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Industrial robot's fault diagnosing method

An industrial robot and fault diagnosis technology, which is applied in the direction of instruments, electrical testing/monitoring, control/regulation systems, etc., can solve problems that cannot meet the needs of equipment maintenance, and achieve simple and practical effects

Inactive Publication Date: 2017-12-01
BEIHANG UNIV
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Problems solved by technology

Traditional maintenance methods, mainly including post-event maintenance and regular maintenance, have long been unable to meet the needs of modern industrial equipment maintenance

Method used

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  • Industrial robot's fault diagnosing method

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Embodiment Construction

[0052] The present invention will be described in detail below with reference to the drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and gives a detailed implementation and specific operation process, but this embodiment is only an exemplary explanation of the content of the present invention, and cannot be understood as the protection scope of the present invention. limits.

[0053] Such as figure 1 As shown, this embodiment is as figure 2 A classic six-degree-of-freedom tandem industrial robot operator PUMA560 (Reference [1]: Cai Zixing, Xie Bin. Robotics [M]. Tsinghua University Press, 2015.) is shown as an example to illustrate the failure of the industrial robot of the present invention The diagnosis method adopts the parameterized model for dynamic simulation, the analytical model-based method for fault identification, the fault tree analysis method for the reasoning of possible fault caus...

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Abstract

The invention discloses an industrial robot's fault diagnosing method, which relates to the technical field of industrial robots and fault diagnosing. The fault diagnosing method includes: constructing a parametric physical model and a complete fault tree model of an industrial robot; acquiring the real-time operation data of the industrial robot; dynamically simulating the real-time operation conditions of the industrial robot and performing fault judgment according to a theoretical analysis result and an actual monitoring result; according to the fault tree model, performing fault reasoning to look for all possible causes leading to the fault; diagnosing the possible causes of fault one by one to generate corresponding control instructions to drive the robot to move; and according to the feedback information, confirming the cause of the malfunction. The method of the invention makes full use of the existing data in a control system, does not requiring the adding of other physical devices, fully utilizes the design theory of the device, has the advantages of simplicity and practicality, and can identify the cause behind a specific fault simply and effectively.

Description

Technical field [0001] The invention relates to the technical field of industrial robots and fault diagnosis, and specifically refers to a method for fault diagnosis of industrial robots, which realizes state monitoring and fault diagnosis of industrial robots by establishing a complete fault tree of industrial robots. Background technique [0002] With the development goals of "Industry 4.0", "Intelligent Manufacturing" and "Made in China 2025" successively proposed and gradually clarified, industrial robots, as a kind of manufacturing equipment integrating automation, informatization, and intelligence, are playing an important role in industrial production. Playing an increasingly important role. Ensuring the reliability, stability and safety of industrial robots during operation is an important condition for ensuring the orderly and continuous progress of industrial production. However, the complex electromechanical structure of the industrial robot itself and the changeable ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0218G05B23/0243
Inventor 陈友东刘嘉蕾常石磊郭佳鑫
Owner BEIHANG UNIV
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