Fault predication device of six-axis multi-joint industrial robot

Abstract

A fault predication device of a six-axis multi-joint industrial robot comprises a laser displacement measuring module, a central processor, a storage unit and a display module. The central processor sequentially executes the following steps: periodically receiving specific displacement process data of wrist end portions of the industrial robot, wherein the specific displacement process data is obtained by the detection of the laser displacement measuring module; comparing the displacement process data with a standard set displacement requirement, calculating displacement difference value data of a plurality of selected moments, and sending the displacement difference value data to the storage unit; applying time domain analysis, mean value extraction, standard deviation, square deviation, or the like to the displacement difference value data for obtaining a plurality of time domain characteristic values, and sending the time domain characteristic values to the storage unit; predicting a characteristic value sequence based on an ARIMA model for obtaining characteristic values of future moments; utilizing trained support vectors to classify states of the characteristic values of the future moments, so as to obtain a future degradation level estimation; and sending the degradation state prediction result to the display module. The fault predication device of the six-axis multi-joint industrial robot can predict the reduction gear wear-out failure of the industrial robot.

Description

technical field [0001] The patent of the present invention relates to a fault prediction device for a six-axis multi-joint industrial robot, in particular to a fault prediction device for a six-axis multi-joint industrial robot based on laser displacement measurement. Background technique [0002] At present, my country is facing serious problems of soaring labor cost and labor shortage. How to use industrial robots to replace most repetitive manual labor is an important topic for the transformation and upgrading of my country's industrial enterprises in the future. [0003] Six-axis multi-joint industrial robots are currently the most widely used general-purpose industrial robots, and are widely used in welding, dispensing, handling, loading and unloading, painting, grinding and other process fields. The most important mechanical component of a six-axis multi-joint industrial robot is a reducer, including a harmonic reducer and an RV reducer. During use, the reducer of an...

AI Technical Summary

Problems solved by technology

[0006] (1) A reasonable state forecast cannot be given for robot performance degradation information (vibration);

[0007] (2) The collected vibration signal is easily affected by external interference and has a large amount of data, so reasonable data processing and feature extraction must be carried out

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