CN110539331A - Method and device for detecting abnormality of mechanical arm and pump in advance - Google Patents
Method and device for detecting abnormality of mechanical arm and pump in advance Download PDFInfo
- Publication number
- CN110539331A CN110539331A CN201810524520.0A CN201810524520A CN110539331A CN 110539331 A CN110539331 A CN 110539331A CN 201810524520 A CN201810524520 A CN 201810524520A CN 110539331 A CN110539331 A CN 110539331A
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- pump
- host
- mechanical arm
- control platform
- abnormal
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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
-
- 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
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The invention provides a method and a device capable of detecting the abnormality of a mechanical arm and a pump in advance, which utilize a sensor to obtain the vibration voltage, frequency and amplitude of the mechanical arm and the pump so as to detect whether the signals are abnormal or not. The system mainly arranges a plurality of sensors on a linkage mechanism of a pump or a mechanical arm, can transmit the using state of the pump or the mechanical arm back to a host, can transmit a signal to a control platform when the data shows abnormality, can analyze the reason of the signal abnormality by the control platform to be used for predicting the problem of the judgment part, and can further inform engineering personnel to detect or replace the part on site, thereby being a new technology in industrial application.
Description
Technical Field
The invention relates to a method and a device for detecting the abnormality of a mechanical arm and a pump in advance, which collect the vibration voltage, frequency and amplitude related to the normal operation of the mechanical arm and the pump, and are provided with sensors for detecting whether the use states of the mechanical arm and the pump are abnormal or not.
Background
With the technical temperature rise of industry 4.0, the existing industry focuses on the application of unmanned and mechanical arms or pumps in industrial automation, and is more extensive and important, especially in the integration of production technology, production efficiency and production quality, and in cooperation with product sales and service, the technical foundation adopts an intelligent integrated sensing and control system and network transmission, so that products meeting the requirements of customers can be developed by analyzing various big data, and particularly, the big data is utilized to analyze and predict a computer, so that the existing resources can be timely and accurately produced or scheduled, redundant cost is reduced or loss is avoided, and the like.
In current industrial applications, many semiconductor industries use a robot to take charge of a certain part of a product production line, i.e., the robot (or pump) is used to replace manpower, or the precision of the processing project must be achieved by the robot, and the robot is different from the manpower and can continuously operate for a long time to maintain the daily production quantity and quality, so that the manufacturers can greatly adopt the robot or pump to assist in the production line, thereby increasing the stable delivery quantity.
However, when the mechanical arm (or pump) is used for a long time and continuously, a fault or an abnormal phenomenon occurs, so when a fault occurs, the production line must be stopped for a period of time, and the production line can be started continuously after the problem is repaired by an engineer, in the process, the engineer needs to schedule time to carry out on-site detection, so that the engineer is tired, the output of the production line is affected immediately when the production line is stopped for a longer time, the loss of the engineer is increased, and the engineer carries a large maintenance pressure on the negative electrode, which is quite troublesome.
The invention especially develops a device and a method capable of detecting the abnormality of a mechanical arm and a pump in advance, wherein the device is provided with a sensor on the mechanical arm or the pump, and can pay attention to the using state of the mechanical arm or the pump at any time, and the method collects a large number of databases in advance, and comprises the following steps: once the information detected by the sensor is abnormal, the sampling data of the vibration voltage, the vibration frequency and the vibration amplitude can be used for warning and informing by using color, graph or sound, and an abnormal signal can be transmitted to the control platform to analyze the reason of the abnormal signal, and engineering personnel can be arranged to detect or replace parts on site in advance.
Disclosure of Invention
The invention relates to a method and a device capable of detecting abnormality of a mechanical arm and a pump in advance, wherein a sensor is used for acquiring vibration voltage, frequency and amplitude of the pump and the mechanical arm so as to detect whether the signals are abnormal or not. The system mainly arranges a plurality of sensors on the pump or the mechanical arm, can transmit the using state of the pump or the mechanical arm back to the host, can transmit a signal to the control platform when the data shows abnormality, can analyze the reason of the signal abnormality by the control platform to be used as the prediction for judging the problem of the part, and can further inform engineering personnel to detect or replace the part on site, thereby being a new technology in industrial application.
In order to achieve the purpose, the invention adopts the technical scheme that:
A method for detecting mechanical arm and pump abnormity in advance is characterized in that a plurality of sensors are arranged on a pump or a linkage mechanism of the mechanical arm and are communicated with a host, whether the linkage mechanism of the pump or the mechanical arm is abnormal or not can be monitored by a screen of the host, and a normal signal or an abnormal signal notification can be displayed, wherein the abnormal signal can be transmitted to a control platform through the host by a remote end, and the control platform can capture a cloud big data database as a basis for judging and analyzing the abnormal signal.
A device capable of detecting the abnormality of a mechanical arm in advance is characterized by mainly comprising the mechanical arm, sensors, a host and a control platform, wherein a plurality of sensors are arranged on a linkage mechanism of the mechanical arm, the sensors are communicated with the host in a wired or wireless mode to form signals, the host is connected with a screen for displaying the signal state, the host is connected with a remote control platform, and the control platform is communicated with a cloud big data database.
A device capable of detecting pump abnormality in advance is characterized by mainly comprising a pump, sensors, a host and a control platform, wherein a plurality of sensors are arranged on the pump, the sensors are communicated with the host in a wired or wireless mode to form signals, the host is connected with a screen for displaying signal states, the host is connected with a remote control platform, and the control platform is communicated with a cloud big data database.
The method and the device for detecting the abnormality of the mechanical arm and the pump in advance are characterized in that the screen displays the states of the vibration voltage, the frequency and the amplitude detected by the sensor through graphs, colors or sounds.
The method and the device for detecting the abnormality of the mechanical arm and the pump in advance are characterized in that the linkage mechanism of the mechanical arm comprises a motor, a compressor and an axis.
The method and device for detecting the abnormality of the mechanical arm and the pump in advance are characterized in that the data in the cloud big data database are collected by contrasting the normal operation of the pump or the linkage mechanism of the mechanical arm with the abnormal operation of the mechanism to obtain abnormal voltage, frequency or amplitude signals, wherein the abnormal voltage, frequency or amplitude signals comprise: a vibration voltage abnormality database, an operation frequency abnormality database and an operation amplitude abnormality database.
The invention is characterized in that the data information on the linkage mechanism of the pump and the mechanical arm is collected in advance, and the data information comprises the following data: the data collecting device for the normal operation of the motor, compressor and shaft center, which is the operation status of the collecting device, includes: the vibration voltage, frequency and amplitude data of the normal mechanism can be compared with the abnormal signal.
The key point of the present invention is that the sensor is mounted on the linkage element of the mechanical arm (or pump), comprising: a motor, a compressor, a hub … …, etc., and communicates the sensor with the host computer in a wired or wireless manner for transmitting signals to the host computer.
The main frame is connected with a screen, can display the notice of abnormal signals through figures, colors or sounds, and transmits the abnormal signals to a remote control platform, the control platform is connected with a cloud big data database, the collection of data is the comparison between the normal operation of a linkage mechanism of a pump and a mechanical arm and the abnormal operation of the mechanism, so as to obtain the abnormal frequency or amplitude, and the abnormal frequency or amplitude comprises the following components: the control platform analyzes the data provided by the cloud big data database, can judge the reason of the abnormality of the mechanism part in operation in advance, can provide engineering personnel for removing problems at a far end, or arrange the engineering personnel to detect a mechanical arm or replace the part on site, and can accelerate the solution of the problem of the abnormality of the mechanism on site.
The invention can detect the impending failure of the mechanical arm (or pump) in advance, remind the operator to inform the engineering personnel to carry out detection, and replace parts earlier, can avoid the dilemma of production line halt caused by the failure of the mechanical arm, and more effectively reduce the great loss of the operator caused by halt.
Drawings
FIG. 1 is a flow chart illustrating the method of the present invention.
Fig. 2 is an explanatory view of the link mechanism of the robot arm of the present invention.
FIG. 3 is a diagram illustrating host database and transmission according to the present invention.
Fig. 4 is an explanatory diagram of the cloud big data library according to the present invention.
Fig. 5 is a perspective view of the robot arm in wired connection with the host according to the present invention.
Fig. 6 is a perspective view of the robot arm wireless connection host of the present invention.
FIG. 7 is a schematic diagram of signal detection according to the present invention.
Fig. 8 is a schematic diagram of abnormal signal transmission according to the present invention.
Description of reference numerals: [ invention ] 1-a robot arm; 10-a pump; 11-a motor; 12-a compressor; 13-axis center; 2-a sensor; 21-piezoelectric type; 22-acceleration type; 3-a host; 30-normal signal; 301-standard vibration voltage database; 302-frequency database of standard operation; 303-amplitude database of standard runs; 31-screen; 311-a graphic; 312-color; 313-sound; 32-an exception signal; 4-a control platform; 41-cloud big data database; 411-vibration voltage anomaly database; 412-frequency of operation anomaly database; 413-amplitude anomaly database of operation; 42-judgment analysis.
Detailed Description
Firstly, please refer to fig. 1, which is a flow chart illustrating the method of the present invention, the present embodiment is described with a robot arm 1, and can also be applied to a pump, wherein a plurality of sensors 2 are installed on a linkage mechanism of the robot arm 1, and the sensors 2 are communicated with a host 3, so that the host 3 can display a normal signal 30 or an abnormal signal 32, wherein the abnormal signal 32 is transmitted to a control platform 4 by a remote end, and then the control platform 4 captures a cloud big data database 41 for judgment and analysis 42, so that a remote engineer can quickly eliminate the processing of the abnormal signal 32.
Next, please refer to fig. 2, which is an illustration of the linkage mechanism of the robot arm of the present invention, wherein the linkage mechanism of the robot arm 1 includes: a motor 11, a compressor 12 and a shaft 13, and a sensor 2 is installed on the motor 11, the compressor 12 and the shaft 13 to detect the using state of the linkage mechanism.
For the description of the database of the host 3, please continue to refer to fig. 3, the sensor 2 is connected to the host 3 in a wired or wireless manner, wherein the sensor 2 can be a piezoelectric type 21 or an acceleration type 22 according to the requirement of the detecting mechanism; the host 3 is connected with a screen 31 for displaying the image 311, color 312 or sound 313 of the signal, wherein, the analog voltage sampling information is collected by a processor or a microprocessor, the information is simplified into frequency and amplitude by Fast Fourier Transform (FFT) of time domain and frequency domain, so that the host 3 has a standard vibration voltage database 301 for judging whether the signal is normal, a frequency database 302 for standard operation and an amplitude database 303 for standard operation, once the host 3 detects the abnormal signal 32, the abnormal signal 32 can be transmitted to the control platform 4 by remote transmission; the control platform 4 is connected to a cloud big data database 41, and the cloud big data database 41 can be used to provide a judgment and analysis 42 for the cause of the abnormal signal 32.
Referring to fig. 3 and fig. 4, the control platform 4 determines that the abnormal signal 32 is based on the data in the cloud big data database 41, and the data is collected by comparing the normal operation of the linkage mechanism of the pump or the robot 1 with the abnormal operation of the mechanism (not shown in the figure), so as to obtain a database of abnormal frequency or amplitude, which includes: the abnormal vibration voltage database 411, the abnormal operating frequency database 412 and the abnormal operating amplitude database 413 enable the control platform 4 to perform judgment and analysis 42 by means of the data provided by the cloud big data database 41, so as to find out the reason of the abnormal operating mechanism parts in advance, provide engineering personnel for removing problems at a far end, arrange the engineering personnel to detect the mechanical arm 1 on site or replace parts (not shown in the figure), and accelerate the solution of the abnormal problems of the mechanism on site.
Referring to fig. 3 and fig. 5, the apparatus of the present invention mainly comprises a robot 1, sensors 2, a host 3 and a control platform 4, wherein a plurality of sensors 2 are disposed on the linkage mechanism of the robot 1, the sensors 2 are connected to the host 3 in a wired or wireless manner (as shown in fig. 6), the host 3 is connected to a screen 31, the screen 31 displays the vibration voltage, frequency and amplitude states (not shown) detected by the sensors 2 through a graph 311, a color 312 or a sound 313, so as to monitor whether the linkage mechanism of the robot 1 is abnormal, and the feedback information can be used to know the usage state of the robot 1, which is used as a basis for determining the failure of the robot 1.
Referring to fig. 6 and fig. 7 and 8, the sensor 2 returns the vibration voltage, frequency or amplitude status of the linkage mechanism of the robot 1, and displays the information through the screen by using the FFT analysis (not shown) in the form of the graph 311, the color 312 or the sound 313, and the abnormal signal 32 can be notified to the field personnel (not shown) by the graph 311 or the sound 313, and the abnormal signal 32 is transmitted to the control platform 4 by the host 3 directly and transmitted remotely, and then the control platform 4 intercepts the cloud big data database 41 to analyze the cause of the abnormal signal 32, so as to remotely control the field personnel to primarily eliminate the problem in a remote manner, and further arrange the time to the field detection or the part replacement, therefore, the device of the present invention can find the abnormal operation (not shown) of the linkage mechanism on the robot 1 or the pump 10 in advance, the device and the method can detect the robot arm abnormality early and can detect the robot arm abnormality early, thereby effectively avoiding the dilemma of stopping the production line, maintaining the stability of the production line and the yield, and really reducing the risk of operators.
In summary, the present invention combines the sensor with the linkage component of the pump or the robot arm to determine whether the status of the linkage component of the pump or the robot arm is normal, which is used as a basis for determining the mechanical arm (or the pump) before failure, so as to replace the parts earlier, or notify the engineer to perform on-site detection, although the present invention adopts the existing parts, combines the functions of the software, the hardware and the network, and analyzes the combined functions with the huge data collected in advance, the method looks simple, but there is no technology and method for detecting the failure of the robot arm (or the pump) in advance; the invention is a breakthrough new invention, can help the operator to maintain and maintain the mechanical arm (or pump), solve the problem of insufficient engineering maintenance personnel, remotely assist to eliminate abnormal signals, quickly process the problem of the mechanical arm (or pump), really prevent the trouble of stopping the production line, and has great benefits in the semiconductor industry.
Claims (6)
1. A method for detecting mechanical arm and pump abnormity in advance is characterized in that a plurality of sensors are arranged on a pump or a linkage mechanism of the mechanical arm and are communicated with a host, whether the linkage mechanism of the pump or the mechanical arm is abnormal or not can be monitored by a screen of the host, and a normal signal or an abnormal signal notification can be displayed, wherein the abnormal signal can be transmitted to a control platform through the host by a remote end, and the control platform can capture a cloud big data database as a basis for judging and analyzing the abnormal signal.
2. A device capable of detecting the abnormality of a mechanical arm in advance is characterized by mainly comprising the mechanical arm, sensors, a host and a control platform, wherein a plurality of sensors are arranged on a linkage mechanism of the mechanical arm, the sensors are communicated with the host in a wired or wireless mode to form signals, the host is connected with a screen for displaying the signal state, the host is connected with a remote control platform, and the control platform is communicated with a cloud big data database.
3. A device capable of detecting pump abnormality in advance is characterized by mainly comprising a pump, sensors, a host and a control platform, wherein a plurality of sensors are arranged on the pump, the sensors are communicated with the host in a wired or wireless mode to form signals, the host is connected with a screen for displaying signal states, the host is connected with a remote control platform, and the control platform is communicated with a cloud big data database.
4. The method and apparatus of claim 1, 2 or 3, wherein the screen displays the status of the vibration voltage, frequency and amplitude detected by the sensor by graphics, color or sound.
5. The method and apparatus of claim 1 or 2, wherein the linkage mechanism of the robot is a motor, a compressor and a shaft.
6. the method and apparatus of claim 1, 2 or 3, wherein the data in the cloud big data database is collected by comparing the normal operation of the pump or the linkage mechanism of the robot with the abnormal operation of the mechanism to obtain the abnormal voltage, frequency or amplitude signal, which comprises: a vibration voltage abnormality database, an operation frequency abnormality database and an operation amplitude abnormality database.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810524520.0A CN110539331A (en) | 2018-05-28 | 2018-05-28 | Method and device for detecting abnormality of mechanical arm and pump in advance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810524520.0A CN110539331A (en) | 2018-05-28 | 2018-05-28 | Method and device for detecting abnormality of mechanical arm and pump in advance |
Publications (1)
| Publication Number | Publication Date |
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| CN110539331A true CN110539331A (en) | 2019-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810524520.0A Pending CN110539331A (en) | 2018-05-28 | 2018-05-28 | Method and device for detecting abnormality of mechanical arm and pump in advance |
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| JPS6126114A (en) * | 1984-07-16 | 1986-02-05 | Mitsubishi Electric Corp | Control device of industrial machine |
| JP2005088166A (en) * | 2003-09-19 | 2005-04-07 | Toyota Motor Corp | Robot |
| CN102105975A (en) * | 2008-07-24 | 2011-06-22 | 爱发科股份有限公司 | Action monitoring system for treating device |
| CN103576567A (en) * | 2012-07-26 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Robot, control method thereof and robot system |
| CN106409120A (en) * | 2015-07-31 | 2017-02-15 | 发那科株式会社 | Machine learning method and machine learning device, and fault prediction device and fault prediction system |
| CN107037133A (en) * | 2017-04-20 | 2017-08-11 | 嘉泰数控科技股份公司 | A kind of combination sound emission and the machining state monitoring method of current detecting |
| CN108025431A (en) * | 2015-09-14 | 2018-05-11 | 拓诺麦公司 | Actuator diagnostics and prediction |
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2018
- 2018-05-28 CN CN201810524520.0A patent/CN110539331A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6126114A (en) * | 1984-07-16 | 1986-02-05 | Mitsubishi Electric Corp | Control device of industrial machine |
| JP2005088166A (en) * | 2003-09-19 | 2005-04-07 | Toyota Motor Corp | Robot |
| CN102105975A (en) * | 2008-07-24 | 2011-06-22 | 爱发科股份有限公司 | Action monitoring system for treating device |
| CN103576567A (en) * | 2012-07-26 | 2014-02-12 | 苏州宝时得电动工具有限公司 | Robot, control method thereof and robot system |
| CN106409120A (en) * | 2015-07-31 | 2017-02-15 | 发那科株式会社 | Machine learning method and machine learning device, and fault prediction device and fault prediction system |
| CN108025431A (en) * | 2015-09-14 | 2018-05-11 | 拓诺麦公司 | Actuator diagnostics and prediction |
| CN107037133A (en) * | 2017-04-20 | 2017-08-11 | 嘉泰数控科技股份公司 | A kind of combination sound emission and the machining state monitoring method of current detecting |
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Application publication date: 20191206 |
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| WD01 | Invention patent application deemed withdrawn after publication |