CN106553209A - A kind of high ferro locomotive Gernral Check-up device - Google Patents
A kind of high ferro locomotive Gernral Check-up device Download PDFInfo
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- CN106553209A CN106553209A CN201611045844.3A CN201611045844A CN106553209A CN 106553209 A CN106553209 A CN 106553209A CN 201611045844 A CN201611045844 A CN 201611045844A CN 106553209 A CN106553209 A CN 106553209A
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- module
- arm processor
- sound
- signal
- state display
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0066—Means or methods for maintaining or repairing manipulators
Abstract
The present invention discloses a kind of high ferro locomotive Gernral Check-up device，Including power module、Signal pre-processing module、A/D converter、Arm processor、State display module、Sound and light alarm module and network communication module，The power module and signal pre-processing module、A/D modular converters、Arm processor、State display module is electrically connected with each other，Acceleration transducer and piezoelectricity acoustic emission sensor are provided with the signal pre-processing module，Described network communication module is connected with arm processor，WIFI interface is provided with the network communication module，Described sound and light alarm module is connected with state display module，The sound and light alarm module is made up of alarm lamp and high loudness alarm，The high ferro locomotive Gernral Check-up device has remote monitoring、Detection judges joint of robot health status，In time by the function of robot power-off before failure occurs.
Description
Technical field
The present invention relates to a kind of high ferro locomotive Gernral Check-up device.
Background technology
Industrial robot is the intelligence system of the multi-joint manipulator arm towards industrial circle, is to weigh country's manufacture
The important symbol of level and scientific and technological level.International robot combined can report claims Chinese industrial robot quantity in 2017 jump
The whole world first is occupied, up to 42.8 ten thousand.Industrial robot substitutes people in welding, piling, sorting, harbour and high-risk working environment
The effect of power is day by day highlighted, and the characteristic such as its precision is high, the fast, longevity of service of speed enjoys industry to pay close attention to.However, industrial machine
People is chronically at high intensity, frequently and reruns under state, and robot performance and health status inevitably occur to degenerate,
The joint of industrial robot cost 53%-63% is accounted for especially, the quality of its performance directly affects the performance of robot.Due to joint
Constantly wear and tear, gap increases, cause positioning precision and repetitive positioning accuracy to reduce.Meanwhile, each joint is used as closed-loop control system
Internal correlation is constituted, and the exception in certain joint may cause control signal to deviate normal value, and then cause robot by feedback
It is overall to depart from normal range of operation, ultimately cause robot failure.And fail cause accident, be likely to result in it is catastrophic after
Really.2013,1,500,000 dollars of the value of California, USA production was used for the robot arm for performing accurate operation in surgical procedure
In there is situation that is stuck or pausing several times, cause the death of several use systems.Traditional " preventive maintenance " root
According to experience periodic inspection joint of robot, " safeguarding superfluous " or " safeguarding not enough " can be caused；And the machine that " correction maintenance " is caused
People's downtime is long, loses huge.ATS corporate statistics find automobile plant due to robot shut down caused by loss per point
Clock is average up to 22000 dollars.Therefore, industrial robot multi-joint health status real-time assessment and prediction has become industrial machine
New problem urgently to be resolved hurrily is highlighted in device people development, and implements one of " made in China 2025 " root problem to be solved.
The continuous development of information technology, sensing technology, control technology, artificial intelligence technology etc. and application, make industrial machine
The real-time detection of the relevant informations such as people's working condition and environment, real-time processing, real-Time Compensation, real-time control are possibly realized.Although
Joint of robot is complicated Mechatronic Systems, and multiple joints have the different frees degree, intercouple between multi-joint, mutual shadow
Ring.But the degeneration of industrial robot joint performance is that, by the evolutionary process of quantitative change to qualitative change, and have sign, that is, show as " latent
In failure ".Only it is difficult to fully extract joint states information from vibration signal, and is easily caused measurement not smart by Environmental Noise Influence
Really, cause the uncertainty of data..For this purpose, Patent design of the present invention robot industry joint of robot diagnostic device.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind and there is remote monitoring, detection to judge joint of robot health shape
State, in time by the high ferro locomotive Gernral Check-up device of the function of robot power-off before failure occurs.
To solve the above problems, the present invention is adopted the following technical scheme that：
A kind of high ferro locomotive Gernral Check-up device, including power module, signal pre-processing module, A/D converter, arm processor,
State display module, sound and light alarm module and network communication module, the power module are changed with signal pre-processing module, A/D
Module, arm processor, state display module are electrically connected with each other, and are provided with acceleration sensing in the signal pre-processing module
Device and piezoelectricity acoustic emission sensor, described network communication module are connected with arm processor, are arranged in the network communication module
There is WIFI interface, described sound and light alarm module is connected with state display module, and the sound and light alarm module is by alarm lamp and height
Loudness alarm is constituted.
Further, the operation logic of the high ferro locomotive Gernral Check-up device, comprises the following steps：
1）In multiple joints of motion state robot, acceleration transducer can measure the vibration signal of low frequency, and piezoelectricity sound is sent out
Penetrate the voice signal that sensor can measure high frequency.Signal to obtaining in signal pre-processing module is amplified, filter etc. to be grasped
Make；
2）The A/D modular converters being connected with signal pre-processing module output end are entered data into, continuous signal is changed
Into be easy to process data signal after, by model ARM10e arm processor read and analyze and will be state-detection result defeated
Go out in state display module, state display module can show the remaining life in tested joint, and event occur in joint
During barrier, sound and light alarm module is triggered in time, the alarm lamp and high loudness alarm in sound and light alarm module effectively can be reminded
User of service stops using immediately；
3）After arm processor by model ARM10e is read and is analyzed by the network communication module of WIFI data transfers simultaneously
Data are sent to long-range monitoring system in real time, are easy to technical staff to be monitored the health status of joint of robot.
Further, the arm processor is ARM10e type arm processors.Precision is higher, and processing speed is faster.
Further, the A/D converter is 14 A/D converters.Switching rate is faster.
Further, the alarm lamp and high loudness alarm are connected by wire.
Beneficial effects of the present invention are：Degenerative joint information is gathered by signal pre-processing module, data prediction is carried out.
Jing processor A/D modular converters, are filtered using wavelet transform filtering technology, are turned signal by FFT from time domain to frequency-region signal
Change, obtain time domain, the characteristic of frequency domain of two class Heterogeneous Sensors.Then, judge joint of robot health status.Meanwhile,
The network communication module of WIFI data transfers is supported, after the arm processor by model ARM10e being read and be analyzed
Data are sent to long-range monitoring system in real time, are easy to technical staff to be monitored the health status of joint of robot.
Description of the drawings
Fig. 1 is a kind of workflow diagram of high ferro locomotive Gernral Check-up device of the invention.
Specific embodiment
As shown in figure 1, a kind of high ferro locomotive Gernral Check-up device, including power module 1, signal pre-processing module 2, A/D
Converter 3, arm processor 4, state display module 5, sound and light alarm module 6 and network communication module 7, the power module 1 with
Signal pre-processing module 2, A/D modular converters 3, arm processor 4, state display module 5 are electrically connected with each other, and the signal is pre-
Acceleration transducer 8 and piezoelectricity acoustic emission sensor 9 are provided with processing module 2, at described network communication module 7 and ARM
Reason device 4 is connected, and in the network communication module, 7 are provided with WIFI interface（It is not shown）, described sound and light alarm module 6 and state
Display module 5 is connected, and the sound and light alarm module 6 is by alarm lamp（It is not shown）With high loudness alarm（It is not shown）Composition.
The operation logic of the high ferro locomotive Gernral Check-up device, comprises the following steps：
1）In multiple joints of motion state robot, acceleration transducer can measure the vibration signal of low frequency, and piezoelectricity sound is sent out
Penetrate the voice signal that sensor can measure high frequency.Signal to obtaining in signal pre-processing module is amplified, filter etc. to be grasped
Make；
2）The A/D modular converters being connected with signal pre-processing module output end are entered data into, continuous signal is changed
Into be easy to process data signal after, by model ARM10e arm processor read and analyze and will be state-detection result defeated
Go out in state display module, state display module can show the remaining life in tested joint, and event occur in joint
During barrier, sound and light alarm module is triggered in time, the alarm lamp and high loudness alarm in sound and light alarm module effectively can be reminded
User of service stops using immediately；
3）After arm processor by model ARM10e is read and is analyzed by the network communication module of WIFI data transfers simultaneously
Data are sent to long-range monitoring system in real time, are easy to technical staff to be monitored the health status of joint of robot；
The arm processor 4 is ARM10e type arm processors.Precision is higher, and processing speed is faster.
The A/D converter 3 is 14 A/D converters.Switching rate is faster.
The alarm lamp（It is not shown）With high loudness alarm（It is not shown）Connected by wire.
Beneficial effects of the present invention are：Degenerative joint information is gathered by signal pre-processing module, data prediction is carried out.
Jing processor A/D modular converters, are filtered using wavelet transform filtering technology, are turned signal by FFT from time domain to frequency-region signal
Change, obtain time domain, the characteristic of frequency domain of two class Heterogeneous Sensors.Then, judge joint of robot health status.Meanwhile,
The network communication module of WIFI data transfers is supported, after the arm processor by model ARM10e being read and be analyzed
Data are sent to long-range monitoring system in real time, are easy to technical staff to be monitored the health status of joint of robot.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, should all be included within the scope of the present invention.
Claims (5)
1. a kind of high ferro locomotive Gernral Check-up device, it is characterised in that：Including power module, signal pre-processing module, A/D conversions
Device, arm processor, state display module, sound and light alarm module and network communication module, the power module and Signal Pretreatment
Module, A/D modular converters, arm processor, state display module are electrically connected with each other, and arrange in the signal pre-processing module
There are acceleration transducer and piezoelectricity acoustic emission sensor, described network communication module is connected with arm processor, the network leads to
WIFI interface is provided with letter module, described sound and light alarm module is connected with state display module, the sound and light alarm module
It is made up of alarm lamp and high loudness alarm.
2. a kind of high ferro locomotive Gernral Check-up device as claimed in claim 1, it is characterised in that：The high ferro locomotive health
The operation logic of diagnostic device, comprises the following steps：
1）In multiple joints of motion state robot, acceleration transducer can measure the vibration signal of low frequency, and piezoelectricity sound is sent out
The voice signal that sensor can measure high frequency is penetrated, the signal to obtaining in signal pre-processing module is amplified, filter etc. to be grasped
Make；2）The A/D modular converters being connected with signal pre-processing module output end are entered data into, continuous signal is converted into
After being easy to the data signal for processing, read and analyzed by the arm processor of model ARM10e and state-detection result is exported
To in state display module, state display module can show the remaining life in tested joint, and break down in joint
When, sound and light alarm module is triggered in time, the alarm lamp and high loudness alarm in sound and light alarm module can effectively be reminded and be made
Stopped using with personnel immediately；
3）After arm processor by model ARM10e is read and is analyzed by the network communication module of WIFI data transfers simultaneously
Data are sent to long-range monitoring system in real time, are easy to technical staff to be monitored the health status of joint of robot.
3. high ferro locomotive Gernral Check-up device as claimed in claim 2, it is characterised in that：The arm processor is ARM10e
Type arm processor.
4. high ferro locomotive Gernral Check-up device as claimed in claim 3, it is characterised in that：The A/D converter is 14 A/D
Converter.
5. high ferro locomotive Gernral Check-up device as claimed in claim 4, it is characterised in that：The alarm lamp and high loudness are reported to the police
Device is connected by wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611045844.3A CN106553209A (en) | 2016-11-24 | 2016-11-24 | A kind of high ferro locomotive Gernral Check-up device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611045844.3A CN106553209A (en) | 2016-11-24 | 2016-11-24 | A kind of high ferro locomotive Gernral Check-up device |
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| CN106553209A true CN106553209A (en) | 2017-04-05 |
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| CN201611045844.3A Pending CN106553209A (en) | 2016-11-24 | 2016-11-24 | A kind of high ferro locomotive Gernral Check-up device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107220713A (en) * | 2017-06-06 | 2017-09-29 | 上海理工大学 | The real-time maintenance method of robot arm based on health status |
| WO2022041064A1 (en) * | 2020-08-27 | 2022-03-03 | Rethink Robotics Gmbh | Method and apparatus for robot joint status monitoring |
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| JPH0552712A (en) * | 1991-08-23 | 1993-03-02 | Nissan Motor Co Ltd | Fault precognition apparatus for production machine |
| EP1284414A2 (en) * | 2001-08-13 | 2003-02-19 | Siemens Aktiengesellschaft | Diagnosis of robot transmissions |
| CN102914432A (en) * | 2012-10-24 | 2013-02-06 | 宣化钢铁集团有限责任公司 | Vibration and acoustic transmission signal regulation instrument for detecting mechanical faults |
| CN104760887A (en) * | 2014-01-08 | 2015-07-08 | 中国特种设备检测研究院 | Harbor lifting machinery operation safety machine-mounted early warning system |
| CN105415374A (en) * | 2015-12-24 | 2016-03-23 | 大连理工大学 | Mechanical hand transmission unit on-line fault diagnosis system based on synergetic measurement |
| CN106003095A (en) * | 2016-07-27 | 2016-10-12 | 孙健春 | Intelligent express delivery robot |
| CN106124231A (en) * | 2016-08-31 | 2016-11-16 | 上海王智测控技术有限公司 | A kind of high ferro train health status monitoring device and using method thereof |
| CN205766236U (en) * | 2016-05-24 | 2016-12-07 | 首都师范大学 | A kind of industrial robot joint Gernral Check-up device |
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2016
- 2016-11-24 CN CN201611045844.3A patent/CN106553209A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0552712A (en) * | 1991-08-23 | 1993-03-02 | Nissan Motor Co Ltd | Fault precognition apparatus for production machine |
| EP1284414A2 (en) * | 2001-08-13 | 2003-02-19 | Siemens Aktiengesellschaft | Diagnosis of robot transmissions |
| CN102914432A (en) * | 2012-10-24 | 2013-02-06 | 宣化钢铁集团有限责任公司 | Vibration and acoustic transmission signal regulation instrument for detecting mechanical faults |
| CN104760887A (en) * | 2014-01-08 | 2015-07-08 | 中国特种设备检测研究院 | Harbor lifting machinery operation safety machine-mounted early warning system |
| CN105415374A (en) * | 2015-12-24 | 2016-03-23 | 大连理工大学 | Mechanical hand transmission unit on-line fault diagnosis system based on synergetic measurement |
| CN205766236U (en) * | 2016-05-24 | 2016-12-07 | 首都师范大学 | A kind of industrial robot joint Gernral Check-up device |
| CN106003095A (en) * | 2016-07-27 | 2016-10-12 | 孙健春 | Intelligent express delivery robot |
| CN106124231A (en) * | 2016-08-31 | 2016-11-16 | 上海王智测控技术有限公司 | A kind of high ferro train health status monitoring device and using method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107220713A (en) * | 2017-06-06 | 2017-09-29 | 上海理工大学 | The real-time maintenance method of robot arm based on health status |
| WO2022041064A1 (en) * | 2020-08-27 | 2022-03-03 | Rethink Robotics Gmbh | Method and apparatus for robot joint status monitoring |
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Application publication date: 20170405 |