slave computer, and the slave computer is electrically connected to the grating displacement sensor.

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