CN118977277A - Industrial robot status monitoring device and method - Google Patents
Industrial robot status monitoring device and method Download PDFInfo
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- CN118977277A CN118977277A CN202311660401.5A CN202311660401A CN118977277A CN 118977277 A CN118977277 A CN 118977277A CN 202311660401 A CN202311660401 A CN 202311660401A CN 118977277 A CN118977277 A CN 118977277A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012806 monitoring device Methods 0.000 title claims 2
- 238000012544 monitoring process Methods 0.000 claims abstract description 38
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000004519 manufacturing process Methods 0.000 claims description 13
- 238000005461 lubrication Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 9
- 230000000246 remedial effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 9
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003867 tiredness Effects 0.000 description 1
- 208000016255 tiredness Diseases 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses state monitoring equipment and a state monitoring method for an industrial robot, which are applied to the technical field of state monitoring equipment for the industrial robot, wherein the state monitoring equipment comprises a bracket and a robot state monitoring system, a rotary table is arranged at the top of the bracket, and the rotary table is controlled to rotate on the bracket by three hundred sixty degrees through first rotation driving; the rotary table is provided with a mechanical arm, a first vibration sensor is arranged on the rotary table, and a second vibration sensor is arranged on the mechanical arm; the tail end of the mechanical arm is connected with a grabbing component; the robot state monitoring system comprises a data receiving module and a processing module, wherein the data receiving module is used for receiving signals of the robot during working and analyzing working states, and the processing module is used for taking different measures aiming at the working states of the robot.
Description
Technical Field
The invention belongs to the technical field of state monitoring equipment for industrial robots, and particularly relates to state monitoring equipment and a state monitoring method for industrial robots.
Background
The intelligent transformation and upgrading of the production and manufacture promote the rapid development and wide application of the industrial robot. The robot can replace human beings to finish operations such as carrying, sorting, polishing, stacking, welding, spraying and the like without tiredness, so that the production efficiency and the product quality are improved, and the safety of personnel is ensured.
However, the complex electromechanical structure of the industrial robot and the variable working environment present a considerable challenge for maintenance work. To ensure stable operation of the industrial robot, periodic maintenance of the industrial robot is required.
The traditional maintenance schedule of the robot is to schedule the maintenance schedule of the robot periodically according to the technical instruction of the robot delivery. The situation that the running states of the actual industrial robots are completely different after the actual industrial robots run on site for a period of time is not considered, for example, the phenomenon that the robots are stuck during operation affects the efficiency and quality during operation, and unnecessary interruption occurs, so that real-time monitoring of the running states of the industrial robots on site is needed.
Therefore, the state monitoring equipment and the method for the industrial robot are provided, the working state of the robot is monitored in real time when the robot runs, and the robot is maintained and maintained in time, so that unnecessary production interruption is avoided, the normal production operation of the industrial robot is ensured, and the production efficiency is improved to the greatest extent.
Disclosure of Invention
The invention aims at solving the problems in the background technology by using state monitoring equipment and method for industrial robots aiming at the existing material collecting device.
In order to solve the technical problems, the invention provides the following technical scheme: the state monitoring equipment for the industrial robot comprises a bracket and a robot state monitoring system, wherein a rotary table is arranged at the top of the bracket, a first rotary drive is connected between the bracket and the rotary table, and the rotary table is controlled to rotate on the bracket by three hundred sixty degrees through the first rotary drive;
The mechanical arm is arranged on the rotary table, a second rotary drive is connected between the rotary table and the mechanical arm, and the mechanical arm is controlled to swing on the rotary table through the second rotary drive;
The rotary table is provided with a first vibration sensor, and the mechanical arm is provided with a second vibration sensor;
the tail end of the mechanical arm is connected with a grabbing component;
The robot state monitoring system comprises a data receiving module and a processing module, wherein the data receiving module is used for receiving signals of the robot during working and analyzing working states, and the processing module is used for taking different measures for the working states of the robot.
The invention further discloses that the grabbing component comprises a mounting frame, wherein the mounting frame is of a staggered structure and is fixedly connected with the tail end of the mechanical arm;
The top evenly distributed of mounting bracket is fixed with the dead lever, the inside of dead lever is fixed with tension sensor, tension sensor's bottom is fixed with the sucking disc.
The invention further discloses that the circumferential sides of the support are respectively arranged on the first working line and the second working line.
The invention further discloses that the data receiving module comprises a path setting submodule, a tension receiving submodule, a vibration receiving submodule and an analysis submodule, wherein the path setting submodule is used for setting the working path of the mechanical arm, the tension receiving submodule is electrically connected with the tension sensor and is used for receiving signals of the tension sensor, the vibration receiving submodule is electrically connected with the first vibration sensor and the second vibration sensor and is used for receiving signals of the first vibration sensor and the second vibration sensor, and the analysis submodule is used for analyzing the working state of the industrial robot;
The tension receiving submodule comprises a judging unit, and the judging unit judges the working condition of the grabbing component.
The invention further discloses that the processing module comprises an adjusting sub-module, an early warning sub-module and a lubrication prompting sub-module, wherein the adjusting sub-module is used for adjusting the working state of the industrial robot, the early warning sub-module is used for alarming, and the lubrication prompting sub-module is used for prompting workers to lubricate the industrial robot.
The invention further describes that the robot state monitoring system comprises the following specific steps:
S1, when the industrial robot works, a worker sets a working path of the industrial robot in a path setting sub-module according to actual conditions, so that a workpiece can be conveniently moved from a first working line to a second working line;
s2, judging the firmness degree of the grabbing component during grabbing work by the tension sensor when the grabbing component on the industrial robot grabs the workpiece and moves the workpiece;
s3, judging whether the industrial robot vibrates or not through a vibration sensor when the industrial robot conveys the workpiece;
S4, judging the working state of the industrial robot by combining the vibration condition of the industrial robot and the firmness of the grabbing assembly during grabbing operation through the analysis submodule, and taking remedial measures to ensure the normal operation of the industrial robot production.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the vibration sensor, the tension sensor and the robot state monitoring system are adopted, when the industrial robot works, whether the industrial robot vibrates or not is monitored in real time through the vibration sensor, the firmness degree of the grabbing component is monitored through the tension sensor, the states of the industrial robot when working are analyzed by combining with the robot state monitoring system, different states are processed, monitoring maintenance and maintenance are directly carried out when the industrial robot works, unnecessary interruption is avoided, normal operation of industrial robot production is guaranteed, and the production efficiency is improved to the greatest extent.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an enlarged schematic view of area A of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic diagram of a robot condition monitoring system of the present invention;
in the figure: 1. a bracket; 2. a rotary table; 3. a mechanical arm; 4. a first work line; 5. a second work line; 6. a grabbing component; 7. a fixed rod; 8. a suction cup; 9. and (5) mounting a frame.
Description of the embodiments
The technical scheme of the present invention is further described in non-limiting detail below with reference to the preferred embodiments and the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, the present invention provides the following technical solutions: the utility model provides a state monitoring equipment and method for industrial robot, includes support 1 and robot state monitoring system, and the top of support 1 is provided with revolving stage 2, is connected with first rotary drive (not shown in the figure) between support 1 and the revolving stage 2, through the three hundred sixty degrees rotations on support 1 of first rotary drive control revolving stage 2.
The turntable 2 is provided with a robot arm 3, and a second rotation drive (not shown in the figure) is connected between the turntable 2 and the robot arm 3, and the robot arm 3 is controlled to swing on the turntable 2 by the second rotation drive.
The turntable 2 is provided with a first vibration sensor (not shown) and the robot arm 3 is provided with a second vibration sensor (not shown).
The end of the mechanical arm 3 is connected with a grabbing component 6.
The robot state monitoring system comprises a data receiving module and a processing module, wherein the data receiving module is used for receiving signals of the robot during working and analyzing working states, and the processing module is used for taking different measures for the robot working states.
The grabbing component 6 comprises a mounting frame 9, wherein the mounting frame 9 is of a staggered structure, and the mounting frame 9 is fixedly connected with the tail end of the mechanical arm 3.
The top evenly distributed of mounting bracket 9 is fixed with dead lever 7, and the inside of dead lever 7 is fixed with tension sensor, and tension sensor's bottom is fixed with sucking disc 8, and sucking disc 8's bottom links to each other with the air supply, introduces negative pressure through the air supply and can hold the work piece, pulls the work piece through arm 3 when sucking disc 8 adsorbs the work piece, and tension sensor in the dead lever 7 inside can detect sucking disc 8 and to the pulling force of work piece.
The circumference of the bracket 1 is respectively arranged on the first working line 4 and the second working line 5, and the workpiece on the first working line 4 can be moved to the second working line 5 through the action of the mechanical arm 3.
The data receiving module comprises a path setting sub-module, a tension receiving sub-module, a vibration receiving sub-module and an analysis sub-module, wherein the path setting sub-module is used for setting the working path of the mechanical arm 3, the tension receiving sub-module is electrically connected with the tension sensor and used for receiving the signals of the tension sensor, the vibration receiving sub-module is electrically connected with the first vibration sensor and the second vibration sensor and used for receiving the signals of the first vibration sensor and the second vibration sensor, and the analysis sub-module is used for analyzing the working state of the industrial robot;
The tension receiving submodule comprises a judging unit, and the judging unit judges the working condition of the grabbing component 6.
The processing module comprises an adjusting sub-module, an early warning sub-module and a lubrication prompting sub-module, wherein the adjusting sub-module is used for adjusting the working state of the industrial robot, the early warning sub-module is used for alarming, and the lubrication prompting sub-module is used for prompting workers to lubricate the industrial robot.
The robot state monitoring system comprises the following specific steps:
S1, when the industrial robot works, a worker sets a working path of the industrial robot in a path setting sub-module according to actual conditions, so that a workpiece can be conveniently moved from a first working line 4 to a second working line 5;
Specifically, the distance between the first working line 4 and the second working line 5 is measured by a worker, the working path of the industrial robot is automatically set through the path setting sub-module according to the distance between the first working line 4 and the second working line 5, the operation of the mechanical arm 3 and the rotary table 2 is controlled through the operation of the first rotary drive and the second rotary drive, the work piece is moved from the first working line 4 to the second working line 5 through the operation of the sucker 8 on the grabbing component 6, and the work piece carrying work is completed.
S2, judging the firmness degree of the grabbing component 6 during grabbing work through a tension sensor when the grabbing component 6 on the industrial robot grabs the workpiece and moves the workpiece;
s3, judging whether the industrial robot vibrates or not through a vibration sensor when the industrial robot conveys the workpiece;
S4, judging the working state of the industrial robot by combining the vibration condition of the industrial robot with the firmness of the grabbing assembly 6 during grabbing operation through the analysis submodule, and taking remedial measures to ensure the normal operation of the industrial robot production.
S2 comprises the following specific operation steps:
s21, when the grabbing component 6 works, an external air source is started to generate negative pressure in the sucker 8, and the sucker works;
s22, when the sucker 8 sucks the workpiece and moves the workpiece, the pull force sensor downwards gives tension force to the workpiece by the gravity of the workpiece, and the tension sensor transmits a monitored signal to the tension receiving sub-module;
it should be noted that the tension sensor is provided with a plurality of groups, so that the tension receiving submodule can receive the tension of each group of tension sensors;
s23, judging whether the workpiece is firmly gripped by the gripping assembly 6 through a judging unit;
Because sucking disc 8 is provided with the multiunit, can produce the pulling force when sucking disc 8 inhales the work piece, represent sucking disc 8 operating condition and do not have the problem, can not produce the pulling force when sucking disc 8 inhales the work piece, represent sucking disc 8 to have the problem, whether the quantity through judging sucking disc 8 to have the problem judges the snatch work piece of snatching subassembly 6 firm, the specific formula is as follows:
S3 comprises the following specific operation steps:
s31, the vibration sensor transmits the monitored vibration signal to the vibration receiving sub-module;
s32, judging whether the industrial robot vibrates during operation through a vibration receiving submodule;
Specifically, the staff sets the vibration level of the industrial robot to be low-level and high-level at the vibration receiving sub-module, and the vibration receiving sub-module for vibration signal transmission monitored by the vibration sensor in real time is compared with the set low-level and high-level states to judge the vibration level of the industrial robot during operation.
S4, the method comprises the following specific operation steps:
s41, when the vibration level of the industrial robot is low and the firmness degree is high when the workpiece is grabbed, the industrial robot is good in working state, and the conveying work is continued.
S42, when the vibration level of the industrial robot is low, and the firmness degree is medium when the workpiece is grabbed, the first rotary drive and the second rotary drive are controlled to be slow through the adjusting submodule, and the working stability of the industrial robot is improved.
S43, when the vibration level of the industrial robot is high, and the firmness degree is high when the workpiece is grabbed, a signal is transmitted to the lubrication prompt sub-module, a worker is prompted to add lubricating oil, and the working state of the industrial robot is guaranteed.
It should be noted that when the vibration of the industrial robot is high, the vibration is more severe in the running process of the industrial robot, and the tension sensor monitors the tension of the suction cup 8 in real time, if the vibration of the industrial robot is severe, the firmness of the gripping module 6 is still high, which means that the gripping module 6 is not affected by the vibration intensity of the industrial robot, and the quality of the gripping module 6 is high.
If the workpiece grabbing degree of the grabbing component 6 is still reduced from the high level to the medium level under the condition that the industrial robot shakes severely, the grabbing component 6 is affected by the vibration intensity of the industrial robot, at the moment, the working speeds of the first rotary drive and the second rotary drive are reduced while the working staff continue to lubricate, and the stability of the industrial robot is further guaranteed during lubrication.
If the industrial robot shakes severely, the firmness of the grabbing component 6 is still reduced from high level to low level when grabbing the workpiece, and at the moment, signals are transmitted to the early warning sub-module, so that the industrial robot alarms autonomously and is processed by staff.
When the lubrication work is completed, the industrial robot is still in a shaking condition, which indicates that the state of the industrial robot is poor and maintenance needs to be suspended.
The method has the advantages that the states of the industrial robot are monitored in real time when the industrial robot works, different states are processed differently, monitoring maintenance and maintenance are directly carried out when the industrial robot works, unnecessary interruption is avoided, normal operation of industrial robot production is guaranteed, and production efficiency is improved to the greatest extent.
It should be noted that, unless the working state of the industrial robot is poor, an active interrupt may be adopted, and the active interrupt is convenient for the staff to better arrange the subsequent work.
S44, when the vibration level of the industrial robot is high, and the firmness degree is medium when the workpiece is grabbed, the condition of the industrial robot is poor, and signals are directly transmitted to the early warning sub-module, so that the industrial robot can give an alarm.
Specifically, the step enables the industrial robot to actively stop working without passive stop, and the time can be reserved for the subsequent work arrangement, so that the effect of orderly interruption is achieved.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Finally, it should be pointed out that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting. Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced, and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a state monitoring equipment for industrial robot, includes support (1) and robot state monitoring system, its characterized in that: the top of the support (1) is provided with a rotary table (2), a first rotary drive (not shown in the figure) is connected between the support (1) and the rotary table (2), and the rotary table (2) is controlled to rotate in three hundred sixty degrees on the support (1) through the first rotary drive;
the mechanical arm (3) is arranged on the rotary table (2), a second rotary drive (not shown in the figure) is connected between the rotary table (2) and the mechanical arm (3), and the mechanical arm (3) is controlled to swing on the rotary table (2) through the second rotary drive;
a first vibration sensor (not shown in the figure) is arranged on the rotary table (2), and a second vibration sensor (not shown in the figure) is arranged on the mechanical arm (3);
the tail end of the mechanical arm (3) is connected with a grabbing component (6);
The robot state monitoring system comprises a data receiving module and a processing module, wherein the data receiving module is used for receiving signals of the robot during working and analyzing working states, and the processing module is used for taking different measures for the working states of the robot.
2. The condition monitoring apparatus for an industrial robot according to claim 1, wherein: the grabbing component (6) comprises a mounting frame (9), wherein the mounting frame (9) is of a staggered structure, and the mounting frame (9) is fixedly connected with the tail end of the mechanical arm (3);
The top evenly distributed of mounting bracket (9) is fixed with dead lever (7), the inside of dead lever (7) is fixed with tension sensor, tension sensor's bottom is fixed with sucking disc (8).
3. The condition monitoring apparatus for an industrial robot according to claim 2, wherein: the circumference of the bracket (1) is respectively arranged on the first working line (4) and the second working line (5).
4. A condition monitoring apparatus for an industrial robot according to claim 3, wherein: the data receiving module comprises a path setting sub-module, a tension receiving sub-module, a vibration receiving sub-module and an analysis sub-module, wherein the path setting sub-module is used for setting a working path of the mechanical arm (3), the tension receiving sub-module is electrically connected with the tension sensor and is used for receiving signals of the tension sensor, the vibration receiving sub-module is electrically connected with the first vibration sensor and the second vibration sensor and is used for receiving signals of the first vibration sensor and the second vibration sensor, and the analysis sub-module is used for analyzing the working state of the industrial robot;
the tension receiving submodule comprises a judging unit, and the judging unit judges the working condition of the grabbing component (6).
5. The condition monitoring apparatus for an industrial robot according to claim 4, wherein: the processing module comprises an adjusting sub-module, an early warning sub-module and a lubrication prompting sub-module, wherein the adjusting sub-module is used for adjusting the working state of the industrial robot, the early warning sub-module is used for alarming, and the lubrication prompting sub-module is used for prompting workers to lubricate the industrial robot.
6. A state monitoring method for an industrial robot is characterized in that: use of a condition monitoring device for an industrial robot according to claim 5, said robot condition monitoring system comprising the specific steps of:
S1, when the industrial robot works, a worker sets a working path of the industrial robot in a path setting sub-module according to actual conditions, so that a workpiece can be conveniently moved from a first working line (4) to a second working line (5);
S2, judging the firmness degree of the grabbing component 6 during grabbing work through a tension sensor when the grabbing component 6 on the industrial robot grabs the workpiece and moves the workpiece;
s3, judging whether the industrial robot vibrates or not through a vibration sensor when the industrial robot conveys the workpiece;
S4, judging the working state of the industrial robot by combining the vibration condition of the industrial robot with the firmness of the grabbing assembly 6 during grabbing operation through the analysis submodule, and taking remedial measures to ensure the normal operation of the industrial robot production.
7. The condition monitoring apparatus and method for an industrial robot according to claim 6, wherein: the S2 comprises the following specific operation steps:
S21, when the grabbing component (6) works, an external air source is started to generate negative pressure in the sucker (8) to suck the workpiece;
S22, when the sucker (8) sucks the workpiece and moves the workpiece, the pull force sensor downwards gives tension force to the workpiece by the gravity of the workpiece, and the tension sensor transmits a monitored signal to the tension receiving sub-module;
S23, judging whether the workpiece is firmly gripped by the gripping assembly (6) through the judging unit.
8. The condition monitoring apparatus and method for an industrial robot according to claim 7, wherein: the step S3 comprises the following specific operation steps:
s31, the vibration sensor transmits the monitored vibration signal to the vibration receiving sub-module;
s32, judging whether the industrial robot vibrates during operation through the vibration receiving submodule.
9. The condition monitoring apparatus and method for an industrial robot according to claim 8, wherein: the S4 comprises the following specific operation steps:
s41, when the vibration level of the industrial robot is low and the firmness degree is high when the workpiece is grabbed, the industrial robot is in a good state during working, and the carrying work is continued;
s42, when the vibration level of the industrial robot is low and the workpiece is grasped, the firmness is medium, and at the moment, the first rotary drive and the second rotary drive are controlled to be slow through the adjusting submodule, so that the working stability of the industrial robot is improved;
S43, when the vibration level of the industrial robot is high and the firmness degree is high when the workpiece is grabbed, transmitting a signal to a lubrication prompt sub-module to prompt a worker to add lubrication oil, and ensuring the working state of the industrial robot;
s44, when the vibration level of the industrial robot is high, and the firmness degree is medium when the workpiece is grabbed, the condition of the industrial robot is poor, and signals are directly transmitted to the early warning sub-module, so that the industrial robot can give an alarm.
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| CN202311660401.5A CN118977277A (en) | 2023-12-06 | 2023-12-06 | Industrial robot status monitoring device and method |
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| CN217776977U (en) * | 2021-11-18 | 2022-11-11 | 上海楷新机器人自动化设备有限公司 | Automatic processing device of industrial robot |
| CN116512315A (en) * | 2023-05-18 | 2023-08-01 | 深圳市大族机器人有限公司 | Collaborative robot system and collaborative robot monitoring method |
| CN219854642U (en) * | 2023-05-23 | 2023-10-20 | 东北林业大学 | Pneumatic manipulator with load monitoring function |
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