Mechanical hand transmission unit on-line fault diagnosis system based on synergetic measurement

Abstract

The invention discloses a mechanical hand transmission unit on-line fault diagnosis system based on synergetic measurement, and belongs to the field of fault diagnosis. The system comprises a vibration sensor, a data acquisition repeater, a robot RTU and an on-line fault diagnosis subsystem, wherein the vibration sensor acquires vibration acceleration and motion angular velocity data through adopting an acceleration sensor and a gyroscope, and transfers the acceleration and motion angular velocity data to the data acquisition repeater, the data is subjected to smooth filtering, and the data subjected to smooth filtering is transferred to the robot RTU through a Wi-Fi module; the robot RTU reads the motion control parameters of corresponding joints from a robot controller, calculates the space attitude data of the joints of a mechanical hand, and performs data fusion through using the kalman filtering algorithm; and the on-line fault diagnosis subsystem compares the initial two-dimensional inherent vibration characteristics, acquired during the ex-factory assessment and test stage of a mechanical hand product, of the joints of the mechanical hand with the current two-dimensional inherent vibration characteristics, and performs fault diagnosis. The mechanical hand transmission unit on-line fault diagnosis system has important functions in the field of fault diagnosis of variable speed servo mechanical hands.

Description

technical field [0001] The invention belongs to the field of fault diagnosis, and relates to an online fault diagnosis system for a manipulator transmission unit based on cooperative measurement. Background technique [0002] Throughout China's assembly manufacturing industry, automated flexible production systems and intelligent manufacturing are its development trends. Robots are mechatronic equipment, they replace humans to undertake a large number of high-precision, high-intensity repetitive tasks, such as stamping, painting, welding, grinding, handling, final assembly, etc. in the automobile production process. The industrial manipulator composed of multi-degree-of-freedom mechatronic joints has become the backbone equipment and foundation of flexible production and intelligent manufacturing due to its high flexibility, programmability and intelligence. The stability and precision of the industrial manipulator are crucial to the production process. important. The tran...

AI Technical Summary

Problems solved by technology

The transmission unit of the manipulator is composed of a servo motor, a gearbox, etc. Under long-term and repeated working conditions, the meshing part of the transmission unit gradually suffers from wear, surface deformation, and surface falling off, which leads to the smooth movement of the manipulator and repeated positioning. Accuracy changes

If the fault cannot be found and repaired in time, it may cause a major accident

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