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Six-axis industrial robot fault diagnosis method and system based on AR model

A fault diagnosis system and technology of industrial robots, applied in the direction of instruments, computer parts, character and pattern recognition, etc., can solve the problems of wide fault location, low fault diagnosis efficiency, difficult real-time monitoring, etc., to solve the problem of difficult fault diagnosis, The effect of improving the efficiency of fault diagnosis and reducing the scope

Inactive Publication Date: 2017-04-26
NANJING PANDA ELECTRONICS +2
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Problems solved by technology

However, this maintenance method requires maintenance personnel to have rich prior knowledge, and the location of the fault is wide, the efficiency of fault diagnosis is low, disassembly is difficult, and it is difficult to achieve real-time monitoring

Method used

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  • Six-axis industrial robot fault diagnosis method and system based on AR model
  • Six-axis industrial robot fault diagnosis method and system based on AR model
  • Six-axis industrial robot fault diagnosis method and system based on AR model

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Embodiment Construction

[0021] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings;

[0022] Such as figure 1 As shown, a six-axis industrial robot fault diagnosis system based on the AR model includes: at a specific operating speed of each axis, six vibration acceleration sensors 1 installed at specific positions transmit vibration signals through signal acquisition cards 2 X(t) is transmitted to the processing device 3, which is a computer in this embodiment. The computer preprocesses the vibration signal X(t) through EMD (Empirical Mode Decomposition, empirical mode decomposition algorithm), and decomposes it into a smooth signal IMF component c with different characteristic scales 1 (t), c 2 (t),...,c n (t); build an autoregressive model AR(m) for any IMF component decomposed by EMD, and extract its model parameters and variance as the fault feature vector unit; use the above-mentioned autoregressive model AR (m) to carry out A...

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Abstract

The invention discloses a six-axis industrial robot fault diagnosis method and a system based on an AR model. A vibration acceleration sensor is arranged at a specific position on a moving part of each axis, the acquired vibration acceleration signals are used for building an autoregressive model AR, the autoregressive model AR is used for acquiring the fault feature vector of the industrial robot, the fault feature vector is imported to an expert system for fault diagnosis. The sensitivity of autoregressive parameters of the autoregressive model AR towards the state change law and the high resolution of the AR power spectrum are used for fault feature extraction, and sensitive and effective fault diagnosis and detection on the industrial robot are carried out; the problems that the six-axis industrial robot is difficult in fault diagnosis, long in diagnosis period and inaccurate in diagnosis can be effectively solved; and the fault judgment range is greatly reduced, and the fault diagnosis time is saved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a fault diagnosis method and system for a six-axis industrial robot based on an AR model. Background technique [0002] Six-axis industrial robots are robots that have been operating in harsh industrial environments for a long time, such as welding, casting, cutting, etc. Environmental dust, high temperature, vibration in the factory area, and repeated acceleration and deceleration of robots will aggravate the wear and fatigue damage of robot parts. Such as reducer, bearing, gear, synchronous belt wear, motor abnormality, screw loosening, etc. occur from time to time. It is a great safety hazard, so timely judgment and repair of faults are the top priority of robot use. [0003] The traditional fault diagnosis method is to make manual judgment first, then disassemble the robot, find the fault location, diagnose the fault through the professional judgment of the enginee...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06F2218/08G06F2218/12
Inventor 张亚何杏兴
Owner NANJING PANDA ELECTRONICS
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