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
CN106599794AInactive Publication Date: 2017-04-26NANJING PANDA ELECTRONICS +2
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING PANDA ELECTRONICS
Publication Date
2017-04-26
Estimated Expiration
Not applicable · inactive patent

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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.
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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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