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Robot arm strain test data processing method

A robot arm and data processing technology, applied in the direction of instruments, measuring force, measuring devices, etc., can solve the problem of not being able to timely and accurately provide the fatigue damage and remaining life of the robot arm, it is difficult to predict the life value of the robot arm, and it is difficult to prevent the sudden failure of the robot and other problems, to achieve the effect of simple structure, small size and high precision

Inactive Publication Date: 2016-01-13
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although these data play an important role in ensuring the continuous operation of the robot, the information is not universal
For robots with different purposes, different models, and different working loads, with the increase of operating time, the degree of fatigue damage of the robot arm is also different. Only relying on maintenance data to estimate the degree of fatigue damage and remaining life after each operation cannot be timely. Accurately provide the fatigue damage and remaining life of the robot arm
Since it is difficult to predict the life value of the robot arm, it is also difficult to prevent a robot from suddenly failing during operation, which will affect the reliability and stability of the robot operation

Method used

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  • Robot arm strain test data processing method
  • Robot arm strain test data processing method
  • Robot arm strain test data processing method

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Embodiment Construction

[0035] Depend on figure 1 Visible, a kind of robot arm strain test data processing method of the present invention, by strain gage 1, strain collector 2, data processing system 3, be contained in the peak-valley preprocessor 4 and improved rainflow counter in data processing system 3 5. The damage and life calculator 6, the display 7, and the alarm 8 are sequentially connected to form a testing device, and the steps of the method are as follows:

[0036] (1), paste the strain gauge

[0037] The strain gauge 1 is attached to the stress (or fatigue damage) concentrated part of the robot arm under inspection, and the strain collector 2 passes the strain gauge 1 to save the measured value at a certain time interval (for example, every 0.01 second, 10 seconds) There will be 1,000 test data arranged in chronological order) Continuously obtain the strain of the patch site, convert it into a stress value signal, generate a data file of each stress value signal of the robot arm, and i...

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Abstract

The invention discloses a robot arm strain test data processing method. A test device is formed by strain sheets (1), a strain acquisition device (2), a data processing system (3) including a peak and valley preprocessor (4) and an improved rain flow counter (5), a damage and life calculator (6), and alerter (8) and a displayer (7) which are connected in turn. The data processing method comprises the steps of (1) adhesion of the strain sheets; (2) peak and valley preprocessing; (3) improved rain flow counting statistics; (4) damage calculation; and (5) damage accumulation calculation. According to the method, the monitoring device is simple in structure and small in size, the data processing method is advanced and high in precision, the data processing result can be automatically displayed, operation is easy, and the device is directly installed on a robot arm for real-time automatic monitoring and automatic alarm.

Description

technical field [0001] The invention relates to testing and data processing of a robot arm, in particular to a method for processing strain test data of a robot arm. Background technique [0002] The servo motor drives the robot arm to move horizontally and vertically to realize the pick-and-place operation of the target. During the operation of the robot arm, fatigue damage is caused by the alternating stress of variable amplitude. As the working time increases, the fatigue damage of the robot arm (robot arm parts) also increases, and its service life gradually decreases. The degree of fatigue damage and remaining life of the robot arm is obtained from experimental calculations and experience accumulation, and maintenance data is compiled on this basis. It specifies the maintenance interval and provides the life value of the robot arm. Although these data play an important role in ensuring the continuous operation of the robot, the information is not universal. For robots...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22
Inventor 胡小梅付朝军屈贺威
Owner SHANGHAI UNIV
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