CN107962134A - A kind of position of manipulator fault early warning system - Google Patents
A kind of position of manipulator fault early warning system Download PDFInfo
- Publication number
- CN107962134A CN107962134A CN201711421810.4A CN201711421810A CN107962134A CN 107962134 A CN107962134 A CN 107962134A CN 201711421810 A CN201711421810 A CN 201711421810A CN 107962134 A CN107962134 A CN 107962134A
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- CN
- China
- Prior art keywords
- manipulator
- control module
- intelligent control
- early warning
- module
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
Abstract
The present invention provides a kind of position of manipulator fault early warning system, by on manipulator in a pipeline, position of manipulator acquisition module, position of manipulator monitoring modular, position of manipulator information storage module, message output module and intelligent control module are set respectively, the positional information of manipulator is positioned, is contrasted, is judged, result output, so as to carry out fault pre-alarming to the site error situation of the manipulator on assembly line, so as to exclude in advance or predict failure, maintenance policy is formulated in advance, prepares service material and preset quite to produce.
Description
Technical field
The invention belongs to flowing water wire management communication field, more particularly to a kind of position of manipulator fault early warning system.
Background technology
The requirement of mechanical automation production is higher and higher, and in mould production process, the application of manipulator is even more it in weight
Weight, as lean production theory is in the popularization of enterprise management level, country advocates enterprise's upgrading synergy, and enterprises using the labor cost is got in addition
Carry out demand of the higher, client to low price high-quality products, be completely dependent on sending someone to the situation that scene 24 is taken turns at keeping watch when small to have seemed
Have too many difficulties to cope with.Because robotic failure is shut down, have a power failure shutdown on assembly line, if processing is easily caused in the flow work not in time
It is disconnected, cause heavy economic losses to enterprise.In addition at present because coal gas, natural gas leakage trigger fire, explosion Frequent Accidents,
Thus the casualties brought and property destruction, huge economic loss is brought to enterprise, country.Now domestic and international Production line
The design of the automatic control system of line is concentrated mainly on production procedure control, and disorderly closedown, power failure are shut down, robotic failure does not have
There is prior-warning device to design and safety prevention control system, be completely dependent on taking turns at keeping watch personnel when scene 24 is small, when there are abnormal conditions
During appearance, it is impossible to which real-time, accurate intelligent control effectively solves emergency case, and there are major safety risks.In stamping line
On, stamping parts many times will by manually carrying out loading and unloading, its there are the problem of be it will be apparent that low production efficiency,
Labor strength is big, and a press workshop needs to configure substantial amounts of operator, serious waste productivity, in addition punching production
In the presence of very big security risk.
Greatest problem existing for current single armed multi-spindle machining hand existing on the market is that manipulator is flexible, that is to say, that
Manipulator, which stretches, causes position inaccurate, causes the position of manipulator clamping workpiece clamping to be not allowed, and this is often unfavorable for punching press
The needs of production, then have impact on the popularization and application of this kind of single armed multi-spindle machining hand to a certain degree.Make in addition, current city faces
Manipulator is not monitored in real time with the assembly line of manipulator, also without repairing, early warning system accordingly, therefore in actual life
During production, manipulator often directly influences whole assembly line when breaking down, so that production efficiency can be substantially reduced.
Therefore need to carry out fault pre-alarming to the manipulator on assembly line, so as to exclude or predict in advance failure, make in advance
Determine maintenance policy, prepare service material and preset quite to produce.
Apply for content
In order to solve the problems, such as that robotic failure can not be predicted in advance on assembly line, the present invention provides a kind of manipulator position
Put fault early warning system, it is characterised in that including：
Position of manipulator acquisition module, position of manipulator monitoring modular, position of manipulator information storage module, information output
Module and intelligent control module；
The position of manipulator acquisition module is detected the initial position of manipulator and running position, judges and pre-
Position the difference between putting；
The position of manipulator monitoring modular periodically judges the difference between operating status and original state, and feeds back to
Intelligent control module；
The position of manipulator information storage module is used for the positional information for storing each location point of manipulator；
Described information output module intelligent control module is detected information carry out computing and with position of manipulator information
Standard value in memory module carry out contrast judgement as a result, being exported；
The intelligent control module respectively with the position of manipulator acquisition module, position of manipulator monitoring modular, machinery
Hand position information storage module is connected with message output module, judges manipulator potential site information according to setting to judge machinery
The health status of hand position.
Further, the intelligent control module obtains numbering, title and the specification of manipulator.
Further, the manipulator state got is carried out signal processing by the intelligent control module, produces corresponding machine
The status data of tool hand simultaneously stores the status data to database.
Further, the intelligent control module assesses potential problems, and appraisal procedure includes time domain evaluation, frequency spectrum
Assessment, time series assessment, mode assessment and statistical analysis.
Further, the intelligent control module includes repair message generation unit, and the repair message generation unit exists
Carry out reminding operating personnel's replacement or servicing machine hand when the incipient fault of manipulator is higher ranked.
Further, the repair message generation unit further includes the maintenance project of generation manipulator, manipulator buying meter
Draw, personnel allocation plan.
Further, incipient fault information and repair message are also uploaded to data by the repair message generation unit
Storehouse.
The beneficial effects of the invention are as follows：By on manipulator in a pipeline, setting position of manipulator to obtain mould respectively
Block, position of manipulator monitoring modular, position of manipulator information storage module, message output module and intelligent control module, it is right
The positional information of manipulator is positioned, contrasted, being judged, result output, so that the site error to the manipulator on assembly line
Situation progress fault pre-alarming, so as to exclude in advance or predict failure, formulates maintenance policy, prepares service material and is advance in advance
Arrange production properly.
Brief description of the drawings
Fig. 1 is the structure diagram of position of manipulator fault early warning system of the present invention.
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.Referring to Fig. 1, Fig. 1 is position of manipulator of the present invention
The schematic diagram of fault early warning system, the present invention provide a kind of position of manipulator fault early warning system 10, it is characterised in that manipulator
Position acquisition module 2, position of manipulator monitoring modular 4, position of manipulator information storage module 1, message output module 3 and intelligence
Energy control module 5；
The position of manipulator acquisition module 2 is detected the initial position of manipulator and running position, judge with
Difference between precalculated position；
The position of manipulator monitoring modular 4 periodically judges the difference between operating status and original state, and feeds back
To intelligent control module 5；
The position of manipulator information storage module 1 is used for the positional information for storing each location point of manipulator；
Described information output module 3 intelligent control module is detected information carry out computing and with position of manipulator information
Standard value in memory module 1 carry out contrast judgement as a result, being exported；
The intelligent control module 5 obtains the position of manipulator acquisition module 2, position of manipulator monitoring modular 4, machinery
Hand position information storage module 1 and message output module 3 as a result, judging manipulator incipient fault and assessing to be good for according to setting
Health state.
Further, the intelligent control module 5 obtains numbering, title and the specification of manipulator.
Further, the manipulator state got is carried out signal processing by the intelligent control module 5, produces corresponding machine
The status data of tool hand simultaneously stores the status data to database.
Further, the intelligent control module 5 assesses potential problems, and appraisal procedure includes time domain evaluation, frequency
Spectrum assessment, time series assessment, mode assessment and statistical analysis.
Further, the intelligent control module 5 includes repair message generation unit, and the repair message generation unit exists
Carry out reminding operating personnel's replacement or servicing machine hand when the incipient fault of manipulator is higher ranked.
Further, the repair message generation unit further includes the maintenance project of generation manipulator, manipulator buying meter
Draw, personnel allocation plan.
Further, incipient fault information and repair message are also uploaded to data by the repair message generation unit
Storehouse.
The intelligent control module 5 obtains the position of manipulator acquisition module 2, position of manipulator monitoring modular 4, machinery
Hand position information storage module 1 and message output module 3 as a result, judging manipulator incipient fault and assessing to be good for according to setting
Health state, independent operating and transfers data to intelligent control module 5 between modules, intelligent control module 5 is set-mounted
Fault pre-alarming is carried out to the manipulator on assembly line.
The beneficial effects of the invention are as follows：By on manipulator in a pipeline, setting position of manipulator to obtain mould respectively
Block, position of manipulator monitoring modular, position of manipulator information storage module, message output module and intelligent control module, it is right
The positional information of manipulator is positioned, contrasted, being judged, result output, so that the site error to the manipulator on assembly line
Situation progress fault pre-alarming, so as to exclude in advance or predict failure, formulates maintenance policy, prepares service material and is advance in advance
Arrange production properly.
Relation is used for only for illustration described in attached drawing, it is impossible to is interpreted as the limitation to this patent, it is clear that this
Above-described embodiment of invention is only intended to clearly illustrate example of the present invention, and is not to embodiments of the present invention
Restriction.For those of ordinary skill in the field, other not similar shapes can also be made on the basis of the above description
The change or variation of formula.There is no necessity and possibility to exhaust all the enbodiments.It is all in the spirit and principles in the present invention
Within all any modification, equivalent and improvement made etc., should be included within the protection domain of the claims in the present invention.
Claims (7)
- A kind of 1. position of manipulator fault early warning system, it is characterised in that including：Position of manipulator acquisition module, manipulator position Put monitoring modular, position of manipulator information storage module, message output module and intelligent control module；The position of manipulator acquisition module is detected the initial position of manipulator and running position, judges and is pre-positioned Difference between putting；The position of manipulator monitoring modular periodically judges the difference between operating status and original state, and feeds back to intelligence Control module；The position of manipulator information storage module is used for the positional information for storing each location point of manipulator；Described information output module is detected intelligent control module information and carries out computing and stored with position of manipulator information Mould standard value in the block carry out contrast judgement as a result, being exported；The intelligent control module respectively with the position of manipulator acquisition module, position of manipulator monitoring modular, manipulator position Put information storage module to connect with message output module, manipulator potential site information is judged according to setting to judge manipulator position The health status put.
- 2. position of manipulator fault early warning system as claimed in claim 1, it is characterised in that the intelligent control module obtains Numbering, title and the specification of manipulator.
- 3. the position of manipulator fault early warning system stated such as claim 2, it is characterised in that the intelligent control module will obtain The manipulator state arrived carries out signal processing, produces the status data of corresponding manipulator and stores the status data to data Storehouse.
- 4. position of manipulator fault early warning system as claimed in claim 1, it is characterised in that the intelligent control module is to latent Assessed in problem, appraisal procedure includes time domain evaluation, spectral estimation, time series assessment, mode assessment and statistical Analysis.
- 5. position of manipulator fault early warning system as claimed in claim 4, it is characterised in that the intelligent control module includes Repair message generation unit, the repair message generation unit carry out prompting operation when the incipient fault of manipulator is higher ranked Personnel replace or servicing machine hand.
- 6. position of manipulator fault early warning system as claimed in claim 5, it is characterised in that the repair message generation unit Further include the maintenance project, manipulator procurement plan, personnel allocation plan of generation manipulator.
- 7. position of manipulator fault early warning system as claimed in claim 6, it is characterised in that the repair message generation unit Incipient fault information and repair message are also uploaded to database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421810.4A CN107962134A (en) | 2017-12-25 | 2017-12-25 | A kind of position of manipulator fault early warning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711421810.4A CN107962134A (en) | 2017-12-25 | 2017-12-25 | A kind of position of manipulator fault early warning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107962134A true CN107962134A (en) | 2018-04-27 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711421810.4A Pending CN107962134A (en) | 2017-12-25 | 2017-12-25 | A kind of position of manipulator fault early warning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116373379A (en) * | 2022-03-16 | 2023-07-04 | 昆山豪润精密模具有限公司 | Method and system for controlling stamping risk |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334827A (en) * | 2015-11-18 | 2016-02-17 | 张发平 | Equipment supervision manufacture and quality real-time control system |
| CN206133283U (en) * | 2016-07-20 | 2017-04-26 | 苏州博众精工科技有限公司 | Relay production line monitored control system |
| CN206400614U (en) * | 2017-01-22 | 2017-08-11 | 苏州华兴致远电子科技有限公司 | A kind of intelligent examination and repair system of train closed loop |
| CN107322646A (en) * | 2017-08-28 | 2017-11-07 | 黄晓咏 | Mechanical arm fault early warning system on a kind of streamline |
-
2017
- 2017-12-25 CN CN201711421810.4A patent/CN107962134A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334827A (en) * | 2015-11-18 | 2016-02-17 | 张发平 | Equipment supervision manufacture and quality real-time control system |
| CN206133283U (en) * | 2016-07-20 | 2017-04-26 | 苏州博众精工科技有限公司 | Relay production line monitored control system |
| CN206400614U (en) * | 2017-01-22 | 2017-08-11 | 苏州华兴致远电子科技有限公司 | A kind of intelligent examination and repair system of train closed loop |
| CN107322646A (en) * | 2017-08-28 | 2017-11-07 | 黄晓咏 | Mechanical arm fault early warning system on a kind of streamline |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116373379A (en) * | 2022-03-16 | 2023-07-04 | 昆山豪润精密模具有限公司 | Method and system for controlling stamping risk |
| CN116373379B (en) * | 2022-03-16 | 2024-02-09 | 昆山豪润精密模具有限公司 | Method and system for controlling stamping risk |
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Application publication date: 20180427 |