【作者】 刘磊；

【导师】 王孝良；

【作者基本信息】 大连理工大学 ， 控制理论与控制工程， 2014， 硕士

【摘要】 随着我国经济的高速发展和产业升级的不断进行,现代工业机器人在柔性加工等生产中应用越来越广泛。生产线上的机器人、机械臂的稳定可靠对企业生产的稳定及经济效益保证意义重大。工业机器人机构复杂、维护成本高,对生产企业的技术人员的能力提出了很高的要求。机器人应用的这一行业现状,对工业机器人生产企业的产品高品质服务能力提出了更高的要求。为解决这一问题,我们与沈阳新松机器人合作,基于新松的工业机器人开发一套完整的机器人远程监控诊断服务平台系统。本文主要研究了这一平台开发的设计原理,并阐述了平台的设计方案。本文介绍和分析了当前工业机器人行业内的知名企业ABB和发那科针对各自的机器人开发的远程服务系统,在分析这两种系统的优缺点的基础之上,本文提出新的更加完善的远程监控诊断服务平台系统设计方案。本文提出远程平台系统的方案采用三层结构：现场“感知层”、信息“传输层”以及远程数据服务中心。主要的设计工作包括以下几个方面：首先,本文提出并设计了整个系统和核心部件——现场“感知层”的数据采集控制器。数据采集控制器采用嵌入式平台设计,具备包括无线DTU、有线以太网、RS485、Zigbee等在内的多种通讯接口,可以直接与工业机器人的控制柜连接,实时读取机器人的运行状态,并监测报警预警数据,第一时间传输给本地服务器以及远程服务中心；同时可以接收来自服务器的控制命令,进行机器人的远程调测、故障维护。为了更全面的监测机器人运行状态,本文还提出并设计了配合机器人测量的辅助传感器,测量机器人的环境温度、湿度、倾角、振动等参数。辅助传感器与数据采集控制器之间通过Zigbee模块进行无线传输,方便使用和扩展。其次,为配合远程监控诊断服务软件,本文同时提出设计了与之配合使用的本地监控软件,该软件基于C/S模式,具备本地监控和调测功能,并能与远程平台相配合,实现本地操作人员与远程服务工程师的互动,便于机器人故障解决。最后,本文详尽阐述了远程监控诊断服务软件的设计实现。该软件是基于B/S的Web数据发布软件,具体包括通讯配置模块、数据采集模块、状态监控模块、故障诊断模块、故障预警模块、远程调测模块等等。本文提出的设计方法目前基于新松SR6C型工业机器人,后期在完善系统各方面功能的基础之上将增加对于其他型号机器人的支持。更多还原

【Abstract】 With the rapid development of China’s economy and industrial upgrading, modern industrial robots are used more and more widely in flexible manufacturing. Stable and reliable robotic arms on the production guarantee stability and economic significance. High technical staff requirements are needed because of industrial robots’ complicated mechanism and high maintenance costs. The status means industrial robots manufacturers have to provide products with high-quality service. To solve this problem, we cooperate with Shenyang SinSun Robots to develop a complete set of remote monitoring platform system with diagnostic service based on SinSun’s industrial robots. This article studies the design principles of this platform, and proposes the complete design.This paper describes and analyzes the remote service systems of ABB industrial robots and Fanuc robots. On the basis of analysis of these two systems’ advantages and disadvantages, we propose the design of a more sophisticated remote monitoring diagnostics service platform system.This paper presents a solution for the remote platform system based on three-tier structure: live "perception layer", message "transport layer" and the remote data center. The main design work includes the following aspects:Firstly, we propose the design the core components of whole system--live "perception layer" data acquisition controller. The data acquisition controller is an embedded system, with a variety of communication interfaces including DTU, wired Ethernet, RS485, Zigbee, etc. The data acquisition controller can be connected with the industrial robot control cabinet directly, and read the real-time operating data and status of the robot. It can also monitor the alarming and warning data, sending the data to local data server and remote service center at the first time. Remote commanding and debugging from the remote server center is also supported in this system.For a more comprehensive monitoring the robots’running status, the paper proposed and designed auxiliary measurement sensors to measure the ambient temperature, humidity, tilt, vibration, and some other parameters. Auxiliary sensors connect data acquisition controller through Zigbee wireless transmission module. It’s easy to use and extend. Secondly, the paper proposes designs of local monitoring software in conjunction with remote monitoring system at the same time, which is based on C/S mode. The local monitoring software contains local monitoring and commissioning functions. It can cooperate with the remote platform to help build the interaction between remote engineers with local staff. It’s easier for them to solve the robots’problems.Finally, the paper elaborates the design of remote monitoring diagnostic system software. The software is based on B/S Web data publishing software, including the communication configuration module, data acquisition module, robot control module, fault diagnosis module, forecasting and warning module, remote auxiliary processing module and so on.The designs we proposed in this paper is based on the SinSun SR6C industrial robot, we’ll try to support some other models of robots in this system.更多还原