CN218557148U

CN218557148U - Robot alarm feedback system and industrial robot

Info

Publication number: CN218557148U
Application number: CN202222015982.4U
Authority: CN
Inventors: 张力; 殷伟豪; 颜鲁齐
Original assignee: Gree Electric Appliances Inc of Zhuhai
Current assignee: Gree Electric Appliances Inc of Zhuhai
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-03-03
Anticipated expiration: 2032-08-01

Abstract

The utility model provides a robot alarm feedback system and industrial robot belongs to the robotechnology field, and this robot alarm feedback system includes safety control ware, main control unit, demonstrator and is used for the signal detection ware of detection robot trouble, and the signal detection ware is connected with the safety control ware electricity, and main control unit is connected with safety control ware, demonstrator electricity respectively. The demonstrator is provided with a vibration device, and the vibration device vibrates when the signal detector detects that the robot breaks down and drives the demonstrator to vibrate. The robot alarm feedback system drives the demonstrator to vibrate through the vibration device when the robot breaks down, and can timely feed a robot fault signal back to an operator through vibration sense so that the operator can timely process the robot.

Description

Robot alarm feedback system and industrial robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a robot alarm feedback system and industrial robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have certain automaticity, and can realize various industrial processing and manufacturing functions by depending on self power energy and control capability. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

An industrial robot is usually provided with an alarm system, and the alarm system is mainly responsible for finishing the supervision and alarm control functions of the whole robot system by receiving alarm signals inside and outside the robot. Existing robotic alarm systems typically alert the operator by sounding an alarm. However, in a factory environment with serious electromagnetic interference, disordered sound and diffused smoke, the alarm sound is often easily ignored by workers, so that the workers cannot timely process the robot giving the alarm, which may cause equipment damage and reduce the production efficiency of the factory.

SUMMERY OF THE UTILITY MODEL

For overcoming the problem that exists among the correlation technique, one of the objects of the utility model is to provide a robot alarm feedback system, this alarm feedback system drives the demonstrator vibrations through vibrator when the robot breaks down, can in time give the operating personnel with the trouble signal feedback of robot through the vibration sensation to operating personnel, so that operating personnel in time handles the robot.

The utility model provides a robot alarm feedback system, includes safety control ware, main control unit, demonstrator and is used for the signal detection ware of detection robot trouble, signal detection ware with the safety control ware electricity is connected, main control unit respectively with safety control ware the demonstrator electricity is connected, install vibrator on the demonstrator, vibrator is in vibrator shakes when signal detection ware detects the robot and breaks down, and drives the demonstrator shakes.

The utility model discloses in the technical scheme of preferred, the demonstrator is hand-held demonstrator, the demonstrator pass through the cable with the main control unit electricity is connected.

The utility model discloses in the technical scheme of preferred, the demonstrator includes the main part and sets up portion of gripping in the main part, be equipped with the display screen in the main part, the main part pass through the cable with the main control unit electricity is connected, be provided with in the portion of gripping vibrator, vibrator with the main part electricity is connected.

In the preferred technical solution of the present invention, the holding portion and the main body are provided with a cushioning member therebetween for cushioning.

The utility model discloses in the technical scheme of preferred, the buffering part is bradyseism rubber, the one end of bradyseism rubber with main part fixed connection, the other end with the connection can be dismantled to the portion of gripping.

The utility model discloses in the technical scheme of preferred, be equipped with the line hole in the buffering part, the last signal line that is equipped with of vibrator, the signal line passes the line hole with the main part electricity is connected.

The utility model discloses in the technical scheme of preferred, be equipped with the display screen in the main part.

The utility model discloses in the technical scheme of preferred, signal detector is laser range finding sensor or infrared distance measuring sensor, signal detector sets up on the joint hand of robot.

Another object of the present invention is to provide an industrial robot, which comprises the above-mentioned robot alarm feedback system.

The beneficial effects of the utility model are that:

the utility model provides a pair of robot alarm feedback system and industrial robot, this robot alarm feedback system include safety controller, main control unit, demonstrator and be used for detecting the signal detection ware of robot trouble, and the signal detection ware is connected with the safety controller electricity, and main control unit is connected with safety controller, demonstrator electricity respectively, installs vibrator on the demonstrator. The signal detector feeds back signals to the safety controller and the main controller when the robot breaks down, and the main controller controls the vibration device to vibrate and drives the demonstrator to vibrate. The robot can be timely processed after the operator senses the vibration of the demonstrator, so that equipment damage is prevented, and the production efficiency of a factory is improved.

Drawings

Fig. 1 is a connection relationship diagram of each component of a robot alarm feedback system provided by the present invention;

fig. 2 is a schematic structural diagram of the demonstrator provided by the present invention;

fig. 3 is a schematic structural diagram of a buffer component provided by the present invention.

Reference numerals:

100. a signal detector; 200. a safety controller; 300. a main controller; 400. a demonstrator; 410. a main body; 420. a display screen; 430. a buffer member; 440. a grip portion; 450. a vibration device; 4301. and a wire passing hole.

Detailed Description

Preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, it is to be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present invention. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

As shown in fig. 1-3, the robot alarm feedback system claimed in the present application includes a safety controller 200, a main controller 300, a teach pendant 400 and a signal detector 100 for detecting robot fault, the signal detector 100 is electrically connected to the safety controller 200, the main controller 300 is respectively connected to the safety controller 200 and the teach pendant 400 electrically, a vibration device 450 is installed on the teach pendant 400, the vibration device 450 vibrates when the signal detector 100 detects that the robot has fault and drives the teach pendant 400 to vibrate. The master controller 300 is a control center of the robot.

The robot alarm feedback system comprises a safety controller 200, a main controller 300, a teach pendant 400 and a signal detector 100 for detecting robot faults, wherein the signal detector 100 is electrically connected with the safety controller 200, the main controller 300 is respectively electrically connected with the safety controller 200 and the teach pendant 400, and the teach pendant 400 is provided with a vibration device 450. The signal detector 100 feeds back signals to the safety controller 200 and the main controller 300 when the robot fails, and the main controller 300 controls the vibration device 450 to vibrate and drives the demonstrator 400 to vibrate. The robot can be processed in time after the operator senses the vibration of the demonstrator 400, so that equipment damage is prevented, and the production efficiency of a factory is improved.

In a more specific embodiment, the signal detector 100 is a laser ranging sensor or an infrared ranging sensor, and the signal detector 100 is disposed on a joint hand of the robot. By setting a distance threshold between a robot joint and a collision object in the main controller 300 of the robot, when the laser ranging sensor or the infrared ranging sensor detects that the distance between each joint of the robot and the collision object is smaller than the threshold in real time, the vibration gives an alarm. More specifically, the signal detector 100 and the safety controller 200 are electrically connected by a cable, and the teach pendant 400, the safety controller 200 and the main controller 300 are also electrically connected by a cable. The stability of signal transmission between each part can be guaranteed through cable connection, and the influence of the complex environment of a factory on the normal transmission of signals is avoided. The safety controller 200 may be installed inside a control cabinet of the robot. In the application, after an operator receives a robot fault signal, the operator operates the demonstrator 400 and issues the signal to the robot main controller 300 through a TCP/IP protocol, after the main controller 300 receives the signal, a chip in the main controller 300 processes the signal and transmits the signal to the I/0 module, and the I/0 module sends the signal to a driver of the robot, so that the control of the human-computer interaction terminal is realized. Therefore, the robot can relieve the alarm and can work again.

Further, the teaching machine 400 is a hand-held teaching machine, and the teaching machine 400 is electrically connected to the main controller 300 through a cable. The hand-held teach pendant 400 allows an operator to hold the teach pendant 400 during a task to better perceive the robot's alarm feedback signal.

Further, the teach pendant 400 includes a main body 410 and a holding portion 440 disposed on the main body 410, the main body 410 is provided with a display screen 420, the main body 410 is electrically connected to the main controller 300 through a cable, the holding portion 440 is provided with the vibration device 450, and the vibration device 450 is electrically connected to the main body 410. The holding part 440 is designed to be in a shape corresponding to the hand of a person, so as to improve the use experience of the operator. The vibration device 450 is disposed inside the grip 440. In order to reduce the interference of the vibration device 450 with various parts of the main body 410, a sponge may be coated around the vibration device 450 to reduce the vibration of the vibration device 450. The vibration device 450 is a micro motor or an ultrasonic vibrator, and the vibration device 450 needs to have obvious touch feeling when the vibration device 450 vibrates.

In a more specific embodiment, a cushioning member 430 for cushioning is disposed between the grip portion 440 and the body 410. More specifically, the buffering member 430 is a cushioning rubber, one end of the cushioning rubber is fixedly connected to the main body 410, and the other end of the cushioning rubber is detachably connected to the holding portion 440.

The buffering member 430 can reduce the influence of the vibration device 450 on the main body 410, and avoid the connection failure of the components of the main body 410 due to the vibration. Sleeves may be respectively disposed at two ends of the cushion rubber, and the main body 410 and the grip portion 440 may be sleeved with the sleeves. It should be noted that after the cushion rubber is sleeved with the main body 410 and the holding portion 440, a screw may be additionally used for fixing, so as to maintain the connection stability between the components. In a more preferred embodiment, the cushion rubber may further include a wavy cushion portion for improving a cushioning ability of the cushion rubber.

Further, a wire hole 4301 is provided in the buffering component 430, a signal wire is provided on the vibration device 450, and the signal wire passes through the wire hole 4301 and is electrically connected to the main body 410. The axis of the wire through hole 4301 may coincide with the axis of the buffer member 430 or may not coincide with the axis of the buffer member 430, and the wire through hole 4301 is provided to facilitate the wiring of the vibration device 450, the main body 410 is connected by a signal line, and the vibration device 450 can ensure the stability of signal connection between the two.

Further, a display screen 420 is disposed on the main body 410. The display screen 420 may display the operation status of the robot and may also display a fault signal. After sensing that the vibration device 450 gives an alarm, an operator can know the alarm type of the robot by looking up the display information of the display screen 420, and take corresponding measures according to the alarm type.

The utility model also provides an industrial robot, industrial robot includes as above robot alarm feedback system.

The industrial robot comprising the alarm feedback system can timely feed back a fault alarm signal to an operator, so that the operator can timely process the fault alarm signal.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. 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. A robot alarm feedback system, includes safety controller (200), main control unit (300), teach pendant (400) and is used for detecting the signal detector (100) of robot trouble, signal detector (100) with safety controller (200) electricity is connected, main control unit (300) respectively with safety controller (200) teach pendant (400) electricity is connected, its characterized in that: install vibrator (450) on demonstrator (400), vibrator (450) is in when signal detector (100) detects the robot and breaks down vibrations, and drives demonstrator (400) vibrations.

2. The robotic alarm feedback system of claim 1, wherein:

the teaching device (400) is a handheld teaching device, and the teaching device (400) is electrically connected with the main controller (300) through a cable.

3. A robotic alarm feedback system according to claim 2, wherein:

the demonstrator (400) comprises a main body (410) and a holding part (440) arranged on the main body (410), a display screen (420) is arranged on the main body (410), the main body (410) is electrically connected with a main controller (300) through a cable, the holding part (440) is provided with a vibration device (450), and the vibration device (450) is electrically connected with the main body (410).

4. A robotic alarm feedback system according to claim 3, wherein:

a buffering component (430) used for buffering is arranged between the holding part (440) and the main body (410).

5. The robotic alarm feedback system of claim 4, wherein:

the buffering component (430) is made of buffering rubber, one end of the buffering rubber is fixedly connected with the main body (410), and the other end of the buffering rubber is detachably connected with the holding part (440).

6. A robotic alarm feedback system according to claim 4, wherein:

the shock absorber is characterized in that a wire passing hole (4301) is formed in the buffering component (430), a signal wire is arranged on the vibration device (450), and the signal wire penetrates through the wire passing hole (4301) and is electrically connected with the main body (410).

7. A robot alarm feedback system according to any of claims 3-6, wherein:

a display screen (420) is arranged on the main body (410).

8. A robotic alarm feedback system according to any of claims 1-6, wherein:

the signal detector (100) is a laser ranging sensor or an infrared ranging sensor, and the signal detector (100) is arranged on a joint hand of the robot.

9. An industrial robot, characterized in that: the industrial robot comprising a robot alarm feedback system according to any of the claims 1-8.