CN110370318B

CN110370318B - Industrial robot with self fault detection function

Info

Publication number: CN110370318B
Application number: CN201910696538.3A
Authority: CN
Inventors: 刘敏; 吴利太; 柳明宁
Original assignee: Nanjing Yusheng Robot Technology Co Ltd
Current assignee: Nanjing Yusheng Robot Technology Co Ltd
Priority date: 2019-07-30
Filing date: 2019-07-30
Publication date: 2020-11-06
Anticipated expiration: 2039-07-30
Also published as: CN110370318A

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to an industrial robot with a self fault detection function, which comprises a fixed base and a horizontal swing arm, wherein a movable sliding table is connected to the top end of the fixed base in an embedded mode, a horizontal rotating disc is fixedly installed at the top end of the movable sliding table, an upright column is vertically fixed in the middle of the top end of the horizontal rotating disc, a groove-shaped support is arranged at the top end of the upright column, the groove-shaped support is connected with the middle of the horizontal swing arm through a clamping connecting disc in the groove-shaped support, a first torsion disc and a second torsion disc are symmetrically fixed at two ends of the horizontal swing arm, and a first. According to the invention, the original point detection block and the working part are arranged for touch detection, so that error accumulation generated by the industrial robot in the working process is eliminated in time, meanwhile, the video recorder is arranged for shooting a corresponding self-checking picture, the flaw detector is arranged for carrying out flaw detection operation on the internal structure of the working part, and the self-checking result is transmitted to the remote control terminal for real-time monitoring.

Description

Industrial robot with self fault detection function

Technical Field

The invention relates to the technical field of industrial robots, in particular to an industrial robot with a self fault detection function.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can receive human commands and can also run according to a preset program, a modern industrial robot can also perform actions according to a principle scheme established by an artificial intelligence technology, and the industrial robot consists of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to an input program and controls the driving system and the executing mechanism, and the industrial robot is divided into four types according to the motion modes of the arm part. The arm portion of rectangular coordinate type can move along three rectangular coordinates; the cylindrical coordinate type arm part can do lifting, rotating and stretching actions; the arm part of the spherical coordinate type can rotate, pitch and stretch; the joint type arm part is provided with a plurality of rotating joints, and the industrial robot with touch sense, force sense or simple vision can work in a more complex environment; if the intelligent industrial robot has a recognition function or is further added with a self-adaptive and self-learning function, the intelligent industrial robot is formed. It can be self-selected or self-programmed to adapt to the environment according to the given 'macro-instruction', and can automatically complete more complex work.

The present industrial robots suffer from the following problems:

1. the current industrial robot can generate error accumulation after running for a period of time, corresponding detection needs to be carried out on a working part of the current industrial robot, but the current industrial robot does not have a self-detection device, small problems can not be found and eliminated in time, and large accidents are caused easily.

2. The structure of present industrial robot part all is the integral type, and especially the connecting portion of electrical apparatus twines and interferes each other, leads to examining and repairing or need carrying out the split to robot whole when disassembling certain part, has increased work load.

Disclosure of Invention

Technical problem to be solved

In order to overcome the defects in the prior art, the invention provides an industrial robot with a self fault detection function, so as to solve the problems in the prior art.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: an industrial robot with self fault detection function comprises a fixed base and a horizontal swing arm, wherein the top of the fixed base is connected with a movable sliding table in an embedded mode, a horizontal rotating disc is fixedly arranged at the top of the movable sliding table, a stand column is vertically fixed at the middle of the top of the horizontal rotating disc, a groove-shaped support is arranged at the top of the stand column and connected with the middle of the horizontal swing arm through a clamping connecting disc inside the groove-shaped support, a first torsion disc and a second torsion disc are symmetrically fixed at two ends of the horizontal swing arm, a first working arm is fixed on the first torsion disc, a second working arm is fixed on the second torsion disc, one end of the fixed base is a working area, the other end of the fixed base is a detection station, a coordinate origin detection block is fixed on the detection station, a video recorder and a flaw detector are fixed on the side of the coordinate origin detection block, pneumatic clamping mechanisms are arranged on the first working arm and the second working arm respectively, one end of each pneumatic clamping mechanism is an inside caliper, and the other end of each pneumatic clamping mechanism is an outside caliper.

The movable sliding table can move horizontally on the fixed base, when the movable sliding table moves to a working area, the clamping connecting disc drives the horizontal swing arm to lower the head, and when the movable sliding table moves to the working area, such as a conveying belt, the corresponding article is grabbed by the inner caliper or the outer caliper, after the article is grabbed, the clamping connection disc drives the horizontal swing arm to lift again, at the moment, according to the set program, in the rotating process of the horizontal swinging arm, the first working arm and the second working arm alternately carry out the operations of grabbing, overturning, translating and releasing the article, therefore, the work efficiency is greatly improved, when the product of the invention generates error accumulation, the movable sliding table moves to the self-checking area, the inner caliper and the outer caliper respectively touch the top surface and two sides of the origin of coordinates detection block, the origin of coordinates detection block records the touch signal, meanwhile, the video recorder 14 takes a corresponding self-check picture and takes pictures of the states of the inner caliper 1601 and the outer caliper 1602.

In further embodiment, unable adjustment base's inner chamber fixed mounting has flexible vice, flexible vice connection of moving drives remove the slip table, fixed mounting has horizontal revolute pair in the removal slip table, horizontal revolute pair connects and drives horizontal rotating disc, one side fixed mounting of stand has the every single move to adjust vice, every single move is adjusted vice to be connected and is driven the clamping connection pad, horizontal swing arm's inner chamber is fixed with first perpendicular revolute pair and the perpendicular revolute pair of second, first perpendicular revolute pair is connected first torsion dish, the perpendicular revolute pair of second is connected the second torsion dish.

The telescopic sliding pair can drive the sliding table to horizontally move in a working area and a self-checking area, the horizontal rotating pair is connected with and drives the horizontal rotating disc, the horizontal rotating disc is driven by the vertical column to carry a workpiece in a carrying mode in the horizontal direction, the pitching adjusting pair can drive the horizontal rotating arm to adjust the pitching angle through the clamping connecting disc, the first vertical rotating pair drives the first working arm to vertically rotate through the first torsion disc, the clamped workpiece is vertically overturned, the second vertical rotating pair drives the second working arm to vertically rotate through the second torsion disc, and the clamped workpiece is vertically overturned.

In a further embodiment, unable adjustment base's corner fixed mounting has the switch board, be fixed with host system, wireless communication chip and five motor drive in the switch board, the origin of coordinates detects the piece video recorder with flaw detector electrical connection host system's input port, host system's output port electrical connection is five motor drive, five motor drive is electric connection respectively the flexible removal is vice horizontal revolute pair the every single move is vice first vertical revolute pair with the driving motor of second vertical revolute pair, host system passes through wireless communication chip signal connection remote detection terminal.

The main control module adopts a PLC controller, the controller is a programmable logic controller, the electronic device specially designed for industrial production is a digital operation electronic device, it adopts a programmable memory for storing program therein, executing instructions facing users such as logic operation, sequence control, timing, counting and arithmetic operation, and controlling various types of machinery or production processes by digital or analog input and output, it is a core part of industrial control, it can accurately control each component of the product according to the set program, the wireless communication chip adopts GSM chip and WIFI chip, both chips are mature communication mode at present, the signal transmission is stable, it can well transmit the data generated in the work of the invention with the remote control terminal, the motor driver adopts JSDE-15A type AC servo driver, the driving motor of the transmission component can be well controlled.

In further embodiment, high-pressure gas station is installed to unable adjustment base's avris, high-pressure gas station's top intercommunication has the electromagnetism valves, the electromagnetism valves passes through flexible trachea intercommunication the pneumatic fixture on first work arm and the second work arm.

The high-pressure gas station can provide working power for the pneumatic clamping mechanism, when the electromagnetic valve group is opened, the inner calipers and the outer calipers on the pneumatic clamping mechanism start corresponding actions to grab the articles, and the articles are grabbed to overturn and move under the driving of the first vertical revolute pair or the second vertical revolute pair, so that the specific working process of the industrial robot is realized.

In a further embodiment, the telescopic moving pair, the horizontal rotating pair, the pitching adjusting pair, the first vertical rotating pair and the second vertical rotating pair are in any one or more combinations of a screw rod transmission pair, a gear transmission pair, a worm and gear transmission pair or a belt transmission pair.

The telescopic moving pair, the horizontal rotating pair, the pitching adjusting pair, the first vertical rotating pair and the second vertical rotating pair are in any one or more combinations of a screw rod transmission pair or a gear transmission pair or a worm and gear transmission pair or a belt transmission pair, so that the product can be adapted to the existing transmission mechanism, the diversification and flexible combination of the product are realized, the product structure is more reasonable, and the standardized production is facilitated.

In a further embodiment, the control cabinet is provided with six aviation sockets, the input ends of the six aviation sockets are electrically connected with five motor drivers and relays, and the output ends of the six aviation sockets are respectively electrically connected with the horizontal revolute pair, the pitching adjustment pair, the driving motors of the first vertical revolute pair and the second vertical revolute pair, the high-pressure gas station and the electromagnetic valve bank.

The six aviation sockets can be flexibly connected with the driving motors of the horizontal revolute pair, the pitching adjusting pair, the first vertical revolute pair and the second vertical revolute pair, the high-pressure gas station and the electromagnetic valve group, so that when one part is damaged, corresponding electric connection can be rapidly removed through aviation plugging, rapid replacement is realized, in addition, the aviation plug connector is convenient for modular production, and can well shield irrelevant signals, and the working stability of the industrial robot is maintained.

In a further embodiment, the bottom of unable adjustment base avris is fixed with flexible locating pin axle, the bottom of removing the slip table avris is equipped with first toper draw-in groove and second toper draw-in groove, flexible locating pin axle gomphosis in turn first toper draw-in groove with second toper draw-in groove.

First toper draw-in groove and second toper draw-in groove can fix a position work area territory and self-checking station, when removing the slip table and removing work area territory, flexible locating pin axle and second toper draw-in groove looks gomphosis, remove the slip table this moment and just can be fixed in this position and carry out snatching, upset, the release work of article, when removing the slip table and removing self-checking station, flexible locating pin axle and first toper draw-in groove looks gomphosis, so remove the slip table just can be fixed in this position and carry out self-checking operation.

In a further embodiment, the corner of the fixed base is provided with an adjusting threaded rod, and the side of the fixed base is provided with a level gauge.

The flatness of the fixed base can be adjusted by adjusting the threaded rod and the level gauge, so that the main body of the industrial robot is in a horizontal working state, and the grabbing, overturning, releasing and horizontal moving can be more accurately realized

(III) advantageous effects

Compared with the prior art, the invention provides the industrial robot with the self fault detection function, which has the following beneficial effects:

1. according to the industrial robot with the self fault detection function, the original point detection block is arranged to be in touch detection with the working part, error accumulation generated by the industrial robot in the working process is eliminated in time, meanwhile, the video recorder is arranged to shoot a corresponding self-detection picture, the flaw detector is arranged to perform flaw detection operation on the internal structure of the working part, and the self-detection result is transmitted to the remote control terminal to perform real-time monitoring.

2. According to the industrial robot with the self fault detection function, the aviation socket is arranged to be electrically connected with each execution part, when one part is damaged, the corresponding electrical connection can be quickly removed through the aviation socket, the quick replacement is realized, in addition, the aviation socket connector is convenient for modular production, irrelevant signals can be well shielded, and the working stability of the industrial robot is kept.

Drawings

FIG. 1 is a schematic view of a subjective structure on one side of the present invention;

FIG. 2 is a schematic view of the subjective structure of another aspect of the present invention;

FIG. 3 is a schematic view of the structure of the transmission mechanism of the present invention;

FIG. 4 is a schematic diagram of the electrical control of the present invention;

FIG. 5 is a schematic view of the repositioning mechanism of the present invention.

In the figure: 1. a fixed base; 101. a telescopic moving pair; 102. a telescopic positioning pin shaft; 103. adjusting the threaded rod; 104. a level gauge; 2. moving the sliding table; 201. a horizontal revolute pair; 202. a first tapered slot; 203. a second tapered slot; 3. a horizontal rotating disk; 4. a column; 5. a trough-shaped bracket; 501. a pitching adjusting pair; 6. clamping the connecting disc; 7. a horizontal swing arm; 701. a first vertical revolute pair; 702. a second vertical revolute pair; 8. a first torsion disc; 9. a second torsion plate; 10. a first working arm; 11. a second working arm; 12. detecting a station; 13. a coordinate origin detection block; 14. a video recorder; 15. a flaw detector; 16. a pneumatic clamping mechanism; 1601. an inner caliper; 1602. an outer caliper; 17. a control cabinet; 18. a main control module; 19. a wireless communication chip; 20. a motor driver; 21. a high pressure gas station; 22. an electromagnetic valve group; 23. an aviation socket.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: an industrial robot with a self fault detection function comprises a fixed base 1 and a horizontal swing arm 7, wherein the top end of the fixed base 1 is connected with a movable sliding table 2 in an embedded mode, a horizontal rotating disc 3 is fixedly installed at the top end of the movable sliding table 2, an upright post 4 is vertically fixed in the middle of the top end of the horizontal rotating disc 3, a groove-shaped support 5 is arranged at the top end of the upright post 4, the groove-shaped support 5 is connected with the middle of the horizontal swing arm 7 through a clamping connecting disc 6 inside the groove-shaped support, a first torsion disc 8 and a second torsion disc 9 are symmetrically fixed at two ends of the horizontal swing arm 7, a first working arm 10 is fixed on the first torsion disc 8, a second working arm 11 is fixed on the second torsion disc 9, one end of the fixed base 1 is a working area, the other end of the fixed base 1 is a detection station 12, a coordinate detection block 13 is fixed on the detection station 12, a video recorder 14 and a flaw, the first working arm 10 and the second working arm 11 are both provided with a pneumatic clamping mechanism 16, one end of the pneumatic clamping mechanism 16 is an inner caliper 1601, and the other end of the pneumatic clamping mechanism 16 is an outer caliper 1602.

In this embodiment, the fixed base 1 is used for fixing the main structure of the industrial robot of the present invention, the movable sliding table 2 is embedded in the top end of the fixed base 1 and can move, so as to realize the conversion among various stations, the first working arm 10 and the second working arm 11 are respectively used for the grabbing and placing work in the industrial production,

when the product of the invention works, the movable sliding table 2 moves to a working area, then the clamping connection disc 6 drives the horizontal swing arm 7 to lower the head, corresponding articles are grabbed from the working area, such as a conveyor belt, through the inner caliper 1601 or the outer caliper 1602, after the articles are grabbed, the clamping connection disc 6 drives the horizontal swing arm 7 to raise again, at this time, according to a set program, the first torsion disc 8 or the second torsion disc 9 starts to twist to turn over the grabbed articles, or the horizontal rotation disc 3 drives the horizontal swing arm 7 to rotate in the horizontal direction through the upright post 4 and the groove type bracket 5, so as to realize the horizontal transfer of the articles, and in the rotating process of the horizontal swing arm 7, the first working arm 10 and the second working arm 11 alternately grab, turn over, translate and release the articles, thereby greatly improving the working efficiency.

After the product works for a set time, errors are accumulated, the movable sliding table 2 moves to a self-inspection area, the inner caliper 1601 and the outer caliper 1602 respectively touch the top surface and two sides of the origin of coordinates detection block 13, the origin of coordinates detection block 13 records touch signals, meanwhile, the video recorder 14 shoots corresponding self-inspection pictures and shoots the states of the inner caliper 1601 and the outer caliper 1602, the flaw detector 15 conducts flaw detection operation on the internal structures of the inner caliper 1601 and the outer caliper 1602, the video recorder 14 adopts a JS-AP131 type camera and can clearly shoot the self-inspection pictures, and the flaw detector 15 adopts an JUT900 type ultrasonic flaw detector and can well conduct flaw detection operation on a working part and a clamped workpiece.

Specifically, the inner chamber fixed mounting of unable adjustment base 1 has flexible vice 101 that removes, flexible vice 101 that removes is connected and drives and removes slip table 2, fixed mounting has horizontal revolute pair 201 in removing slip table 2, horizontal revolute pair 201 is connected and is driven horizontal rolling disc 3, one side fixed mounting of stand 4 has the vice 501 of every single move regulation, the vice 501 connection of every single move regulation drives clamping connection pad 6, the inner chamber of horizontal swing arm 7 is fixed with first perpendicular revolute pair 701 and the perpendicular revolute pair 702 of second, first perpendicular revolute pair 701 connects first torsion dish 8, the perpendicular revolute pair 702 of second connects second torsion dish 9.

In this embodiment, the telescopic sliding pair 101 is connected to and drives the movable sliding table 2, so that the movable sliding table can horizontally move in a working area and a self-checking area, the horizontal rotating pair 201 is connected to and drives the horizontal rotating disc 3, so that the horizontal rotating disc 7 is driven by the vertical column 4 to carry a workpiece in a horizontal direction, the pitching adjusting pair 501 drives the horizontal rotating arm 7 to adjust the pitching angle by the clamping connecting disc 6, the first vertical rotating pair 701 drives the first working arm 10 to vertically rotate by the first torsion disc 8, the clamped workpiece is vertically turned, the second vertical rotating pair 702 drives the second working arm 11 to vertically rotate by the second torsion disc 9, and the clamped workpiece is vertically turned.

Specifically, a control cabinet 17 is fixedly installed at a corner of the fixing base 1, a main control module 18, a wireless communication chip 19 and five motor drivers 20 are fixed in the control cabinet 17, the origin of coordinates detection block 13, the video recorder 14 and the flaw detector 15 are electrically connected to input ports of the main control module 18, output ports of the main control module 18 are electrically connected to the five motor drivers 20, the five motor drivers 20 are respectively electrically connected to the telescopic moving pair 101, the horizontal rotating pair 201, the pitching adjusting pair 501, driving motors of the first vertical rotating pair 701 and the second vertical rotating pair 702, and the main control module 18 is in signal connection with a remote detection terminal through the wireless communication chip 19.

In this embodiment, the main control module 18 is a PLC controller, which is a programmable logic controller, and is an electronic device designed for digital operation in industrial production, and it uses a programmable memory for storing programs therein, executing instructions for users such as logic operation, sequence control, timing, counting, and arithmetic operation, and controlling various types of machinery or production processes through digital or analog input and output, and is a core part of industrial control, and can precisely control each component of the product according to a set program, the wireless communication chip 19 is a GSM chip and a WIFI chip, both of which are mature communication modes at present, and have stable signal transmission, and can well transmit signals of data generated in the work of the present invention to a remote control terminal, and the motor driver 20 is a JSDE-15A type alternating current servo driver, the driving motor of the transmission component can be well controlled.

Specifically, high-pressure gas station 21 is installed to the avris of unable adjustment base 1, and the top intercommunication of high-pressure gas station 21 has solenoid valve group 22, and solenoid valve group 22 passes through the pneumatic fixture 16 on flexible trachea intercommunication first work arm 10 and the second work arm 11.

In this embodiment, the high pressure gas station 21 is configured to provide working power for the pneumatic clamping mechanism 16, and when the electromagnetic valve group 22 is opened during use, the inner caliper 1601 and the outer caliper 1602 on the pneumatic clamping mechanism 16 start corresponding actions to grab an article, and grab the article to perform a turning movement under the driving of the first vertical revolute pair 701 or the second vertical revolute pair 702, so as to implement a specific working process of the industrial robot of the present invention.

Specifically, the telescopic moving pair 101, the horizontal rotating pair 201, the pitch adjusting pair 501, the first vertical rotating pair 701 and the second vertical rotating pair 702 are in any one or more combinations of a screw rod transmission pair, a gear transmission pair, a worm and gear transmission pair or a belt transmission pair.

In this embodiment, the telescopic moving pair 101, the horizontal rotating pair 201, the pitching adjusting pair 501, the first vertical rotating pair 701 and the second vertical rotating pair 702 are any one or more combinations of a screw rod transmission pair, a gear transmission pair, a worm and gear transmission pair or a belt transmission pair, so that the telescopic moving pair can be adapted to the existing transmission mechanism, diversification and flexible combination of products are realized, the product structure of the invention is more reasonable, and standardized production is facilitated.

Specifically, six aviation sockets 23 are arranged on the control cabinet 17, input ends of the six aviation sockets 23 are electrically connected with five motor drivers 20 and relays, and output ends of the six aviation sockets 23 are respectively electrically connected with driving motors of the horizontal revolute pair 201, the pitch adjusting pair 501, the first vertical revolute pair 701 and the second vertical revolute pair 702, the high-pressure gas station 21 and the solenoid valve group 22.

In this embodiment, the six aviation sockets 23 are respectively used for flexibly connecting the driving motors of the horizontal revolute pair 201, the pitching adjustment pair 501, the first vertical revolute pair 701 and the second vertical revolute pair 702, the high-pressure gas station 21 and the electromagnetic valve group 22, so that when one part is damaged, the corresponding electrical connection can be quickly removed through aviation plugging, quick replacement is realized, and in addition, the aviation plug connector is convenient for modular production and can well shield irrelevant signals, so that the working stability of the industrial robot is maintained.

Specifically, the bottom end of the side of the fixed base 1 is fixed with a telescopic positioning pin shaft 102, the bottom end of the side of the movable sliding table 2 is provided with a first tapered clamping groove 202 and a second tapered clamping groove 203, and the telescopic positioning pin shaft 102 is alternately embedded with the first tapered clamping groove 202 and the second tapered clamping groove 203.

In this embodiment, as shown in fig. 5, the first tapered slot 202 and the second tapered slot 203 are used to locate the working area and the self-checking station, when the mobile sliding table 2 moves to the working area, the retractable positioning pin 102 is engaged with the second tapered slot 203, at this time, the mobile sliding table 2 can be fixed at this position to perform grabbing, overturning and releasing work of the article, when the mobile sliding table 2 moves to the self-checking station, the retractable positioning pin 102 is engaged with the first tapered slot 202, so that the mobile sliding table 2 can be fixed at this position to perform self-checking operation.

Specifically, the corner of the fixed base 1 is provided with an adjusting threaded rod 103, and the side of the fixed base 1 is provided with a level gauge 104.

In this embodiment, the adjusting threaded rod 103 and the level gauge 104 are used for adjusting the flatness of the fixed base 1, so that the main body of the industrial robot of the present invention is in a horizontal working state, and thus, the grabbing, overturning, releasing and horizontal movement can be more accurately realized.

In the embodiment, the video recorder 14, the flaw detector 15, the main control module 18, the wireless communication chip 19, the motor driver 20, the high-pressure gas station 21 and the electromagnetic valve group 22 are known technologies that have been disclosed and widely used in daily life.

The working principle and the using process of the invention are as follows: when the product of the invention works, the moving sliding table 2 moves to a working area, then the clamping connection disc 6 drives the horizontal swing arm 7 to lower the head, corresponding articles are grabbed from the working area, such as a conveyor belt, through the inner caliper 1601 or the outer caliper 1602, after the articles are grabbed, the clamping connection disc 6 drives the horizontal swing arm 7 to lift up again, at this time, according to a set program, the first torsion disc 8 or the second torsion disc 9 starts to twist to turn over the grabbed articles, or the horizontal rotation disc 3 drives the horizontal swing arm 7 to rotate in the horizontal direction through the upright post 4 and the groove type bracket 5, so as to realize the horizontal transfer of the articles, during the rotation of the horizontal swing arm 7, the first working arm 10 and the second working arm 11 alternately carry out the grabbing, turning, translating and releasing operations of the articles, when the product of the invention works for a set time, errors are accumulated, at this time, the moving sliding table 2 moves to a self-, the inner caliper 1601 and the outer caliper 1602 respectively touch with the top surface and both sides of the origin of coordinates detection block 13, the origin of coordinates detection block 13 records the touch signal, simultaneously, the video recorder 14 shoots the corresponding self-checking picture and shoots the state of the inner caliper 1601 and the outer caliper 1602, and the defectoscope 15 carries out the operation of detecting a flaw to the inner structure of the inner caliper 1601 and the outer caliper 1602.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an industrial robot with self fault detection function, includes unable adjustment base (1) and horizontal swinging arm (7), its characterized in that: the top gomphosis of unable adjustment base (1) is connected with removes slip table (2), the top fixed mounting who removes slip table (2) has level wheel (3), the middle part vertical fixation on level wheel (3) top has stand (4), one side fixed mounting of stand (4) has the every single move to adjust vice (501), the every single move is adjusted vice (501) and is connected and drive clamping connection pad (6), the top of stand (4) is equipped with cell type support (5), cell type support (5) are connected through its inside clamping connection pad (6) the middle part of level swing arm (7), the both ends symmetry of level swing arm (7) is fixed with first torsion dish (8) and second torsion dish (9), be fixed with first work arm (10) on first torsion dish (8), fixed second work arm (11) on second torsion dish (9), one end of the fixed base (1) is a working area, the other end of the fixed base (1) is a detection station (12), a coordinate origin detection block (13) is fixed on the detection station (12), a video recorder (14) and a flaw detector (15) are fixed on the side of the coordinate origin detection block (13), pneumatic clamping mechanisms (16) are arranged on the first working arm (10) and the second working arm (11), one end of each pneumatic clamping mechanism (16) is an inner caliper (1601), and the other end of each pneumatic clamping mechanism (16) is an outer caliper (1602);

when industrial robot sets for the time after, can produce the error accumulation, remove slip table (2) this moment and remove to the self-checking region, inside calliper (1601) and outside calliper (1602) respectively with the top surface and both sides of origin of coordinates detection piece (13) touch, origin of coordinates detection piece (13) record the touch signal, simultaneously, video recorder (14) take corresponding self-checking picture and shoot the state of inside calliper (1601) and outside calliper (1602), defectoscope (15) carry out the operation of detecting a flaw to the inner structure of inside calliper (1601) and outside calliper (1602).

2. An industrial robot having a self-failure detection function according to claim 1, characterized in that: the inner chamber fixed mounting of unable adjustment base (1) has flexible removal vice (101), flexible removal is vice (101) to be connected and drives remove slip table (2), fixed mounting has horizontal revolute pair (201) in removing slip table (2), horizontal revolute pair (201) is connected and is driven horizontal rolling dish (3), the inner chamber of horizontal swing arm (7) is fixed with first perpendicular revolute pair (701) and the perpendicular revolute pair (702) of second, first perpendicular revolute pair (701) is connected first torsion dish (8), the perpendicular revolute pair (702) of second is connected second torsion dish (9).

3. An industrial robot having a self-failure detection function according to claim 2, characterized in that: a control cabinet (17) is fixedly installed at the corner of the fixed base (1), a main control module (18), a wireless communication chip (19) and five motor drivers (20) are fixed in the control cabinet (17), the coordinate origin detection block (13), the video recorder (14) and the flaw detector (15) are electrically connected with an input port of the main control module (18), the output port of the main control module (18) is electrically connected with five motor drivers (20), the five motor drivers (20) are respectively and electrically connected with the driving motors of the telescopic moving pair (101), the horizontal rotating pair (201), the pitching adjusting pair (501), the first vertical rotating pair (701) and the second vertical rotating pair (702), the main control module (18) is in signal connection with a remote detection terminal through the wireless communication chip (19).

4. An industrial robot having a self-failure detection function according to claim 3, characterized in that: high-pressure gas station (21) are installed to the avris of unable adjustment base (1), the top intercommunication of high-pressure gas station (21) has electromagnetism valves (22), electromagnetism valves (22) are through flexible trachea intercommunication pneumatic fixture (16) on first work arm (10) and second work arm (11).

5. An industrial robot having a self-failure detection function according to claim 2, characterized in that: the telescopic moving pair (101), the horizontal rotating pair (201), the pitching adjusting pair (501), the first vertical rotating pair (701) and the second vertical rotating pair (702) are in any one or combination of a screw rod transmission pair, a gear transmission pair, a worm and gear transmission pair and a belt transmission pair.

6. An industrial robot having a self-failure detection function according to claim 4, characterized in that: be equipped with six aviation sockets (23), six on switch board (17) the input electric connection of aviation socket (23) is five motor driver (20) and relay, six the output of aviation socket (23) is electric connection respectively horizontal revolute pair (201) every single move is adjusted vice (501) first perpendicular revolute pair (701) with the driving motor of second perpendicular revolute pair (702) with high-pressure gas station (21) and electromagnetism valves (22).

7. An industrial robot having a self-failure detection function according to claim 1, characterized in that: the bottom mounting of unable adjustment base (1) avris has flexible positioning pin axle (102), the bottom of removing slip table (2) avris is equipped with first toper draw-in groove (202) and second toper draw-in groove (203), flexible positioning pin axle (102) gomphosis in turn first toper draw-in groove (202) with second toper draw-in groove (203).

8. An industrial robot having a self-failure detection function according to claim 1, characterized in that: the corner of unable adjustment base (1) is equipped with adjusting threaded rod (103), the avris of unable adjustment base (1) is equipped with spirit level (104).