CN205748436U - A kind of sensor malfunction diagnostic device - Google Patents
A kind of sensor malfunction diagnostic device Download PDFInfo
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- CN205748436U CN205748436U CN201620479811.9U CN201620479811U CN205748436U CN 205748436 U CN205748436 U CN 205748436U CN 201620479811 U CN201620479811 U CN 201620479811U CN 205748436 U CN205748436 U CN 205748436U
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Abstract
The open a kind of sensor malfunction diagnostic device of this utility model, for industrial robot, including power module, sensor assembly, Logic control module, 14 A/D converters, arm processor, state display module and fault type matching module, described power module respectively with sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module connect, described sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module are sequentially connected with, described fault type matching module is connected with arm processor and state display module respectively；This sensor malfunction diagnostic device achieves the fault diagnosis for industrial robot sensor and type identification.
Description
Technical field
This utility model is specifically related to a kind of sensor malfunction diagnostic device.
Background technology
Industrial robot is most typical electromechanical digitizing equipment, and technical value added is the highest, has wide range of applications,
The effect substituting manpower in welding, piling, sorting, harbour and high-risk working environment day by day highlights.Industrial robot can pass through
Sensor senses external environment condition and oneself state information, it is ensured that its in complex environment quickly, in high precision, work for a long time.
Sensing system is a vital ring in industrial robot control system, and it is similar that it can not only make industrial robot possess
The consciousness function of the mankind and respond, and play pivotal role in the monitoring in real time of robotary.
Due to particularity and the complexity of industrial robot working environment, have during the failure phenomenon that sensor fault causes and send out
Raw, and this type of fault of sensor be difficult to be discovered in time.If owing to sensor itself occurs that precision is slightly worse or can
The fault reduced by property, the most then cause the current robot work cannot be properly functioning, heavy then also can cause major accident, very great Cheng
Affect the performance of whole industrial robot system on degree, produce the significant consequences being difficult to retrieve.
Therefore, the fault diagnosis to sensor self, is to improve industrial robot reliability and stability so that it is be efficiently good for
The important guarantee of Kang Yunzhuan.In the prior art, when the sensor fails, technical staff to be relied on by virtue of experience,
By checking circuit or measuring the voltage of sensor, electric current and check that the situation of machinery comes the generation position of failure judgement
Put and fault type.This method often wastes time and energy, and owing to some function of industrial robot can comprise multiple sensing
Device kind, utilizes traditional method to be difficult to judge which the sensor broken down is actually.
Utility model content
This utility model is for the deficiencies in the prior art, it is provided that a kind of achieve for industrial robot sensor
Fault diagnosis and the sensor malfunction diagnostic device of type identification.
Technology and method in order to solve the employing of the present utility model of above-mentioned problem are as follows:
A kind of sensor malfunction diagnostic device, for industrial robot, including power module, sensor assembly, logic control
Molding block, 14 A/D converters, arm processor, state display module and fault type matching module, described power module divides
Not it is not connected with sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module, described biography
Sensor module, Logic control module, 14 A/D converters, arm processor and state display module are sequentially connected with, described fault
Type matching module is connected with arm processor and state display module respectively.
As preferably, described sensor assembly is installed on the joint position of industrial robot.
As preferably, described sensor assembly includes sensor a and sensor b.
As preferably, described sensor b is provided with two.
As preferably, in described Logic control module, include more than one switch controlling device.
As preferably, described arm processor is ARM10e model arm processor.
Development and application along with information technology, sensing technology, control technology, artificial intelligence technology etc. so that right
In the detection in real time of industrial robot sensing system, in real time process, control in real time to be possibly realized；To this end, this programme uses hard
Part redundancy approach, devises industrial robot sensor malfunction diagnostic device, examines realizing the fault of industrial robot sensor
Break and determine fault type in time.
The beneficial effects of the utility model are: joint of robot position can be carried out health status monitoring, show in real time
The health status of industrial robot, improves the security performance of robot；The sensing loaded can be diagnosed to be on industrial robot
Device fault, and by the accurate location of Logic control module location fault sensor；Achieve the fault for fault sensor
Type identification, it is possible to show the classification information of fault sensor in real time and give a warning to monitoring personnel, greatly reducing technology
Personnel go lookup, the operational difficulties of analyte sensors failure cause after warning again, for reducing the loss of manpower and materials, prevent
Security incident is occurred to have great importance.
Accompanying drawing explanation
Fig. 1 is overall structure figure of the present utility model；
Fig. 2 is the connection circuit diagram of sensor assembly of the present utility model and Logic control module.
Detailed description of the invention
Below in conjunction with embodiment, this utility model is described in further detail, but they are not to this utility model
The restriction of technical scheme, any conversion made based on this utility model training centre, all fall within protection domain of the present utility model.
Refering to shown in Fig. 1-2, a kind of sensor malfunction diagnostic device, for industrial robot, including power module, sensing
Device module, Logic control module, 14 A/D converters, arm processor, state display module and fault type matching module, institute
State power module respectively with sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module
Connecting, described sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module connect successively
Connecing, described fault type matching module is connected with arm processor and state display module respectively, described fault type coupling mould
Block contains the various fault type reference signals accessing sensor, is used in failure diagnostic process and the most incoming signal
Comparing coupling, obtain the fault type of sensor in time, when sensor assembly does not breaks down, state display module will
The health status of display this joint of industrial robot, when judging that sensor assembly breaks down, state display module will
Display fault sensor position, and give a warning to monitoring technical staff immediately.
Described sensor assembly is installed on the joint position of industrial robot, is monitored articular portion.
It is dissimilar sensing that described sensor assembly includes sensor a and sensor b, sensor a and sensor b
Device.
Described sensor b is provided with two, and one of them is as redundancy backup, and another is used for detecting industrial robot joint
Health status, before not having Logic control module to send instruction, is free of attachment in circuit.
Include more than one switch controlling device in described Logic control module, be used for controlling different sensors and access
Circuit.
Described arm processor is ARM10e model arm processor.
Using method:
At kinestate industrial robot joint, start Logic control module, Guan Bi switch, make sensor a and sensing
Device b accesses circuit；Utilize sensor a and sensor b to record the sound at industrial robot joint and vibration signal, start A/D
After continuous print signal is converted into the digital signal being easy to process by modular converter, it is delivered to the model being connected with A/D modular converter
For in the arm processor of ARM10e, carry out corresponding computing and analyzing and processing, if the health status obtained is consistent, then will
The health status monitoring result of industrial robot joint exports in state display module；If in arm processor, two sensings
Device signal analysis result is different, then occur in that sensor fault in explanation sensor assembly；Re invocation Logic control module, makes
Switch 11 disconnection, switch Guan Bi, the sensor of redundancy will be connected into circuit, enter with arm processor again by A/D modular converter
Line translation computing, if the health status obtained by two sensors b is consistent, then explanation sensor a breaks down；If two sensings
The health status that device b obtains is different, then illustrate that wherein a sensor b breaks down；The sensor signal input that will break down
In the fault type matching module being connected with the arm processor that model is ARM10e, with the event in fault type matching module
Barrier data base compare coupling, obtains the fault type information of this sensor；Fault type information is input to and failure classes
Type matching module be connected state display module in, state display module demonstrates the sensing station broken down and
Fault type, and send emergency alarm to remote monitoring personnel, it is simple to the fault in sensing system is passed by person skilled
Sensor implements maintenance or alternative timely.
The beneficial effects of the utility model are: joint of robot position can be carried out health status monitoring, show in real time
The health status of industrial robot, improves the security performance of robot；The sensing loaded can be diagnosed to be on industrial robot
Device fault, and by the accurate location of Logic control module location fault sensor；Achieve the fault for fault sensor
Type identification, it is possible to show the classification information of fault sensor in real time and give a warning to monitoring personnel, greatly reducing technology
Personnel go lookup, the operational difficulties of analyte sensors failure cause after warning again, for reducing the loss of manpower and materials, prevent
Security incident is occurred to have great importance.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model does not limit to
In this, any change expected without creative work or replacement, all should contain within protection domain of the present utility model,
Therefore, protection domain of the present utility model should be as the criterion with the protection domain that claims are limited.
Claims (6)
1. a sensor malfunction diagnostic device, for industrial robot, it is characterised in that: include power module, sensor die
Block, Logic control module, 14 A/D converters, arm processor, state display module and fault type matching module, described electricity
Source module is respectively with sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module even
Connecing, described sensor assembly, Logic control module, 14 A/D converters, arm processor and state display module are sequentially connected with,
Described fault type matching module is connected with arm processor and state display module respectively.
Sensor malfunction diagnostic device the most according to claim 1, it is characterised in that: described sensor assembly is installed on industry
The joint position of robot.
Sensor malfunction diagnostic device the most according to claim 2, it is characterised in that: described sensor assembly includes sensing
Device a and sensor b.
Sensor malfunction diagnostic device the most according to claim 3, it is characterised in that: described sensor b is provided with two.
Sensor malfunction diagnostic device the most according to claim 1, it is characterised in that: include in described Logic control module
More than one switch controlling device.
Sensor malfunction diagnostic device the most according to claim 1, it is characterised in that: described arm processor is ARM10e type
Number arm processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620479811.9U CN205748436U (en) | 2016-05-24 | 2016-05-24 | A kind of sensor malfunction diagnostic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620479811.9U CN205748436U (en) | 2016-05-24 | 2016-05-24 | A kind of sensor malfunction diagnostic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205748436U true CN205748436U (en) | 2016-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620479811.9U Expired - Fee Related CN205748436U (en) | 2016-05-24 | 2016-05-24 | A kind of sensor malfunction diagnostic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205748436U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520548A (en) * | 2018-11-28 | 2019-03-26 | 徐州江煤科技有限公司 | A kind of Multifunction Sensor trouble-shooter |
| CN111196227A (en) * | 2018-11-19 | 2020-05-26 | 宝沃汽车（中国）有限公司 | Sensor signal monitoring method and device and vehicle |
-
2016
- 2016-05-24 CN CN201620479811.9U patent/CN205748436U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111196227A (en) * | 2018-11-19 | 2020-05-26 | 宝沃汽车（中国）有限公司 | Sensor signal monitoring method and device and vehicle |
| CN109520548A (en) * | 2018-11-28 | 2019-03-26 | 徐州江煤科技有限公司 | A kind of Multifunction Sensor trouble-shooter |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20210524 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |