Industrial robot conveying system fault early warning device

Abstract

The utility model discloses a fault early warning device for an industrial robot conveying system, which belongs to the technical field of automation control, and comprises an industrial robot body, the top of the industrial robot body is provided with an early warning assembly, and the right side of the industrial robot body is provided with a visualization assembly. The problems that an existing fault early warning device of an industrial robot conveying system is inconvenient to carry out all-dimensional real-time visual monitoring on a working scene of an industrial robot, so that an operator is difficult to intuitively and timely master information such as a material conveying state, a mechanical arm action condition and material placement accuracy and the like are solved; the problems that in the prior art, the speed of finding and processing abnormal conditions in the production process by operators is affected, torque and angle changes of a mechanical arm are not conveniently and accurately monitored and comprehensively analyzed, maintenance personnel cannot rapidly know fault positions and reasons, and then the maintenance time is affected are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the automation control technical field especially relates to a kind of industrial robot conveying system fault early warning device. BACKGROUND

[0002] In modern industrial production, industrial robots are widely used in various production links, among which the conveying system is an important component for industrial robots to realize material handling, product transmission and other functions. The stable operation of the conveying system is crucial to ensure the efficiency and continuity of the entire production process. However, due to mechanical wear, electrical faults, environmental factors and other reasons, the conveying system is prone to various faults during long-term operation. Once these faults occur, not only will it cause production interruption, affecting production efficiency and product quality, but also may cause equipment damage, increasing maintenance cost and downtime.

[0003] To solve the above problems, the existing patent provides a solution. The existing industrial robot conveying system fault early warning device is not convenient for real-time visual monitoring of the industrial robot working scene, which makes it difficult for operators to intuitively and timely grasp the material conveying status, mechanical arm action and material placement accuracy, affecting the discovery and processing speed of abnormal conditions in the production process. Moreover, it is not convenient to accurately monitor the torque and angle changes of the mechanical arm and conduct comprehensive analysis, which makes it difficult for maintenance personnel to quickly determine the fault location and cause, further affecting the maintenance time.

[0004] Therefore, an industrial robot conveying system fault early warning device is proposed. UTILITY MODEL CONTENT

[0005] The utility model aims to provide an industrial robot conveying system fault early warning device that can solve the problem of existing industrial robot conveying system fault early warning devices that are not convenient for real-time visual monitoring of the industrial robot working scene, making it difficult for operators to intuitively and timely grasp the material conveying status, mechanical arm action and material placement accuracy, affecting the discovery and processing speed of abnormal conditions in the production process. Moreover, it is not convenient to accurately monitor the torque and angle changes of the mechanical arm and conduct comprehensive analysis, which makes it difficult for maintenance personnel to quickly determine the fault location and cause, further affecting the maintenance time.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: an industrial robot conveying system fault early warning device, comprising an industrial robot body, a warning component is arranged on the top of the industrial robot body, and a visual component is arranged on the right side of the industrial robot body.

[0007] The visual component includes an upper fixed plate fixedly connected to the right side of the industrial robot body, a support seat is fixedly connected to the top of the upper fixed plate, a placing seat is fixedly connected to the right side of the support seat, a rotating motor is fixedly connected to the inside of the placing seat, an installation seat is fixedly connected to the output end of the rotating motor, a high-definition camera is fixedly connected to the right side of the installation seat, and a wireless communication module is fixedly connected to the top of the support seat.

[0008] Preferably, the early warning component includes a processor fixedly connected to the outside of the industrial robot body, a signal delivery line is electrically connected to the outside of the processor, a torque sensor is electrically connected to the outside of the signal delivery line, and a wireless transmission module is electrically connected to the outside of the processor.

[0009] Preferably, a data collector is fixedly connected to the bottom of the industrial robot body, the data collector is wirelessly connected to the wireless transmission module, and a signal transmission line is electrically connected to the outside of the data collector.

[0010] Preferably, a limiting seat is fixedly connected to the outside of the industrial robot body, an angle sensor is fixedly connected to the inside of the limiting seat, and the angle sensor is electrically connected to the signal transmission line.

[0011] Preferably, a fixing seat is fixedly connected to the bottom of the support seat, a material position sensor is fixedly connected to the outside of the fixing seat, a data transmission line is electrically connected to the inside of the material position sensor, and the data transmission line is electrically connected to the wireless communication module.

[0012] Preferably, a driver is fixedly connected to the outside of the industrial robot body, a limiting piece is fixedly connected to the output end of the driver, and a limiting spring is arranged on the outside of the limiting piece.

[0013] Preferably, a limiting groove is arranged in the inside of the placing seat, a limiting block is fixedly connected to the inside of the installation seat, and the limiting block is in sliding connection with the limiting groove.

[0014] Preferably, a lower fixed plate is fixedly connected to the bottom of the upper fixed plate, and a fixing piece is arranged on the bottom of the upper fixed plate.

[0015] Compared with the prior art, the industrial robot has the advantages that:

[0016] 1、The visual component can realize all-round real-time shooting of the working scene of the industrial robot, the operator can directly observe the conveying state of the material, the smoothness of the action of the mechanical arm, and whether the material is placed accurately through the monitoring picture, so that the material placement position or the equipment can be adjusted in time or the equipment can be paused for inspection when an abnormality is found, the intuitive monitoring mode enables the operator to make accurate decisions quickly, and the controllability of the production process is improved.

[0017] 2、The application can monitor the torque and angle change of the industrial robot mechanical arm in real time through the early warning assembly, can combine the torque and angle data to judge whether the torque abnormality at the joint of the mechanical arm causes the angle deviation or the motor failure causes the torque change, and send the data to the remote operator, so as to judge the position and reason of the fault, make the maintenance personnel quickly lock the problem, then carry appropriate tools and spare parts to process, greatly shorten the maintenance time, avoid the production interruption caused by the deterioration of the fault, guarantee the continuity of the production process, and reduce the economic loss caused by the shutdown. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an overall structural diagram of the industrial robot conveying system fault early warning device of the utility model;

[0019] Figure 2 It is a split schematic view of the visualization assembly of the utility model;

[0020] Figure 3 It is a structural schematic view of the early warning assembly of the utility model;

[0021] Figure 4 It is a structural schematic view of the support seat of the utility model;

[0022] Figure 5 It is a cutting diagram of the industrial robot body of the utility model;

[0023] Figure 6 It is a split schematic view of the placing seat of the utility model;

[0024] Figure 7 It is the utility model Figure 5 It is an enlarged view of A in the utility model.

[0025] In the figure, 1, industrial robot body; 2, fixed seat; 3, material position sensor; 4, visualization assembly; 401, upper fixed plate; 402, support seat; 403, placing seat; 404, rotary motor; 405, mounting seat; 406, high-definition camera; 407, wireless communication module; 5, early warning assembly; 501, processor; 502, signal transmission line; 503, torque sensor; 504, wireless transmission module; 505, data collector; 506, signal transmission line; 507, limiting seat; 508, angle sensor; 6, data transmission line; 7, driver; 8, limiting sheet; 9, limiting spring; 10, limiting groove; 11, limiting block; 12, lower fixed plate; 13, fixed part. DETAILED DESCRIPTION

[0026] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] Please refer to Figures 1-7 The present application provides a technical scheme:

[0028] The industrial robot conveying system fault early warning device, including industrial robot body 1, the top of industrial robot body 1 is provided with early warning assembly 5, the right side of industrial robot body 1 is provided with visualization assembly 4;

[0029] The visualization assembly 4 includes the upper fixed plate 401 fixedly connected to the right side of the industrial robot body 1, the top of the upper fixed plate 401 is fixedly connected with the support seat 402, the right side of the support seat 402 is fixedly connected with the placing seat 403, the inside of the placing seat 403 is fixedly connected with the rotating motor 404, the output end of the rotating motor 404 is fixedly connected with the mounting seat 405, the right side of the mounting seat 405 is fixedly connected with the high-definition camera 406, and the top of the support seat 402 is fixedly connected with the wireless communication module 407.

[0030] In the present embodiment: the output end of the rotating motor 404 rotates while driving the mounting seat 405 to rotate, then the mounting seat 405 drives the high-definition camera 406 to rotate, so as to achieve the effect of adjusting the shooting angle of the high-definition camera 406, and the multi-angle shooting of the high-definition camera 406 can monitor the conveying process of the material, the motion state of the mechanical arm and the surrounding environment and other information, then the image data shot by the high-definition camera 406 is transmitted to the wireless communication module 407, then the wireless communication module 407 sends the image data to the control system inside the industrial robot body 1, for real-time monitoring of the working condition of the robot, and the image data is also transmitted to the remote monitoring center, when the early warning assembly 5 detects that the system has a fault, the operator can control the rotating motor 404 to adjust the angle of the high-definition camera 406 through the operation interface, so that it focuses on the fault part, and the detailed image information shot by the high-definition camera 406 can help the operator to observe the fault phenomenon more intuitively, so as to judge whether the mechanical part is damaged or the material is abnormal.

[0031] Specifically, as Figure 3As shown in the figure, the early warning assembly 5 includes a processor 501 fixedly connected to the outside of the industrial robot body 1, the outside of the processor 501 is electrically connected with a signal transmission line 502, the outside of the signal transmission line 502 is electrically connected with a torque sensor 503, and the outside of the processor 501 is electrically connected with a wireless transmission module 504.

[0032] Specifically, as shown in the figure, Figure 3 The bottom of the industrial robot body 1 is fixedly connected with a data collector 505, the data collector 505 is wirelessly connected with the wireless transmission module 504, and the outside of the data collector 505 is electrically connected with a signal transmission line 506.

[0033] Specifically, as shown in the figure, Figure 3 The outside of the industrial robot body 1 is fixedly connected with a limiting seat 507, the inside of the limiting seat 507 is fixedly connected with an angle sensor 508, and the angle sensor 508 is electrically connected with the signal transmission line 506.

[0034] In this embodiment: the torque sensor 503 measures the torque borne by the mechanical arm during movement, when the mechanical arm grasps the material and performs the carrying operation, the torque will change with the weight of the material, the movement posture and the external resistance, then the torque sensor 503 converts these torque changes into electrical signals, which are transmitted to the processor 501 through the signal transmission line 506, the angle sensor 508 is used to monitor the rotation angle of the mechanical arm, in different working stages of the mechanical arm, it needs to move according to the preset angle, the angle sensor 508 can capture the actual angle information of the mechanical arm in real time and transmit it to the data collector 505, then the data collector 505 will preliminarily process and integrate these data after receiving the signals of the sensor, then convert the analog signals into digital signals and pack them according to a specific format, and then send the data to the wireless transmission module 504 in the early warning assembly 5 through wireless connection, the wireless transmission module 504 receives the data and then transmits it to the processor 501, when the processor 501 receives the data transmitted by the data collector 505, it compares and analyzes the real-time data with the preset standard value, when the processor 501 judges through data analysis that there is a potential fault risk in the system, it will immediately start the early warning program, then the processor 501 sends early warning signals to external equipment through the electrically connected wireless transmission module 504, these early warning signals can drive the sound and light alarm to issue an alarm, reminding the on-site operator to pay attention, at the same time, the wireless transmission module 504 can also send fault information to the remote monitoring terminal, so that relevant technical personnel can timely understand the fault condition and take corresponding measures for processing.

[0035] Specifically, as shown in the figure, Figure 4As shown, the bottom of the support seat 402 is fixedly connected with a fixed seat 2, the outer side of the fixed seat 2 is fixedly connected with a material position sensor 3, the inner side of the material position sensor 3 is electrically connected with a data transmission line 6, and the data transmission line 6 is electrically connected with a wireless communication module 407.

[0036] Specifically, as shown in the figure, Figure 7 As shown, the outer side of the industrial robot body 1 is fixedly connected with a driver 7, the output end of the driver 7 is fixedly connected with a limit piece 8, and the outer side of the limit piece 8 is provided with a limit spring 9.

[0037] In this embodiment: by setting the fixed seat 2, the material position sensor 3 and the conveying transmission line, when the industrial robot conveying system is running, its material position sensor 3 monitors the material position at all times, when the material moves on the conveying path, its position information will be captured by the sensor, through the electrically connected data transmission line 6, the position data is transmitted to the wireless communication module 407, if the material position is abnormal, such as deviating from the predetermined track, the wireless communication module 407 will transmit its abnormal information to the display device outside, to avoid the problems of material loss, collision, etc., to ensure the smoothness of the conveying process, reduce the production interruption and product damage caused by abnormal material position, improve the stability of production and product quality, by setting the driver 7, the limit piece 8 and the limit spring 9, when the torque of the mechanical arm exceeds the normal range, the processor 501 will control the driver 7, then the driver 7 drives the limit piece 8 to rotate at the torque of the mechanical arm, then the limit piece 8 will contact the limit spring 9, which will be extruded to play a buffering and limiting role, then the limit piece 8 contacts the torque of the mechanical arm, the special structure of the limit piece 8 will limit the rotation of the mechanical arm, so that the rotation of the mechanical arm remains within the safe and normal range, through the cooperation of the limit piece 8 and the limit spring 9, mechanical limit protection is provided for the moving parts of the industrial robot, to prevent accidents such as collision, damage, etc. caused by out-of-control rotation of the robot, prolong the service life of the equipment.

[0038] Specifically, as shown in the figure, Figure 6 As shown, the inside of the placing seat 403 is provided with a limit groove 10, the inner side of the mounting seat 405 is fixedly connected with a limit block 11, and the limit block 11 is in sliding connection with the limit groove 10.

[0039] Specifically, as shown in the figure, Figure 4 As shown, the bottom of the upper fixed plate 401 is fixedly connected with a lower fixed plate 12, and the bottom of the upper fixed plate 401 is provided with a fixed piece 13.

[0040] In the embodiment: by setting the limiting groove 10 and the limiting block 11, when the rotary motor 404 drives the mounting seat 405 to rotate, the limiting block 11 inside the mounting seat 405 will slide in the limiting groove 10 inside the placing seat 403, and through the cooperation of the limiting groove 10 and the limiting block 11, the rotating angle and range of the mounting seat 405 are limited, so as to prevent the equipment from being damaged or the shooting angle from being too large due to excessive rotation, ensure the stability and accuracy of the rotation of the mounting seat 405 of the high-definition camera 406, and through the setting of the lower fixed plate 12 and the fixing piece 13, when the visual assembly 4 is installed, the fixing effect of the upper fixed plate 401 is further strengthened through the fixing piece 13 and the lower fixed plate 12, so as to facilitate ensuring that the shooting position and angle of the high-definition camera 406 are not affected when the robot vibrates or is subjected to external force in the movement process, the stability of the connection between the visual assembly 4 and the industrial robot body 1 is enhanced, the stability of the high-definition camera 406 in the shooting process is ensured, the shot image is more accurate and reliable, and a stable monitoring picture is provided for the operator.

[0041] Working principle: in the process of using the industrial robot conveying system fault early warning device, first through the fixed part 13 and the lower fixed plate 12, the upper fixed plate 401 is fixedly connected on the outside of the mechanical arm of the industrial robot body 1, so that the subsequent high-definition camera 406 can stably observe the transportation state of the industrial robot body 1, when the industrial robot performs material conveying task, the whole fault early warning device starts to work cooperatively, the torque sensor 503 is installed at the joint of the robot mechanical arm, for accurately measuring the torque borne by the mechanical arm in the movement process, when the mechanical arm grabs the material and carries out the carrying operation, the torque will change with the weight of the material, the movement posture and the change of external resistance, then the torque sensor 503 converts these torque changes into electrical signals, which are transmitted to the processor 501 through the signal transmission line 506, the angle sensor 508 is fixed inside the limiting seat 507, for monitoring the rotation angle of the mechanical arm, the mechanical arm needs to move according to the preset angle in different working stages, then the angle sensor 508 will capture the actual angle information of the mechanical arm in real time, and transmit it to the data collector 505, at the same time, the material position sensor 3 is installed outside the fixed seat 2 at the bottom of the support seat 402, for detecting the position information of the material in the conveying process, once the material position is abnormal, such as deviating from the conveying track, the material position sensor 3 will immediately transmit the signal to the wireless communication module 407 through the data transmission line 6, then the wireless communication module 407 transmits the data to the data collector 505, then the data collector 505 will preliminarily process and integrate the data after receiving the signals from various sensors, it converts the analog signals into digital signals, and packs them according to a specific format, and then sends the data to the wireless transmission module 504 in the warning component 5 through wireless connection, the wireless transmission module 504 receives the data, and then transmits it to the processor 501, when the processor 501 receives the data transmitted by the data collector 505, it compares and analyzes the real-time data with the preset standard value, for torque data, the processor 501 will judge whether the current torque exceeds the normal working range, when the torque is too large, it means that the mechanical arm is overloaded, which may cause mechanical part damage or material jam, if the torque is too small, it indicates that the grabbing between the mechanical arm and the material is unstable, or the mechanical transmission part fails, for angle data, the processor 501 will check whether the actual rotation angle of the mechanical arm is consistent with the preset angle, if the deviation is too large, it means that the motion control of the mechanical arm is a problem, which may be motor failure, loose transmission parts or abnormal control system, once the processor 501 judges that the system has potential fault risk through data analysis, it will immediately start the warning program, then the processor 501 sends warning signals to external equipment through the electrically connected wireless transmission module 504, these warning signals can drive the sound and light alarm to issue alarm, reminding the on-site operator, at the same time, the fault information can also be sent to the remote monitoring terminal through the wireless transmission module 504,Make relevant technical personnel can understand the fault situation in time, and take corresponding measures to handle, in the normal operation of industrial robot, the rotating motor 404 is in working condition, then the output end of the rotating motor 404 through the angle of mounting seat 405 is constantly adjusted, drive the high-definition camera 406 on the right side of mounting seat 405 to rotate, so that the high-definition camera 406 can shoot the working scene of industrial robot, to monitor the conveying process of material, the motion state of mechanical arm and the surrounding environment and other information, then the image data shot by the high-definition camera 406 is transmitted to the wireless communication module 407, then the wireless communication module 407 sends the image data to the control system in the industrial robot body 1, for real-time monitoring of the working condition of robot, simultaneously, the image data is transmitted to the remote monitoring center, when the early warning assembly 5 detects that the system exists fault, the visual assembly 4 can work with the early warning assembly 5, the operator can control the rotating motor 404 to adjust the angle of high-definition camera 406 through the operation interface, make it focus on the part of fault, the detailed image information shot by its high-definition camera 406 can help the operator to observe the fault phenomenon more intuitively, to judge whether the mechanical component is damaged, whether the material is abnormal, simultaneously, the wireless communication module 407 can also transmit the image information with fault mark to the remote technical personnel, the technical personnel can more accurately judge the fault reason according to these images and the fault data provided by the early warning assembly 5, and give corresponding maintenance suggestion.

[0042] The above is only the preferred embodiment of the utility model, and does not limit the utility model, any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A fault early warning device for an industrial robot conveying system, comprising an industrial robot body (1), characterized in that: The top of the industrial robot body (1) is provided with an early warning component (5), and the right side of the industrial robot body (1) is provided with a visualization component (4). The visualization component (4) includes an upper fixed plate (401) fixedly connected to the right side of the industrial robot body (1). A support base (402) is fixedly connected to the top of the upper fixed plate (401). A placement base (403) is fixedly connected to the right side of the support base (402). A rotary motor (404) is fixedly connected inside the placement base (403). A mounting base (405) is fixedly connected to the output end of the rotary motor (404). A high-definition camera (406) is fixedly connected to the right side of the mounting base (405). A wireless communication module (407) is fixedly connected to the top of the support base (402).

2. The fault early warning device for an industrial robot conveying system according to claim 1, characterized in that: The early warning component (5) includes a processor (501) fixedly connected to the outside of the industrial robot body (1), a signal transmission line (502) electrically connected to the outside of the processor (501), a torque sensor (503) electrically connected to the outside of the signal transmission line (502), and a wireless transmission module (504) electrically connected to the outside of the processor (501).

3. The fault early warning device for an industrial robot conveying system according to claim 2, characterized in that: A data acquisition device (505) is fixedly connected to the bottom of the industrial robot body (1). The data acquisition device (505) is wirelessly connected to the wireless transmission module (504). A signal transmission line (506) is electrically connected to the outside of the data acquisition device (505).

4. The fault early warning device for an industrial robot conveying system according to claim 3, characterized in that: An angle sensor (508) is fixedly connected to the outer side of the industrial robot body. An angle sensor (508) is fixedly connected to the inner side of the angle sensor (508) and is electrically connected to the signal transmission line (506).

5. The fault early warning device for an industrial robot conveying system according to claim 1, characterized in that: The bottom of the support base (402) is fixedly connected to a fixed base (2), and a material position sensor (3) is fixedly connected to the outside of the fixed base (2). A data transmission line (6) is electrically connected to the inside of the material position sensor (3), and the data transmission line (6) is electrically connected to the wireless communication module (407).

6. The fault early warning device for an industrial robot conveying system according to claim 1, characterized in that: A driver (7) is fixedly connected to the outside of the industrial robot body (1). A limit plate (8) is fixedly connected to the output end of the driver (7). A limit spring (9) is provided on the outside of the limit plate (8).

7. The fault early warning device for an industrial robot conveying system according to claim 1, characterized in that: The placement seat (403) has a limiting groove (10) inside, and the mounting seat (405) has a limiting block (11) fixedly connected to its inner side. The limiting block (11) is slidably connected to the limiting groove (10).

8. The fault early warning device for an industrial robot conveying system according to claim 1, characterized in that: The bottom of the upper fixing plate (401) is fixedly connected to the lower fixing plate (12), and the bottom of the upper fixing plate (401) is provided with a fastener (13).

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