An industrial robot that can detect the degree of joint wear in real time

Abstract

The invention discloses an industrial robot capable of detecting the wear degree of joints in real time and belongs to the field of robots. The industrial robot capable of detecting the wear degree ofthe joints in real time. Through arrangement of fixed-point detection layers and under the actions of wear-resistant particles in pre-reminding layers, the time that wear occurs at the joints can beeffectively delayed. When wear occurs to one joint, sunken deformation can occur to one or both of an articular head and a articular fossa of the worn part, pressure data detected by two pressure sensors in the same balance detection layer can lose balance to generate a certain pressure difference. The wear condition can be judged according to the pressure difference. Meanwhile, the worn point canbe judged. When receiving a wear signal, a control system can control spines to pierce reminding inhibiting balls adjacent to the worn point. On the one hand, continuous expansion of the wear phenomenon is effectively suppressed, and on the other hand, working staff can be reminded visually of timely maintenance, and the service life is prolonged.

Description

technical field [0001] The invention relates to the field of robots, and more specifically, relates to an industrial robot that can detect the degree of joint wear in real time. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work in jobs such as manufacturing, construction, or hazardous jobs. [0003] Robots are generally composed of actuators, driving devices, detection devices, control systems and complex machinery. [0004] The actuator is the robot body, and its arm generally adopts a space open-chain linkage mechanism, in which the kinematic pair (revolving pair or moving pair) is often called a joint, and the number of joints is usually the number of degrees of freedom of the robot; the driving device is to drive the execution The mechanism ...

AI Technical Summary

Problems solved by technology

[0005] The mechanical arm of an industrial robot needs to rotate continuously during use, and the daily rotation frequency is extremely high, so the wear phenomenon of the joints of the robot is generally serious, so the joints of the robot need to be maintained regularly. However, in this case, The problem of wear still exists between the two maintenance intervals, and it is difficult for the staff to find out in time. As a result, the wear has already occurred during the regular maintenance, causing the service life of the joints of the robot to be damaged.

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