CN116512315B - Collaborative robot system and collaborative robot monitoring method - Google Patents
Collaborative robot system and collaborative robot monitoring methodInfo
- Publication number
- CN116512315B CN116512315B CN202310561068.6A CN202310561068A CN116512315B CN 116512315 B CN116512315 B CN 116512315B CN 202310561068 A CN202310561068 A CN 202310561068A CN 116512315 B CN116512315 B CN 116512315B
- Authority
- CN
- China
- Prior art keywords
- data
- robot
- collaborative
- monitoring platform
- collaborative robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B25J19/0095—Means or methods for testing manipulators
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本申请涉及一种协作机器人系统和协作机器人监测方法。协作机器人系统包括协作机器人和监测平台，协作机器人通过发送状态数据至监测平台，状态数据包括运行状态数据和磨损状态数据。监测平台根据运行状态数据控制协作机器人的工作状况，并根据磨损状态数据得到协作机器人的使用寿命。可以实现对协作机器人的实时监测，方便及时对协作机器人进行维护保养。并且通过监测平台控制协作机器人的工作状况，可以控制协作机器人处于合适的运行工况，从而提高协作机器人的使用寿命。
This application relates to a collaborative robot system and a collaborative robot monitoring method. The collaborative robot system includes a collaborative robot and a monitoring platform. The collaborative robot sends status data to the monitoring platform, including operational status data and wear status data. The monitoring platform controls the collaborative robot's operation based on the operational status data and calculates the robot's lifespan based on the wear status data. This allows for real-time monitoring of the collaborative robot, facilitating timely maintenance. Furthermore, by controlling the collaborative robot's operation through the monitoring platform, the system can maintain it under suitable operating conditions, thereby extending its lifespan.
Description
Technical Field
The application relates to the technical field of collaborative robot monitoring, in particular to a collaborative robot system and a collaborative robot monitoring method.
Background
The cooperative robot generally comprises a plurality of functional devices such as a harmonic reducer, a motor, a brake, an encoder and the like, and any one device operation failure can lead to the failure of the cooperative robot.
However, the existing cooperative robot performs maintenance processing on the cooperative robot only when it is completely stopped. In addition, even if the cooperative robot can operate, if the cooperative robot is in an unsuitable operating condition for a long time, the service life of the cooperative robot can be greatly reduced.
Disclosure of Invention
Based on this, it is necessary to provide a collaborative robot system and a collaborative robot monitoring method in view of the above-described problems.
In a first aspect, the present application provides a collaborative robotic system. The collaborative robot system comprises a collaborative robot and a monitoring platform, and the collaborative robot is in communication connection with the monitoring platform;
the collaborative robot sends state data to the monitoring platform, wherein the state data comprises running state data and abrasion state data;
the monitoring platform is used for controlling the working condition of the cooperative robot according to the running state data and obtaining the service life of the cooperative robot according to the wear state data.
In one embodiment, a grease detection device is arranged in the joint module of the cooperative robot, and is in communication connection with the monitoring platform, and the wear data comprise grease detection data;
The lubricating grease detection device is used for detecting the lubricating grease in the joint module, generating lubricating grease detection data and sending the lubricating grease detection data to the monitoring platform;
The monitoring platform is used for obtaining the service life of the cooperative robot according to the lubricating grease detection data.
In one embodiment, the collaborative robot is connected with a vibration detection device, the vibration detection device is in communication connection with the monitoring platform, and the running state data comprise vibration parameters;
The vibration detection device is used for detecting the vibration state of the cooperative robot body, generating vibration parameters according to the vibration state and sending the vibration parameters to the monitoring platform;
And the monitoring platform controls the working condition of the cooperative robot according to the vibration parameters.
In one embodiment, the collaborative robot comprises a collaborative robot body and a controller connected with the collaborative robot body, the controller is in communication connection with the monitoring platform, and the operational status data comprises operational data of the collaborative robot body;
the controller is used for sending the operation data to the monitoring platform, and the monitoring platform controls the working condition of the cooperative robot according to the operation data.
In one embodiment, the collaborative robot is connected with an environment detection device, the environment detection device is in communication connection with the monitoring platform, and the state data further comprises environment state data;
the environment detection device is used for detecting the environment state in the region where the cooperative robot is located, generating environment state data according to the environment state, and sending the environment state data to the monitoring platform.
In one embodiment, the monitoring platform is further configured to generate maintenance information based on the operational status data and the wear status data.
In one embodiment, the monitoring platform is further configured to display the status data after classifying and summarizing the status data.
In one embodiment, the monitoring platform is further configured to receive a data viewing request, and display state data of the collaborative robot corresponding to the data viewing request.
In a second aspect, the application further provides a collaborative robot monitoring method. The method comprises the following steps:
acquiring state data sent by a cooperative robot, wherein the state data comprises running state data and abrasion state data;
and controlling the working condition of the cooperative robot according to the running state data, and obtaining the service life of the cooperative robot according to the wear state data.
In one embodiment, after acquiring the state data sent by the cooperative robot, the method further includes:
and generating maintenance information according to the operation state data and the abrasion state data.
The collaborative robot system and the collaborative robot monitoring method, wherein the collaborative robot system comprises a collaborative robot and a monitoring platform, and the collaborative robot sends state data to the monitoring platform, wherein the state data comprises running state data and abrasion state data. The monitoring platform controls the working condition of the cooperative robot according to the running state data, and obtains the service life of the cooperative robot according to the wear state data. The real-time monitoring of the cooperative robot can be realized, and the cooperative robot can be conveniently and timely maintained. And the working condition of the cooperative robot is controlled through the monitoring platform, so that the cooperative robot can be controlled to be in a proper operation condition, and the service life of the cooperative robot is prolonged.
Drawings
FIG. 1 is a schematic diagram of a collaborative robotic system in one embodiment;
FIG. 2 is a schematic diagram of a joint module of a collaborative robot in one embodiment;
FIG. 3 is a flow diagram of a collaborative robot monitoring method in one embodiment;
FIG. 4 is a schematic diagram of a cooperative robot system in another embodiment;
FIG. 5 is a schematic diagram of the background of a monitoring platform in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in FIG. 1, the collaborative robotic system includes a collaborative robot 100 and a monitoring platform 200, with the collaborative robot 100 communicatively coupled to the monitoring platform 200. The collaborative robot 100 sends status data to the monitoring platform 200. Specifically, the collaborative robot 100 may be communicatively coupled to the monitoring platform 200 via a communication device. The communication device may be an external communication device independent from the cooperative robot 100, and connected to the cooperative robot 100 by a wired or wireless manner. The communication device may also be provided directly in the collaborative robot 100. After the communication device establishes a communication connection with the monitoring platform 200, the collaborative robot 100 may send status data to the monitoring platform 200 via the communication device.
Wherein the status data includes operational status data and wear status data. The operational status data is used to characterize the operational status of the collaborative robot 100. For example, the operational state data may include an operational speed, an operational acceleration, a motion trajectory, an operational time, and the like of the cooperative robot 100. The wear state data is used to characterize the hardware wear state of the collaborative robot 100. Specifically, the wear state of each component in the cooperative robot 100 may be included. For example, the wear state data may include wear state data of a decelerator, wear state data of a motor, wear state data of a rotation execution portion of the cooperative robot 100, and the like.
The monitoring platform 200 is used for controlling the working condition of the cooperative robot 100 according to the running state data, and obtaining the service life of the cooperative robot 100 according to the wear state data. Specifically, after the monitoring platform 200 obtains the operation state data from the collaborative robot 100, the current working condition of the collaborative robot 100 is obtained according to the operation state data. The operating conditions of the collaborative robot 100 may include low-speed operation, medium-speed operation, high-speed operation, a fail-safe state, and the like. And then determines whether the current working condition of the cooperative robot 100 is reasonable. For example, it may be determined whether the current running speed of the cooperative robot 100 is too high or too low, whether the current movement locus of the cooperative robot 100 passes through a singular point, or the like. In particular, the monitoring platform 200 may generate fault alert information when the operating condition of the collaborative robot 100 is a fail-safe condition.
If the current working condition of the cooperative robot 100 is not reasonable, the working condition of the cooperative robot 100 is controlled and adjusted so as to be reasonable. The controlling and adjusting the working condition of the cooperative robot 100 may specifically include adjusting a running speed threshold, an upper load limit, a movement track, and the like of the cooperative robot 100.
Further, the monitoring platform 200 may generate reference control information according to the current working condition of the collaborative robot 100, and send the reference control information to the user. Further decisions are made by the user as to how to adjust the operating conditions of the collaborative robot 100 based on the reference control information generated by the monitoring platform 200. A specific implementation manner may be to issue an adjustment instruction to the monitoring platform 200, where the monitoring platform 200 controls and adjusts the working condition of the cooperative robot 100 according to the adjustment instruction.
After the monitoring platform 200 acquires the wear state data from the cooperative robot 100, the wear state of each component in the cooperative robot 100 can be obtained according to the wear state data. The wear state may include heavy wear, moderate wear, and slight wear, among others. Specifically, a wear detection device may be disposed in an area where each component of the collaborative robot 100 is located, where the wear detection device is configured to detect a wear state of each component. The specific detection mode of the wear detection device can include, but is not limited to, collecting metal powder generated by friction when each part works, and obtaining the wear state of the part according to the content of the collected metal powder.
Then, the monitoring platform 200 can obtain the service life of the cooperative robot 100 according to the wear state of each part in the cooperative robot 100. The service life of the collaborative robot 100 may be one of the bases for determining whether the collaborative robot 100 needs maintenance.
Further, the monitoring platform 200 may send the state data, the working condition and the service life of the collaborative robot 100 to a user, so that the user can monitor the collaborative robot 100 conveniently.
It is understood that the monitoring platform 200 may obtain status data from a plurality of collaborative robots 100. The plurality of collaborative robots 100 may include a plurality of collaborative robots of different models or brands.
In the present embodiment, the collaborative robot system includes the collaborative robot 100 and the monitoring platform 200, and the collaborative robot 100 transmits status data to the monitoring platform 200, wherein the status data includes operational status data and wear status data. The monitoring platform 200 is used for controlling the working condition of the cooperative robot 100 according to the running state data, and obtaining the service life of the cooperative robot 100 according to the wear state data. The real-time monitoring of the cooperative robot 100 can be realized, and the cooperative robot 100 can be conveniently and timely maintained. And the working condition of the cooperative robot 100 is controlled through the monitoring platform 200, so that the cooperative robot 100 can be controlled to be in a proper operation condition, and the service life of the cooperative robot 100 is prolonged.
In one embodiment, as shown in fig. 2, a grease detection device is disposed in the joint module of the collaborative robot 100, the grease detection device is communicatively coupled to the monitoring platform 200, and the wear data includes grease detection data.
The collaborative robot 100 generally includes a plurality of joint modules, each joint module including a reducer assembly and a front end cap. Wherein the speed reducer assembly may be a harmonic speed reducer. The grease detection device may be disposed between the front end cap and the reducer assembly. The lubricating grease detecting device is used for detecting the lubricating grease of the speed reducer assembly and generating lubricating grease detecting data. The method comprises the specific steps that the lubricating grease detection device can contact the lubricating grease of the speed reducer assembly and collect the lubricating grease. The lubricating grease detecting device can generate lubricating grease detecting data according to the composition of the lubricating grease by detecting the composition of the collected lubricating grease. The lubricating grease detection data may include lubricating grease deterioration component data, lubricating grease metal powder content data, and the like.
After the grease detection device sends the grease detection data to the monitoring platform 200, the monitoring platform 200 can obtain the service life of the collaborative robot 100 according to the grease detection data. For example, when the grease detection data includes grease deterioration composition data and grease metal powder content data, the monitoring platform 200 may derive the service life of the grease and the service life of the reducer assembly from the grease deterioration composition data and the grease metal powder content data. When the monitoring platform 200 detects that the lubricating grease has more deteriorated components or that the lubricating grease contains more metal powder, it is presumed that the life of the lubricating grease is reduced or the life of the speed reducer assembly is reduced, and the service life of the lubricating grease and the service life of the speed reducer assembly can be further calculated according to the data of the deteriorated components of the lubricating grease and the data of the metal powder content of the lubricating grease.
In addition, the grease detection device may be disposed between the front end cover and the reducer assembly in each joint module of the collaborative robot 100, and the monitoring platform 200 obtains the service life of the collaborative robot 100 according to the grease detection data sent by each grease detection device.
In this embodiment, a grease detection device is provided in the joint module of the collaborative robot 100, and the grease detection device is used for detecting grease in the joint module, generating grease detection data, and sending the grease detection data to the monitoring platform 200. The monitoring platform 200 is used for obtaining the service life of the collaborative robot 100 according to the grease detection data. The life detection of the cooperative robot 100 can be realized, so that the maintenance time of the cooperative robot 100 can be conveniently judged.
In one embodiment, the collaborative robot 100 is coupled with a vibration detection device that is communicatively coupled with the monitoring platform 200, and the operational status data includes vibration parameters.
The vibration detection device may be provided inside the cooperative robot 100. For example, may be disposed within the area of the cooperative robot 100 where other critical components such as motors, reducer assemblies, etc. are located. The vibration detection device is configured to detect a vibration state of the cooperative robot 100, and specifically may detect a vibration state of each rotation execution part, i.e., each joint, of the cooperative robot 100, generate a vibration parameter according to the vibration state, and send the vibration parameter to the monitoring platform 200. The vibration parameters may include vibration speed, vibration acceleration, vibration frequency, and the like. In addition, each vibration parameter corresponds to a preset vibration parameter threshold. And, different model's collaborative robot sets up different preset vibration parameter threshold values, and different rotary joints in same collaborative robot also set up different preset vibration parameter threshold values.
The monitoring platform 200 controls the operating condition of the collaborative robot 100 according to the vibration parameters. The method specifically comprises the steps that after the monitoring platform 200 receives vibration parameters sent by the vibration detection device, whether the current working condition of the cooperative robot 100 is reasonable is judged by analyzing the difference between the vibration parameters and a preset vibration parameter threshold value. When the judgment result is unreasonable, the monitoring platform 200 can control the cooperative robot 100 to operate under a proper working condition. For example, when the vibration parameter includes vibration acceleration, if the monitoring platform 200 monitors that the current vibration acceleration of the cooperative robot 100 is greater than the preset vibration acceleration threshold, and determines that the current working condition of the cooperative robot 100 is not reasonable, the cooperative robot 100 may be controlled to operate in a low-speed or medium-speed motion state.
In this embodiment, the cooperative robot 100 is connected with a vibration detection device, and the vibration detection device is configured to detect a vibration state of the cooperative robot 100, generate a vibration parameter according to the vibration state, and send the vibration parameter to the monitoring platform 200. The monitoring platform 200 controls the operating condition of the collaborative robot 100 according to the vibration parameters. The working condition of the cooperative robot 100 can be monitored, and the cooperative robot 100 can be controlled to operate under reasonable working conditions, so that the service life of the cooperative robot 100 is prolonged.
In one embodiment, the collaborative robot 100 includes a collaborative robot body 110 and a controller 120 coupled to the collaborative robot body 110, the controller 120 communicatively coupled to a monitoring platform 200, and the operational state data includes operational data of the collaborative robot body 110. The controller 120 may control the movement of the collaborative robot body 110 by issuing control instructions to the collaborative robot body 110. Meanwhile, the controller 120 may transmit the operation data of the collaborative robot body 110 to the monitoring platform 200. The operation data may include joint speed, joint acceleration, track information, etc. when the collaborative robot body 110 is operated.
The specific step of the monitoring platform 200 controlling the working condition of the collaborative robot 100 according to the operation data includes that the monitoring platform 200 analyzes the received operation data of the collaborative robot body 110 based on the kinematics of the collaborative robot to determine whether the current working condition of the collaborative robot body 110 is reasonable. Whether the working condition of the collaborative robot body 110 is reasonable can be understood as whether the current working condition of the collaborative robot body 110 may cause damage to the collaborative robot body 110. For example, if the distal end of the robot body 110 is in accordance with the current movement track, a short linear path needs to be reached in a short time, at this time, the motor may be operated at an extremely high rotational speed, the rotational movement of the motor is converted into the linear movement of the distal end through the rotational displacement of the decelerator assembly and each joint, and then the motor is rapidly decelerated to a subsequent track path. In the process, the rapid acceleration and high-rotation-speed operation of the motor can cause severe heating of the motor and also accelerate abrasion of related parts. The working condition of the cooperative robot body 110 may be defined as unreasonable at this time. Or if the end speed of the cooperative robot body 110 exceeds the preset threshold, the motor may be heated and the related parts may be worn. At this time, the operation condition of the cooperative robot body 110 may be defined as unreasonable.
When the working condition of the collaborative robot body 110 is not reasonable, the monitoring platform 200 may control the collaborative robot body 110 to operate in a reasonable working condition. For example, when the monitoring platform 200 monitors that the motion trajectory of the collaborative robot body 110 is likely to pass through a singular point, the monitoring platform 200 may optimize the motion trajectory of the current collaborative robot body 110 and transmit the optimized motion trajectory to the controller 120 connected to the collaborative robot body 110. The controller 120 controls the cooperative robot body 110 to move with the optimized motion trail, thereby avoiding singular points. Thereby improving the working condition of the cooperative robot body 110 and prolonging the service life of the cooperative robot body 110.
In addition, when the collaborative robot body 110 malfunctions, the controller 120 connected with the collaborative robot body 110 may send malfunction information to the monitoring platform 200. After receiving the fault information, the monitoring platform 200 may generate fault prompt information according to the fault information. The fault prompt information can comprise information such as fault type, fault robot model and the like. Further, the monitoring platform 200 may send fault notification information to the user. The user can know that the collaborative robot body 110 fails in time conveniently, and perform corresponding fault processing.
Likewise, the monitoring platform 200 may establish communication connections with a plurality of different controllers, each of which is correspondingly connected with the collaborative robot body. The monitoring platform 200 can simultaneously receive the operation data of different collaborative robot bodies through each controller, and control the working conditions of the corresponding collaborative robot bodies according to the operation data.
In this embodiment, the controller 120 is configured to send operation data to the monitoring platform 200, and the monitoring platform 200 controls the working condition of the collaborative robot body 110 according to the operation data, so as to realize more comprehensive monitoring of the collaborative robot 100.
In one embodiment, the collaborative robot 100 is coupled with an environmental detection device that is communicatively coupled with the monitoring platform 200, and the status data further includes environmental status data.
The environment monitoring device may be disposed in an area where the collaborative robot 100 is located, and is configured to detect an environment state in the area where the collaborative robot 100 is located. Specifically, environmental conditions such as temperature, humidity, noise, etc. in the region where the cooperative robot 100 is located can be detected. The environmental monitoring device may generate environmental state data based on the detected environmental state and transmit the environmental state data to the monitoring platform 200.
The monitoring platform 200 may determine whether the environmental state of the region where the collaborative robot 100 is located is abnormal according to the environmental state data. When the environmental state of the area of the collaborative robot 100 is abnormal, the monitoring platform 200 may generate environmental abnormality alert information. For example, the environmental abnormality alarm information may include abnormality alarm information such as temperature abnormality alarm information, noise abnormality alarm information, and the like. In addition, the monitoring platform 200 may also send the environmental status data to the user, so that the user can monitor the environmental status in the area where the collaborative robot 100 is located in real time. And when the environment state is abnormal, the monitoring platform 200 can send environment abnormality information to the user, so that the user can respond in time after receiving the environment abnormality alarm information, check the environment state of the area where the collaborative robot 100 is located, and eliminate the abnormality. In particular, the environmental monitoring device may include a temperature and humidity sensor, a noise sensor, and the like.
In this embodiment, the collaborative robot 100 is connected with an environment detection apparatus, and the environment detection apparatus is configured to detect an environment state in an area where the collaborative robot 100 is located, generate environment state data according to the environment state, and send the environment state data to the monitoring platform 200, so as to implement environment monitoring in the area where the collaborative robot 100 is located.
In one embodiment, the monitoring platform 200 is further configured to generate maintenance information based on the operational status data and the wear status data.
The maintenance information comprises working condition improvement information and part replacement information. Specifically, the monitoring platform 200 may obtain the current working condition of the collaborative robot 100 according to the running state data. When the current working condition of the collaborative robot 100 is not reasonable, the working condition improvement information may be generated according to the operation state data. The condition improvement information is used to improve the operating condition of the cooperative robot 100. For example, the operating condition improvement information may include motion trajectory optimization information, vibration parameter threshold adjustment information, load adjustment information, and the like.
The monitoring platform 200 may also generate part replacement information based on the wear state data. Specifically, the monitoring platform 200 may calculate the life of each component according to the wear state data of each component, and then obtain the component that is recommended to be replaced according to the life of each component. And summarizing the parts suggested to be replaced, and generating corresponding part replacement information. In particular, when the monitoring platform 200 receives the grease detection data, the monitoring platform 200 may obtain the life of the grease according to the grease detection data. And judging whether the lubricating grease needs to be replaced according to the service life of the lubricating grease.
Similarly, the monitoring platform 200 may also send the component replacement information to the user, and the user may replace the component of the collaborative robot 100 or the sub-item of the component with reference to the component replacement information generated by the monitoring platform 200.
In this embodiment, the monitoring platform 200 is further configured to generate maintenance information according to the operation state data and the wear state data, so that a user can be reminded of timely maintaining the collaborative robot 100, and the user can refer to the maintenance information generated by the monitoring platform 200 to determine how to maintain the collaborative robot 100.
In one embodiment, the monitoring platform 200 is further configured to categorize and summarize the status data.
Specifically, the monitoring platform 200 may collect the collaborative robots 100 with similar or similar status data into a class, and display the status data after the classification and collection. Further, when the state data includes operation state data and wear state data, the monitoring platform 200 may collect the collaborative robots with the same working condition into one type after obtaining the working condition of each collaborative robot according to the operation state data from different collaborative robots. For example, collaborative robots with slightly vibrating conditions may be summarized as one class. In addition, after the service life of the collaborative robots is obtained according to the wear state data, the monitoring platform 200 may collect the collaborative robots with similar service lives into one type, or may collect the collaborative robots to be maintained into one type after judging whether the collaborative robots need maintenance according to the service lives of the collaborative robots.
After the classification and summarization of the monitoring platform 200 are completed, the number of the duty ratios of the collaborative robots in each category can be calculated. For example, the number of cooperative robots in the light vibration condition, the number of cooperative robots to be maintained, and the number of cooperative robots with a long continuous operation time are calculated.
In this embodiment, the monitoring platform 200 is further configured to display the status data after classifying and summarizing, so that the working condition and the service life of the collaborative robot 100 can be more intuitively and clearly displayed to the user, and the user can conveniently monitor the collaborative robot 100 in real time.
In one embodiment, the monitoring platform 200 is further configured to receive a data viewing request, and display status data of the collaborative robot 100 corresponding to the data viewing request.
The account number and the authority corresponding to the account number are stored in the monitoring platform 200. The user can access the monitoring platform 200 through the login account, and view the state data of the collaborative robot 100 in the authority range, and the current working condition and service life of the collaborative robot 100.
Specifically, the user may send a data viewing request to the monitoring platform 200, and after the monitoring platform 200 obtains the account number of the current access user according to the data viewing request, the state data of the collaborative robot 100 in the authority range corresponding to the account number, and the current working condition and service life of the collaborative robot 100 are displayed.
In this embodiment, the monitoring platform 200 is further configured to receive a data viewing request, and display status data of the collaborative robot 100 corresponding to the data viewing request, so that data security of the collaborative robot 100 can be ensured.
In one embodiment, the present application further provides a collaborative robot monitoring method, which may be applied to the monitoring platform 200 in any of the above embodiments. As shown in fig. 3, the method includes steps 202 and 204.
Step 202, acquiring state data sent by the cooperative robot.
Wherein the status data includes operational status data and wear status data. The operational status data is used to characterize the operational status of the collaborative robot 100. For example, the operational state data may include an operational speed, an operational acceleration, a motion trajectory, an operational time, and the like of the cooperative robot 100. The wear state data is used to characterize the hardware wear state of the collaborative robot 100. Specifically, the wear state of each component in the cooperative robot 100 may be included. For example, the wear state data may include wear state data of a decelerator, wear state data of a motor, wear state data of a rotation execution portion of the cooperative robot 100, and the like.
And 204, controlling the working condition of the cooperative robot according to the running state data, and obtaining the service life of the cooperative robot according to the wear state data.
Specifically, the current working condition of the collaborative robot 100 is obtained according to the operation state data. The operating conditions of the collaborative robot 100 may include low-speed operation, medium-speed operation, high-speed operation, a fail-safe state, and the like. And then determines whether the current working condition of the cooperative robot 100 is reasonable. For example, it may be determined whether the current running speed of the cooperative robot 100 is too high or too low, whether the current movement locus of the cooperative robot 100 passes through a singular point, or the like. In particular, the monitoring platform 200 may generate fault alert information when the operating condition of the collaborative robot 100 is a fail-safe condition.
If the current working condition of the cooperative robot 100 is not reasonable, the working condition of the cooperative robot 100 is controlled and adjusted so as to be reasonable. The controlling and adjusting the working condition of the cooperative robot 100 may specifically include adjusting a running speed threshold, an upper load limit, a movement track, and the like of the cooperative robot 100.
The wear state of each component in the cooperative robot 100 can be obtained from the wear state data. The wear state may include heavy wear, moderate wear, and slight wear, among others. Then, the service life of the cooperative robot 100 can be obtained according to the wear state of each component in the cooperative robot 100. The service life of the collaborative robot 100 may be one of the bases for determining whether the collaborative robot 100 needs maintenance.
Further, the working condition and the service life of the collaborative robot 100 are displayed, so that the collaborative robot 100 is conveniently monitored by a user.
In one embodiment, after step 202, the collaborative robot monitoring method further includes step 302.
Step 302, maintenance information is generated from the operating state data and the wear state data.
The maintenance information may include operating condition improvement information and component replacement information. The condition improvement information is used to improve the working condition of the collaborative robot 100, and the component replacement information is used to suggest which components the user can replace.
Specifically, the current working condition of the collaborative robot 100 may be obtained according to the operation state data. When the current working condition of the cooperative robot 100 is not reasonable, working condition improvement information is generated according to the operation state data. And calculating the service life of each part according to the wear state data of each part, and then obtaining the part which is recommended to be replaced according to the service life of each part. And summarizing the parts suggested to be replaced, and generating corresponding part replacement information.
Further, maintenance information may be sent to the user, from which the user may determine a specific maintenance regimen for the collaborative robot 100.
In one embodiment, the wear data includes grease detection data, and step 204 further includes step 402.
Step 402, obtaining the service life of the cooperative robot according to the lubricating grease detection data sent by the lubricating grease detection device.
In one embodiment, the operational status data includes vibration parameters, and step 204 further includes step 502.
Step 502, controlling the working condition of the cooperative robot according to the vibration parameters sent by the vibration detection device.
In one embodiment, the operational status data includes operational data of the collaborative robot body 110, and step 204 further includes step 602.
Step 602, controlling the working condition of the collaborative robot body according to the operation data sent by the controller.
In one embodiment, the collaborative robot monitoring method further includes step 702.
Step 702, the status data is displayed after classified summarization.
In one embodiment, the collaborative robot monitoring method further includes step 802.
Step 802, receiving a data viewing request, and displaying state data of the collaborative robot corresponding to the data viewing request.
According to the collaborative robot monitoring method, the state data transmitted by the collaborative robot 100 are acquired, the state data comprise the operation state data and the wear state data, the working condition of the collaborative robot 100 is controlled according to the operation state data, the service life of the collaborative robot 100 is obtained according to the wear state data, the working condition monitoring and the service life monitoring of the collaborative robot 100 can be realized, the collaborative robot 100 is convenient to maintain in time, and the working condition of the collaborative robot 100 is controlled to operate under a proper working condition, so that the service life of the collaborative robot 100 can be prolonged.
In order to facilitate an understanding of the collaborative robotic system and collaborative robotic monitoring method described above, a more detailed embodiment is provided below.
In one embodiment, as shown in fig. 4, the collaborative robotic system includes a collaborative robot 100 and a monitoring platform 200. The collaborative robot 100 includes a collaborative robot body 110, a controller 120, a sensor 130, and a communication device 140. The monitoring platform 200 includes a background and an operations management center. Among them, the sensor 130 includes a grease sensor, a vibration sensor, and an environmental sensor, which correspond to the grease detecting device, the vibration detecting device, and the environmental detecting device mentioned above, respectively. In the figures, circles are used to represent different devices, and overlapping portions of circles represent devices connected to each other. As in the cooperative robot 100 shown in fig. 4, the controller 120, the sensor 130, and the communication device 140 are all connected to the cooperative robot body 110, and the sensor 130 and the controller 120 are all connected to the communication device 140. The communication device 140 is connected to the background, which is connected to an operation management center, which is connected to the collaborative robot 100.
Specifically, the collaborative robot body 110 includes a plurality of joint modules, which may include a decelerator assembly, a front end cover, and a grease sensor. The speed reducer assembly can be a harmonic speed reducer, and the lubricating grease sensor can be positioned between the front end cover and the harmonic speed reducer. The grease sensor may contact grease of the harmonic reducer and detect the composition of the grease, and upload the composition of the grease as grease detection data to the background through the communication device 140. The communication device 140 and the background may be connected by a wired or wireless network.
The collaborative robot ontology 110 may send status data to the background through the communication device 140. The status data includes operational status data and wear status data. The background can control the working condition of the collaborative robot body 110 according to the running state data, and obtain the service life of the collaborative robot body 110 according to the wear state data.
Specifically, the background can analyze the service life of the lubricating grease according to the lubricating grease detection data and judge whether the lubricating grease still has a good lubricating state. The specific analysis process can include calculating the service life of the lubricating grease and the service life of the harmonic reducer according to the content of metal powder caused by the meshing friction of the gear of the harmonic reducer in the detected lubricating grease or the content of deterioration components in the lubricating grease. After the operation management center obtains the service life of the lubricating grease and the service life of the harmonic reducer through the background, maintenance information can be generated. The maintenance information may be a specific maintenance recommendation. For example, it is recommended to replace grease, or to replace parts, or to more appropriately operate the present cooperative robot body 110 in a manner that extends its life.
It is understood that the joints of the cooperative robot body 110 generally have an upper speed or acceleration limit, and the motion of making a sharp turn under certain motion tracks can affect the service life of the harmonic reducer. At this time, the operation management center may optimize the motion trail of the collaborative robot body 110 according to the field environment and the working requirements. For example, the movement trace of the cooperative robot body 110 is set to be smoother and uniform in speed. And the optimized motion trail is sent to the controller 120 through the background, and the controller 120 controls the motion of the cooperative robot body 110 according to the optimized motion trail so as to reduce the rapid acceleration or rapid deceleration of the cooperative robot body 110. In addition, different models of collaborative robot bodies typically have different upper load limits. And the farther the load is from the end of the collaborative robot body, the smaller the bearable load. If the collaborative robot body is always in a high-speed and full-load or overload running state, the service life of the collaborative robot body is also affected, and at this time, the operation management center can propose a reasonable load configuration mode based on the use instruction of the collaborative robot body.
The vibration sensor may be used to detect vibration parameters of a rotation executing portion, that is, a rotation joint, of the collaborative robot body 110, upload the vibration parameters to a background through the communication device 140, and the background sends data to an operation management center, where the operation management center determines whether the current collaborative robot body 110 is in a suitable working condition according to the vibration parameters, and whether a fault occurs and a shutdown is required for maintenance. Wherein, the vibration parameter thresholds set for the cooperative robot main body 110 of different models are different. The vibration parameter thresholds of the different rotary joints of the same cooperative robot body 110 are also different. Determining whether the collaborative robot body 110 is in a suitable operating condition may include determining whether the vibration parameter exceeds a vibration parameter threshold.
The environmental sensor is configured to detect an environmental state in an area where the collaborative robot body 110 is located, generate environmental state data according to the environmental state, and send the environmental state data to the background through the communication device 140. The environmental status data may include, among other things, temperature, humidity, noise, etc.
The controller 120 may upload motion trajectory information, joint speed, acceleration, and other operation data of the collaborative robot body 110 to the background through the communication device 140. Through background processing, the operation management center can judge whether the current working condition of the cooperative robot body 110 is reasonable according to the kinematic knowledge of the cooperative robot. For example, it may be determined whether the motion trajectory of the current collaborative robot body 110 is reasonable, whether the tip speed or acceleration value of the collaborative robot body 110 is reasonable, and the like.
The background may include a server. The server may be implemented as a stand-alone server or as a server cluster composed of a plurality of servers. As shown in fig. 5, the background may include an account number establishment and authority distribution module, an anomaly or data push module, a data storage module, a data backup module, a data security module, and a data display module. The account number establishing and permission distributing module is used for establishing an account number and distributing corresponding permissions, and the function that a user can only view state data of the collaboration robot 100 used by the user is achieved. The anomaly or data pushing module is configured to generate a fault code according to a fault type of the collaborative robot body 110 and push the fault code to the operation management center when the collaborative robot body 110 fails. The anomaly or data pushing module is also used for pushing the state data, the working condition and the service life related data of the collaborative robot body 110 to the operation management center. The data storage module is used for storing state data of the collaborative robot body 110 and other related data, such as working conditions, service life, etc. of the collaborative robot. The data backup module is used for backing up the state data and other related data of the collaborative robot body 110. The data security module is provided with a data security policy for protecting the information security of the collaborative robot body 110 and the user, and guaranteeing that the data is not lost, stolen or attacked by external malicious and the like. The data display module is used for displaying data. The data display module may be connected to the display screen. The display screen can be a common liquid crystal display, a large LED screen or a multi-screen collaborative display. The displayed data may include, but is not limited to, continuous run time of the collaborative robot body 110, percentage of grease composition status, vibration level, noise level, tip trajectory, joint angular velocity/acceleration, failure information when the collaborative robot body 110 fails, and the like.
The background may receive a data viewing request from a user and display state data of the collaborative robot main body 110 corresponding to the data viewing request. Specifically, the collaborative robot provider can establish an account for the user and distribute corresponding rights through a background account establishment and rights distribution module. If the user needs to check the working condition of the collaborative robot body 110 in real time, the user may log in the account number provided by the collaborative robot provider. After the login is successful, the background may receive a data viewing request from the user, and display state data of the collaborative robot body 110 corresponding to the data viewing request. The working condition and the service life of the collaborative robot body 110 obtained after the state data of the collaborative robot body 110 is analyzed and processed by the background can be displayed at the same time.
The background can also classify and summarize the collected data from the plurality of collaborative robot ontologies. Specifically, the collaborative robot bodies with similar state data can be summarized into one type. For example, collaborative robot bodies with similar vibration parameters are aggregated into one class. After the classification summary is completed, the background can also calculate the duty ratio number of the cooperative robot bodies of all types. By way of example, the number of co-operative robot bodies may include the number of co-operative robots in a light vibration condition, the number of co-operative robots to be serviced, the number of co-operative robots with a longer continuous working time, etc.
The operation management center is used for generating maintenance information according to the operation state data and the abrasion state data. The system has the functions of fault processing, data analysis and solution provision. Specifically, the operation management center may first obtain, from the background, relevant data such as status data and service life of the collaborative robot body 110. The state data may include vibration parameters, trajectory parameters, singular points, acceleration, operating system, temperature, noise, etc. The service life may include the life of other components such as the life of the speed reducer. Then, the operation management center may perform fault analysis, singular point analysis, vibration analysis, trajectory optimization, and the like on the acquired data. And generating maintenance information according to the analysis result. The collaborative robot vendor or the collaborative robot integrator may refer to the maintenance information generated by the operations management center to determine a maintenance time of the collaborative robot ontology 110, propose a more appropriate operation scheme of the collaborative robot ontology 110, decide an iteration direction of the collaborative robot product, or reply to a user-related process scheme.
The collaborative robot system in this embodiment includes a collaborative robot 100, a background, and an operations management center. The collaborative robot 100 includes a collaborative robot body 110, a controller 120, a sensor 130, and a communication device 140. The sensor 130 or the controller 120 uploads the state data of the collaborative robot body 110 to the background through the communication equipment 140, and the background displays the related data of the collaborative robot body 110 after classification, calculation and summarization, so that real-time monitoring of the collaborative robot body 110 is realized. The user can find out the fault of the cooperative robot body 110 in time conveniently so as to maintain the cooperative robot body 110. The operation management center generates relevant maintenance information based on the background data, and can provide a specific maintenance scheme or a scheme for optimizing the working condition of the collaborative robot body 110 to a user or a collaborative robot provider as a reference, which is beneficial to prolonging the service life of the collaborative robot body 110.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (9)
1. A collaborative robotic system, wherein the collaborative robotic system comprises a collaborative robot and a monitoring platform, the collaborative robot is communicatively coupled with the monitoring platform;
The collaborative robot sends state data to the monitoring platform, wherein the state data comprises running state data and wear state data;
The monitoring platform is used for controlling the working condition of the cooperative robot according to the running state data and obtaining the service life of the cooperative robot according to the wear state data, and if the current working condition of the cooperative robot is unreasonable, the monitoring platform is used for controlling and adjusting the working condition of the cooperative robot so as to lead the working condition of the cooperative robot to be reasonable;
The joint module of the cooperative robot is provided with a lubricating grease detection device, the lubricating grease detection device is in communication connection with the monitoring platform, the joint module comprises a speed reducer assembly and a front end cover, and the lubricating grease detection device is arranged between the front end cover and the speed reducer assembly;
the lubricating grease detection device is used for detecting the lubricating grease in the joint module, generating lubricating grease detection data and sending the lubricating grease detection data to the monitoring platform;
the monitoring platform is used for obtaining the service life of the cooperative robot according to the lubricating grease detection data;
The monitoring platform is also used for generating maintenance information according to the running state data and the abrasion state data, wherein the maintenance information comprises working condition improvement information and part replacement information, the working condition improvement information is determined according to the running state data, and the part replacement information is determined according to the abrasion state data.
2. The collaborative robotic system of claim 1, wherein the grease detection data includes grease deterioration composition data and grease metal powder content data, the monitoring platform deriving a service life of the grease and a service life of the reducer assembly from the grease deterioration composition data and the grease metal powder content data.
3. The collaborative robot system of claim 1, wherein the collaborative robot has a vibration detection device coupled thereto, the vibration detection device in communication with the monitoring platform, the operational status data including vibration parameters;
The vibration detection device is used for detecting the vibration state of the cooperative robot, generating the vibration parameters according to the vibration state and sending the vibration parameters to the monitoring platform;
And the monitoring platform controls the working condition of the cooperative robot according to the vibration parameters.
4. The collaborative robot system of claim 1, wherein the collaborative robot includes a collaborative robot body and a controller coupled to the collaborative robot body, the controller is communicatively coupled to the monitoring platform, the operational status data includes operational data of the collaborative robot body;
the controller is used for sending the operation data to the monitoring platform, and the monitoring platform controls the working condition of the collaborative robot body according to the operation data.
5. The collaborative robot system of claim 1, wherein the collaborative robot has an environmental detection device coupled thereto, the environmental detection device in communication with the monitoring platform, the status data further comprising environmental status data;
The environment detection device is used for detecting the environment state in the region where the cooperative robot is located, generating the environment state data according to the environment state, and sending the environment state data to the monitoring platform.
6. The collaborative robotic system of claim 1, wherein the monitoring platform is further configured to categorize and aggregate the status data for display.
7. The collaborative robot system of claim 1, wherein the monitoring platform is further configured to receive a data view request and display status data of the collaborative robot corresponding to the data view request.
8. A collaborative robot monitoring method, characterized in that the method is implemented based on a collaborative robot system of any of claims 1-7, comprising:
Acquiring state data sent by a cooperative robot, wherein the state data comprises running state data and abrasion state data;
And controlling the working condition of the cooperative robot according to the running state data, and obtaining the service life of the cooperative robot according to the abrasion state data.
9. The collaborative robot monitoring method as set forth in claim 8, further comprising, after the acquiring the status data sent by the collaborative robot:
And generating maintenance information according to the running state data and the abrasion state data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310561068.6A CN116512315B (en) | 2023-05-18 | 2023-05-18 | Collaborative robot system and collaborative robot monitoring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310561068.6A CN116512315B (en) | 2023-05-18 | 2023-05-18 | Collaborative robot system and collaborative robot monitoring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116512315A CN116512315A (en) | 2023-08-01 |
| CN116512315B true CN116512315B (en) | 2026-02-24 |
Family
ID=87404602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310561068.6A Active CN116512315B (en) | 2023-05-18 | 2023-05-18 | Collaborative robot system and collaborative robot monitoring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116512315B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118977277B (en) * | 2023-12-06 | 2025-07-04 | 江苏合荟佳机器人智能科技有限公司 | State monitoring equipment and method for industrial robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101452289A (en) * | 2007-12-06 | 2009-06-10 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
| KR20140028163A (en) * | 2011-10-26 | 2014-03-10 | 현대중공업 주식회사 | Management system for industrial robot |
| CN108025431A (en) * | 2015-09-14 | 2018-05-11 | 拓诺麦公司 | Actuator diagnostics and prediction |
| CN112936268A (en) * | 2021-01-30 | 2021-06-11 | 埃夫特智能装备股份有限公司 | A collaborative robot safety control system |
| CN114763784A (en) * | 2021-01-12 | 2022-07-19 | 北京国电电力新能源技术有限公司 | On-line monitoring and fault early warning system for comprehensive health state of fan |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693335A (en) * | 2017-04-06 | 2018-10-23 | 北京至感传感器技术研究院有限公司 | Wind turbines lubricating oil on-line monitoring system |
| CN108230091A (en) * | 2017-12-18 | 2018-06-29 | 广东寰球智能科技有限公司 | A kind of industrial robot lease management system and method based on cloud platform |
| CN110861123A (en) * | 2019-11-14 | 2020-03-06 | 华南智能机器人创新研究院 | Method and device for visual monitoring and evaluation of robot running state |
-
2023
- 2023-05-18 CN CN202310561068.6A patent/CN116512315B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101452289A (en) * | 2007-12-06 | 2009-06-10 | Abb研究有限公司 | A robot service system and a method for providing remote service for a robot |
| KR20140028163A (en) * | 2011-10-26 | 2014-03-10 | 현대중공업 주식회사 | Management system for industrial robot |
| CN108025431A (en) * | 2015-09-14 | 2018-05-11 | 拓诺麦公司 | Actuator diagnostics and prediction |
| CN114763784A (en) * | 2021-01-12 | 2022-07-19 | 北京国电电力新能源技术有限公司 | On-line monitoring and fault early warning system for comprehensive health state of fan |
| CN112936268A (en) * | 2021-01-30 | 2021-06-11 | 埃夫特智能装备股份有限公司 | A collaborative robot safety control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116512315A (en) | 2023-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11147200B2 (en) | Nozzle performance analytics | |
| KR102334965B1 (en) | Predictive maintenance system for efficient management of factory automation equipment and productivity improvement | |
| CN119059385A (en) | An intelligent elevator management system based on edge computing and computing network integration | |
| CN117884818B (en) | Welding robot with accurate positioning function | |
| CN117477774A (en) | Intelligent early warning system and early warning method for multi-functional power distribution cabinets | |
| CN116645010A (en) | A patrol control system for chemical safety production | |
| CN108928744B (en) | Container crane online diagnosis and maintenance system based on big data | |
| US20080191654A1 (en) | Method and device for monitoring the condition of an industrial robot | |
| US20190101876A1 (en) | Machine diagnostics based on overall system energy state | |
| CN108241343A (en) | A kind of intelligent plant management platform system | |
| CN116512315B (en) | Collaborative robot system and collaborative robot monitoring method | |
| CN111444055A (en) | System for health assessment and maintenance of equipment | |
| CN118170957A (en) | An information technology service system based on the Internet of Things | |
| CN117583236B (en) | A fine particle material screening machine operating parameter monitoring system | |
| CN119396051A (en) | A wheel-foot coordinated control method and system for a wheel-foot robot | |
| CN117252540A (en) | Comprehensive management system for IDC (internet data center) machine room of data center | |
| CN118992461A (en) | Belt conveyor inspection method, system, medium and program product | |
| US10642247B2 (en) | Cell control system | |
| KR101996237B1 (en) | DEVICE AND PLATFORM FOR IoT SENSOR THROUGH DISTRIBUTED PROCESSING | |
| EP4639303A1 (en) | Predictive model for determining overall equipment effectiveness (oee) in industrial equipment | |
| CN120106812A (en) | A remote after-sales maintenance service system for AI servers based on wireless communication | |
| CN120144956A (en) | A fume hood parameter configuration management method based on big data | |
| KR20250078352A (en) | An on-board performance monitoring system and a method thereof | |
| CN117207664A (en) | Printing equipment intelligent diagnosis and operation and maintenance methods and systems, readable storage media | |
| CN116141322A (en) | Robot on-line diagnosis system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 528300, No. 3, Industrial Avenue of the Second Branch, Xihai Village, Beijiao Town, Shunde District, Foshan City, Guangdong Province, Room 1101, Building 9, Haichuang Dazhu Robot Intelligent Manufacturing Center (Residential Address) Applicant after: Guangdong Huayan Robot Co.,Ltd. Address before: 518101 workshop 601, building 3, Zhizao Central Park, No. 12, Chongqing Road, Heping community, Fuhai street, Bao'an District, Shenzhen, Guangdong Province Applicant before: Shenzhen Dazu robot Co.,Ltd. Country or region before: China |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |