CN115963805A - Industrial robot monitored control system - Google Patents
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- CN115963805A CN115963805A CN202211521690.6A CN202211521690A CN115963805A CN 115963805 A CN115963805 A CN 115963805A CN 202211521690 A CN202211521690 A CN 202211521690A CN 115963805 A CN115963805 A CN 115963805A
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Abstract
The invention provides an industrial robot monitoring system, comprising: industrial robots and programmable logic controllers PLC; the robot controller is in communication connection with the industrial robot and is used for controlling the industrial robot; the industrial personal computer in the central control room is in communication connection with the robot controller, is used for developing monitoring software and sending the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot; and the data server is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively and is used for analyzing related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result. The invention solves the technical problem of poor safety protection intelligence of the industrial robot system in the related technology.
Description
Technical Field
The invention relates to the technical field of industrial robot control, in particular to an industrial robot monitoring system.
Background
With the development of modern industrial technology, the prospect of the industrial robot in the application field is wider, the industrial robot plays an important role in the economic development and the upgrading of industrial production modes in China, and meanwhile, the number of safety accidents is increased. How to effectively solve the safety protection problem of the industrial robot has become a hot topic in related research fields.
Disclosure of Invention
The invention aims to overcome the technical defects and provide an industrial robot monitoring system to solve the technical problem that the safety protection intelligence of an industrial robot is poor in the related technology.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
according to an aspect of the invention, there is provided an industrial robot monitoring system comprising: industrial robots and programmable logic controllers PLC; the robot controller is in communication connection with the industrial robot and is used for controlling the industrial robot; the industrial personal computer in the central control room is in communication connection with the robot controller, is used for developing monitoring software and sending the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot; and the data server is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively and is used for analyzing related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result.
Optionally, the system further includes: intelligent equipment of a production line; and the data server is also used for establishing communication connection with the intelligent equipment of the production line.
Optionally, the system further includes: a switch; and the data server is also used for establishing communication connection with the industrial personal computer of the central control room through the switch.
Optionally, the system further includes: and the central control room display screen is used for displaying the operation record of the industrial robot and/or the state of the intelligent equipment of the production line.
Optionally, the data server includes at least two data servers, where the at least two data servers include an active data server and a standby data server, and the standby data server is started to be used when the active data server fails.
Optionally, the related data includes working state information, and the data server is configured to analyze the working state information of the robot controller, the central control room industrial personal computer, and/or the PLC when the system fails, and determine a failure point using the analysis result.
Optionally, the data server is configured to determine a fault level according to the analysis result, and output the fault level to a display screen of a central control room for display.
Optionally, the related data includes information of a variation trend of the working state, and the data server is configured to analyze the information of the variation trend of the working state of the robot controller, the central control room industrial personal computer, and/or the PLC, and predict a possibility of a failure of the corresponding device according to an analysis result, to obtain a prediction result.
Optionally, the related data includes working duration information, and the data server is configured to analyze the working duration information of the robot controller, the central control room industrial personal computer, and/or the PLC, determine whether the working duration of the corresponding device exceeds a maintenance period according to an analysis result, and output prompt information according to the determination result.
Optionally, the industrial robot is configured with an absolute value encoder battery, and the absolute value encoder battery is connected to the data server through the robot controller; the system further comprises: and the electric quantity metering device is used for monitoring the electric quantity consumption of the absolute value encoder battery, and the electric quantity metering device is connected with the data server through the PLC.
The invention provides an industrial robot monitoring system, comprising: industrial robots and programmable logic controllers PLC; the robot controller is in communication connection with the industrial robot and is used for controlling the industrial robot; the industrial personal computer in the central control room is in communication connection with the robot controller, is used for developing monitoring software and sending the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot; and the data server is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively, and is used for analyzing the related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result, so that data acquisition, mining, offline analysis and the like of the robot are realized, the operation of the robot can be effectively monitored finally, and the technical problem of poor safety protection intelligence of an industrial robot system in the related technology is solved.
Drawings
Fig. 1 is a schematic diagram of an industrial robot monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of another industrial robot monitoring system provided by the embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all 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 application.
In order to effectively solve the above problems, the present invention provides an industrial robot monitoring system, which is specifically described below.
According to an embodiment of the invention, an industrial robot monitoring system is provided. Referring to fig. 1, the system may include:
an industrial robot 110 and a programmable logic controller PLC 120;
the robot controller 130 is in communication connection with the industrial robot and is used for controlling the industrial robot;
the central control room industrial personal computer 140 is in communication connection with the robot controller, is used for developing monitoring software, and sends the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot;
and the data server 150 is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively, and is used for analyzing related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result.
In the above embodiments, a Programmable logic controller PLC (Programmable logic controller) is a digital arithmetic operation electronic system specifically designed for application in an industrial environment. It uses a programmable memory, in which the instructions for implementing logical operation, sequence control, timing, counting and arithmetic operation are stored, and utilizes digital or analog input and output to control various mechanical equipments or production processes. The electric control device (for example, an on-line electric control cabinet) and the like can be connected with the data server through the PLC, so that the data in the electric control device can be monitored. This embodiment has designed an industrial robot monitored control system based on PLC to solve industrial robot's safety protection problem.
In the above embodiments, the industrial robot in the present embodiment refers to a multi-joint robot or a multi-degree-of-freedom machine device applied to the industrial field, and has a certain degree of automation, and can realize various functions such as industrial processing and manufacturing depending on its own power energy and control capability. The specific form of the industrial robot may be any form, and the present invention is not particularly limited.
In the above embodiments, the robot controller 130 establishes a communication connection with the industrial robot for implementing control of the industrial robot. The robot controller and the industrial robot can be connected in communication in any way, including but not limited to wireless connection, wired connection and the like.
In the above embodiment, optionally, the central control room industrial personal computer 140 is provided with a high-level language development tool for developing monitoring platform software and sending the monitoring software to the robot controller for configuration. The required parameters are displayed on the industrial personal computer, and pictures required to be monitored in a key mode can be selectively displayed on the central control display screen through serial port communication. Optionally, for convenient real-time monitoring on the mobile platform, an APP based on an android and apple platform can be developed to realize remote real-time monitoring.
Optionally, the data server 150 may be configured with two data servers, which are respectively used for redundancy, and a relational database is installed in the data server, so that processing such as screening, classification, and storage of data can be effectively completed. The relational database may be any relational database, and this embodiment is not particularly limited. Preferably, the database may be SQL Server2008, and the database of this version may store data of structured, semi-structured, and unstructured documents directly into the database, and may perform operations such as query, search, synchronization, reporting, and analysis on the data. The data can be stored on various devices, from the largest server of the data center to desktop computers and mobile devices, can control the data regardless of where the data is stored, and achieves more reliable and intelligent data operation. The data server 150 may analyze data related to the robot controller, the central control room industrial personal computer, and/or the PLC to obtain an analysis result. For example, the analysis may be an analysis of an operating state, a fault analysis, an operating cycle analysis, an electric power consumption analysis, and the like, and the embodiment is not particularly limited thereto.
The industrial robot monitoring system in the embodiment is characterized in that an industrial robot and a Programmable Logic Controller (PLC) are arranged; the robot controller is in communication connection with the industrial robot and is used for controlling the industrial robot; the industrial personal computer in the central control room is in communication connection with the robot controller, is used for developing monitoring software and sending the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot; and the data server is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively, and is used for analyzing the related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result, so that data acquisition, mining, offline analysis and the like of the robot are realized, the operation of the robot can be effectively monitored finally, and the technical problem of poor safety protection intelligence of an industrial robot system in the related technology is solved.
Alternatively, as shown in fig. 2, the embodiment of the present invention further provides a schematic diagram of another industrial robot monitoring system. As shown in fig. 2, the system includes:
industrial robot 210, programmable logic controller PLC 220, robot controller 230, central control room industrial personal computer 240 and data server 250, and production line intelligence 260. The industrial robot 210, the PLC 220, the robot controller 230, the central control room industrial personal computer 240, and the data server 250 are similar to the industrial robot 110, the PLC 120, the robot controller 130, the central control room industrial personal computer 140, and the data server 150 shown in the embodiment of fig. 1, and are not described herein again. The data server 250 is further configured to establish a communication connection with the production line intelligent device, so as to analyze relevant data of the production line intelligent device.
In the above embodiments, the production line intelligent device may include any type of intelligent device in the production line, for example, an intelligent numerically controlled lathe, an intelligent sensing device, an intelligent detection device, an intelligent assembly device, an intelligent logistics and storage device, and the invention is not limited in this respect.
In the embodiment, the data server is in communication connection with the intelligent production line equipment, so that the running data of the intelligent production line equipment can be effectively monitored. The data server and the production line intelligent device may be in communication connection in any form of communication connection, which is not specifically limited in the present invention.
The embodiment can realize data acquisition, mining, off-line analysis and the like of the robot and the intelligent equipment of the production line, can effectively monitor the operation of the robot and the intelligent equipment of the production line finally, and solves the technical problem of poor safety protection intelligence of an industrial robot system in the related technology.
Optionally, the system further includes: a switch; and the data server is also used for establishing communication connection with the industrial personal computer of the central control room through the switch.
In this embodiment, a Switch (Switch) is a network device for electrical (optical) signal forwarding. It may provide an exclusive electrical signal path for any two network nodes accessing the switch. The switch in this embodiment may be an ethernet switch or the like.
Optionally, the system further includes: and the central control room display screen is used for displaying the operation record of the industrial robot and/or the state of the intelligent equipment of the production line.
In this embodiment, the central control room display screen can selectively display the pictures required to monitor the important places according to the requirements of the user, for example, the operation records of the industrial robot and/or the states of the intelligent devices of the production line, etc. Optionally, a central control room display screen may not be separately arranged, and the operation record of the industrial robot and/or the state of the production line intelligent device may be sent to the mobile terminal for displaying or operating.
Optionally, the data server includes at least two data servers, where the at least two data servers include an active data server and a standby data server, and the standby data server is started to be used when the active data server fails.
In this embodiment, the data server redundancy is configured to at least set a primary data server and a backup data server, where the backup data server is started to be used when the primary data server fails. The mode can improve the operation stability and the safety of the monitoring system.
Optionally, the related data includes working state information, and the data server is configured to analyze the working state information of the robot controller, the central control room industrial personal computer, and/or the PLC when the system fails, and determine a failure point using the analysis result.
In the embodiment, the abnormal information is extracted from the robot, the PLC, the intelligent device and the like through the data server, so that the fault point can be quickly positioned.
Optionally, the data server is configured to determine a fault level according to the analysis result, and output the fault level to a display screen of a central control room for display.
In the embodiment, the data server sets an early warning level, and prompts light faults, heavy faults and the like in a large screen operation interface of a central control room. The operation can be stopped quickly by sound and light alarm or control setting. In addition, the device can be checked through an off-line or on-line detection device, such as a point polling instrument, the checking state is displayed in an operation interface in real time, and events which exceed a specified time or are not checked according to a specified line are recorded and are alarmed.
Optionally, the related data includes information on a change trend of the working state, and the data server is configured to analyze the information on the change trend of the working state of the robot controller, the central control room industrial personal computer, and/or the PLC, and predict a possibility that the corresponding device fails according to an analysis result, so as to obtain a prediction result.
In this embodiment, the data server may give a prediction for a possible fault according to the variation trend of the monitoring parameters of the equipment and various statistical analysis results.
Optionally, the related data includes working duration information, and the data server is configured to analyze the working duration information of the robot controller, the central control room industrial personal computer, and/or the PLC, determine whether the working duration of the corresponding device exceeds a maintenance period according to an analysis result, and output prompt information according to a determination result.
In this embodiment, the data server presets the maintenance cycle and the maintenance content of the robot, the intelligent device, and the PLC, and prompts the key device to reach the maintenance cycle by a preset time (e.g., 1 to 3 days) in advance. Events which are not subjected to maintenance operation for more than the specified time are recorded and are alarmed, and a basis is provided for performance assessment of maintenance personnel through communication with an Office Automation (OA) system.
Optionally, the industrial robot is configured with an absolute value encoder battery, and the absolute value encoder battery is connected to the data server through the robot controller; the system further comprises: and the electric quantity metering device is used for monitoring the electric quantity consumption of the absolute value encoder battery, and the electric quantity metering device is connected with the data server through the PLC.
In the embodiment, an electric quantity metering device is arranged in the on-line electric control cabinet, and is connected with a data server through a PLC (programmable logic controller), so that the consumption of electric quantity is regularly monitored and counted. The absolute value encoder battery of robot passes through robot controller and connects data server, and warning suggestion when the electric quantity is not enough is convenient for in time change spare part, prevents that robot data from losing.
The embodiment of the invention also provides another industrial robot monitoring system. The system realizes data acquisition, mining, off-line analysis and wireless remote transmission of the running states of the robot and key equipment in the production line, and finally realizes the purpose of monitoring the running states of the robot and the key equipment on a remote platform and a mobile platform.
Specifically, in this embodiment, a hardware structure of the robot and the production line equipment remote status monitoring system thereof is adopted, and based on the hardware structure and software programming, data acquisition, mining, offline analysis and wireless remote transmission of the robot and the operation status of key equipment in the production line are realized.
The hardware system mainly comprises a central control room industrial personal computer, a switch and a data server. The data server is connected with the robot controller and intelligent equipment with all Ethernet interfaces of the production line through the Ethernet, all SIEMENS series PLCs of the production line are connected with the central control room industrial personal computer through PROFINET interfaces and the data server, and are additionally connected with a central control room display screen and a mobile terminal, and the switch and the data server are in redundant configuration.
In the embodiment, two data servers are configured and respectively used for redundancy, and the SQLSERVER2008 database is installed in the data servers, so that the effect is obvious in the process of completing the screening, classifying, storing and the like of data. The industrial personal computer of the central control room is provided with a high-level language development tool for developing monitoring platform software, required parameters are displayed on the industrial personal computer, and pictures required to be monitored in a key mode can be selectively displayed on a central control display screen through serial port communication. For the convenience of real-time monitoring on the mobile platform, APP based on android and apple platforms can be developed, and remote real-time monitoring is achieved.
In the hardware structure of the monitoring system of this embodiment, relevant program software is developed and installed, and the hardware structure is in communication connection with the data server through the ethernet communication interface and configured in the robot controller. All the intelligent devices with communication interfaces on the line are in communication connection with the data server through the Ethernet, and all the PLCs perform data interaction with the data server through PROFINET interfaces. The data server is connected with an industrial personal computer in a central control room through a switch. The industrial personal computer in the central control room can display an operation interface through a display screen of the central control room or be operated through the mobile terminal. And the running states and the operation records of the robot, the PLC and the intelligent equipment are transmitted to a data server in real time for storage. Optionally, the robot core parameters and key data storage time is more than 2 years; and (4) establishing a trend record by analog quantity, and storing for more than 3 months. Compared with data acquisition in a robot, intelligent equipment and a PLC, the embodiment can carry out real-time operation data comparison, analyze abnormal information extracted by the intelligent equipment such as the robot and the PLC, and quickly locate a fault point. In addition, the data server can also set an early warning level, and a large screen operation interface of a central control room prompts light fault and heavy fault audible and visual alarm or stops equipment operation quickly. In addition, the device can be checked through an off-line or on-line detection device, such as a point polling instrument, the checking state is displayed in an operation interface in real time, and events which exceed a specified time or are not checked according to a specified line are recorded and are alarmed. The maintenance cycle and the maintenance content of the robot, the intelligent equipment and the PLC control equipment are preset in the data server, and meanwhile, the key equipment reaching the maintenance cycle can be prompted for 1-3 days in advance. And recording and alarming the events which are not subjected to maintenance operation for more than the specified time, and providing a basis for the performance assessment of maintenance personnel through the communication with the OA system. The data server is preset with fault classification information and processing methods of the robot and the equipment of the production line, fault judgment is carried out according to the running states of the robot and the equipment of the production line, a reference solution is provided for prompting the fault at any time, and serious faults of the equipment are avoided. And meanwhile, according to the change trend of the equipment monitoring parameters and various statistical analysis results, prediction is given to possible faults.
In this embodiment, the operation records of the robot can be displayed on the large-screen operation interface of the central control room in a centralized manner, and the states of all safety systems of the production line can also be displayed on the display screen operation interface of the central control room in a centralized manner, so that the equipment management personnel can know the overall condition of the system conveniently.
In the embodiment, an electric quantity metering device is arranged in the on-line electric control cabinet, and is connected with a data server through a PLC (programmable logic controller), so that the consumption of electric quantity is regularly monitored and counted. The robot absolute value encoder battery passes through the robot control ware and connects data server, and warning suggestion when the electric quantity is not enough in time changes spare part, prevents that robot data from losing.
In the embodiment, the data server reserves a communication interface, can be linked to an existing OA system or an Enterprise Resource Planning (ERP) management system, and is directly connected to an existing inventory management module when production line equipment is damaged, so that the current inventory state of spare parts can be known, equipment management personnel can conveniently supplement the spare parts in time, the spare parts are prevented from being excessively or insufficiently stocked, and the fund occupation is reduced.
This embodiment carries out data acquisition, excavation, off-line analysis to equipment running state through above-mentioned system architecture, has realized the remote monitoring to robot and production line equipment, can effectively reduce the fault incidence to the later maintenance of being convenient for.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment is not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, or the like) to execute all or part of the steps of the methods described in the embodiments of the present application.
In the embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. An industrial robot monitoring system, comprising:
industrial robots and programmable logic controllers PLC;
the robot controller is in communication connection with the industrial robot and is used for controlling the industrial robot;
the industrial personal computer in the central control room is in communication connection with the robot controller, is used for developing monitoring software and sending the monitoring software to the robot controller for configuration so as to realize related data monitoring of the industrial robot;
and the data server is in communication connection with the robot controller, the central control room industrial personal computer and the PLC respectively and is used for analyzing related data of the robot controller, the central control room industrial personal computer and/or the PLC to obtain an analysis result.
2. The system of claim 1, further comprising:
intelligent equipment of a production line;
and the data server is also used for establishing communication connection with the intelligent equipment of the production line.
3. The system of claim 1, further comprising:
a switch;
and the data server is also used for establishing communication connection with the industrial personal computer in the central control room through the switch.
4. The system of claim 2, further comprising:
and the central control room display screen is used for displaying the operation record of the industrial robot and/or the state of the intelligent equipment of the production line.
5. The system of claim 1, wherein the data server comprises at least two data servers, the at least two data servers comprising an active data server and a standby data server, wherein the standby data server is enabled for use when the active data server fails.
6. The system of claim 1, wherein the related data includes operating state information, and the data server is configured to analyze the operating state information of the robot controller, the central control room industrial personal computer and/or the PLC when the system fails, and determine a failure point using the analysis result.
7. The system of claim 6,
and the data server is used for determining the fault grade according to the analysis result and outputting the fault grade to a display screen of a central control room for display.
8. The system of claim 1, 6 or 7, wherein the related data includes information on a trend of change of the operating state,
and the data server is used for analyzing the change trend information of the working states of the robot controller, the central control room industrial personal computer and/or the PLC, predicting the possibility of the fault of the corresponding equipment according to the analysis result and obtaining a prediction result.
9. The system of claim 1, wherein the related data includes working duration information, and the data server is configured to analyze the working duration information of the robot controller, the central control room industrial personal computer, and/or the PLC, determine whether the working duration of the corresponding device exceeds a maintenance period according to an analysis result, and output prompt information according to the determination result.
10. The system of claim 1,
the industrial robot is provided with an absolute value encoder battery, and the absolute value encoder battery is connected with the data server through the robot controller;
the system further comprises:
and the electric quantity metering device is used for monitoring the electric quantity consumption of the absolute value encoder battery, and the electric quantity metering device is connected with the data server through the PLC.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211521690.6A CN115963805A (en) | 2022-11-30 | 2022-11-30 | Industrial robot monitored control system |
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| CN202211521690.6A CN115963805A (en) | 2022-11-30 | 2022-11-30 | Industrial robot monitored control system |
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